Repository Analysis

newton-physics/newton

An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.

24.5 Moderate AI signal View on GitHub

Analysis Overview

This report presents the forensic synthetic code analysis of newton-physics/newton, a Python project with 5,552 GitHub stars. SynthScan v2.0 examined 566,875 lines of code across 940 source files, recording 10648 pattern matches distributed across 21 syntactic categories. The overall adjusted score of 24.5 places this repository in the Moderate AI signal band.

The scanner applied 160+ deterministic lexical heuristics, multi-line block detectors, abstract syntax tree depth profilers, and a cross-file Jaccard similarity matrix to construct a statistically normalised synthetic code estimate. All matches are individually weighted by severity coefficient and contextual multiplier before summation, and the resulting headline score is temporally discounted to account for the repository's development history relative to the commercial emergence of large language model coding tooling (November 2022 onward).

24.5
Adjusted Score
24.5
Raw Score
100%
Time Factor
2026-08-29
Last Push
5.6K
Stars
Python
Language
566.9K
Lines of Code
940
Files
10.6K
Pattern Hits
2026-08-29
Scan Date
0.25
HC Hit Rate

What These Metrics Mean

Adjusted Score
Primary synthetic code indicator. Raw score normalised per 1,000 lines of code and multiplied by the temporal discount factor. This is the definitive comparative metric — use it to rank repositories by AI authorship density.
Raw Score
The unmodified sum of all severity-weighted, context-multiplied pattern match scores before temporal discounting. Reflects the absolute signal strength independent of when the repository was last active.
Time Factor
The temporal discount multiplier (0–100%) applied to the raw score. Repositories last updated before ChatGPT's launch (Nov 2022) receive a 5% factor. Full signal is only assigned to repositories active in the post-adoption era (Jan 2024+).
Pattern Hits
Total count of individual pattern matches across all files and categories. A high hit count with a low score may indicate a very large codebase with isolated AI snippets; a low count with a high score indicates dense, concentrated AI signatures.
HC Hit Rate
High+Critical pattern hits per file, averaged across the repository. This orthogonal signal catches repositories where a few files are densely packed with high-severity AI tells — a strong indicator even when the normalised score appears moderate due to codebase size.
Lines of Code / Files
Total lines and files analysed. The scanner examines 94 file extensions. These denominators are used to normalise the score, enabling fair comparison between repositories of vastly different sizes.

Score History

This chart maps the temporal evolution of the adjusted synthetic code score across successive scan runs. An upward trajectory indicates ongoing incorporation of AI-generated code or expanding LLM-assisted scaffolding; a stable or declining trajectory may reflect active human refactoring, code removal, or the adoption of stricter authorship policies. The dashed secondary line (right axis) independently tracks total raw pattern hit count, which can diverge from the normalised score when codebase size changes significantly between scans.

Severity Breakdown

Classifies detected patterns by their diagnostic confidence and structural impact. CRITICAL patterns (coefficient 10) represent definitive synthetic signatures — hallucinated imports, explicit LLM attribution metadata — virtually never produced by human authors. HIGH (5) indicates strong structural tells such as cross-file repetition or cross-linguistic idioms. MEDIUM (2) covers recognisable conversational padding and AI-specific vocabulary. LOW (1) captures subtle indicators like tautological comments and generic boilerplate that require density to carry independent signal.

CRITICAL 22HIGH 210MEDIUM 1706LOW 8710

Directory Score Breakdown

This horizontal bar chart decomposes the repository's raw synthetic code score by top-level directory, allowing you to pinpoint precisely which modules or components carry the highest AI authorship density. Directories with disproportionately high scores relative to their size warrant targeted manual review: concentrated AI signatures often trace back to mass-generated configuration layers, auto-ported test suites, LLM-scaffolded boilerplate classes, or entire subsystems authored under heavy copilot assistance. Use this view to prioritise your human code-review effort.

Pattern Findings

The scanner identified 10648 distinct pattern matches across 21 syntactic categories. Each entry below represents a discrete location in the source code where the engine recorded a statistically significant AI authorship indicator. Expand any category row to inspect the individual file paths, line numbers, code snippets, and the lexical context (CODE, COMMENT, or STRING) in which each match was detected.

Reading the findings table: The Severity column indicates the diagnostic confidence level (CRITICAL / HIGH / MEDIUM / LOW). The Context column identifies whether the match occurred inside executable code, an inline comment, or a string literal — comment-context matches receive a ×1.5 weight because LLMs systematically over-annotate. The ⚡ bolt icon marks clustered matches: three or more patterns within a 10-line window, each receiving an additional ×1.5 density multiplier as dense clusters constitute far stronger evidence of synthetic authorship than isolated hits.

Hyper-Verbose Identifiers6261 hits · 5036 pts
SeverityFileLineSnippetContext
LOWasv/tests/test_benchmark_simulation.py119 def test_asv_runner_resolves_benchmark_support_modules(self):CODE
LOWasv/tests/test_benchmark_simulation.py142 def test_benchmark_imports_preserve_warp_config(self):CODE
LOWasv/tests/test_benchmark_simulation.py149 def test_benchmark_modules_defer_workload_imports(self):CODE
LOWasv/tests/test_benchmark_simulation.py164 def test_convex_benchmark_covers_types_and_scales(self):CODE
LOWasv/tests/test_benchmark_simulation.py203 def test_mujoco_step_falls_back_when_cuda_graph_is_unavailable(self):CODE
LOWasv/tests/test_benchmark_simulation.py226 def test_mujoco_kpi_requires_cuda_graph(self):CODE
LOWasv/tests/test_benchmark_simulation.py235 def test_mujoco_metrics_include_solver_iterations(self):CODE
LOWasv/tests/test_benchmark_simulation.py268 def test_metric_setup_caches_skip_without_cuda(self):CODE
LOWasv/tests/test_benchmark_simulation.py287 def test_kpi_dr_legs_setup_cache_timeout_exceeds_default(self):CODE
LOWasv/tests/test_benchmark_simulation.py292 def test_fast_dr_legs_solver_does_not_import_torch(self):CODE
LOWasv/tests/test_benchmark_simulation.py304 def test_aws_benchmark_comparison_gates_only_runtime_metrics(self):CODE
LOWasv/tests/test_benchmark_simulation.py353 def test_pr_gate_caps_repeats_without_dropping_cases(self):CODE
LOWasv/tests/test_benchmark_simulation.py368 def test_fast_allegro_uses_representative_pr_workload(self):CODE
LOWasv/tests/test_benchmark_simulation.py382 def test_pr_asv_config_only_omits_torch(self):CODE
LOWasv/tests/test_benchmark_simulation.py404 def test_pr_camera_warmup_matches_selected_outputs(self):CODE
LOWasv/tests/test_benchmark_simulation.py463 def test_anymal_short_horizon_validation(self):CODE
LOWasv/tests/test_benchmark_metrics.py22 def test_compute_simulation_metrics(self):CODE
LOWasv/tests/test_benchmark_metrics.py40 def test_collect_simulation_metrics(self):CODE
LOWasv/tests/test_benchmark_metrics.py99 def test_collect_simulation_metrics_with_synchronization(self):CODE
LOWasv/tests/test_benchmark_metrics.py153 def test_collect_simulation_metrics_rejects_increased_free_memory(self):CODE
LOWasv/tests/test_benchmark_metrics.py184 def test_validate_simulation_state(self):CODE
LOWasv/benchmarks/benchmark_metric_tracks.py18 def track_simulation_steps_per_second(self, metrics, world_count):CODE
LOWasv/benchmarks/benchmark_metric_tracks.py36 def track_steady_state_gpu_memory(self, metrics, world_count):CODE
LOWasv/benchmarks/benchmark_metric_tracks.py58 def track_mean_world_step_time(self, metrics):CODE
LOWasv/benchmarks/benchmark_metric_tracks.py64 def track_simulation_steps_per_second(self, metrics):CODE
LOWasv/benchmarks/benchmark_metric_tracks.py82 def track_steady_state_gpu_memory(self, metrics):CODE
LOWasv/benchmarks/benchmark_metrics.py29def compute_simulation_metrics(CODE
LOWasv/benchmarks/benchmark_metrics.py67def validate_simulation_state(CODE
LOWasv/benchmarks/benchmark_metrics.py101def collect_simulation_metrics(CODE
LOWasv/benchmarks/setup/bench_model.py135 def _initialize_model_and_sensor(self, builder):CODE
LOWasv/benchmarks/setup/bench_model.py190 def peakmem_initialize_model_cpu(self, robot, world_count):CODE
LOWasv/benchmarks/simulation/bench_teleop_mujoco.py94 def coefficient_of_variation_pct(self, name: str) -> float:CODE
LOWasv/benchmarks/simulation/bench_teleop_mujoco.py546 def track_sustainable_physics_step_hz(self, mode: str) -> float:CODE
LOWasv/benchmarks/simulation/bench_teleop_mujoco.py553 def track_mean_target_error_m(self, mode: str) -> float:CODE
LOWasv/benchmarks/simulation/bench_teleop_mujoco.py559 def track_mean_target_rotation_error_rad(self, mode: str) -> float:CODE
LOWasv/benchmarks/simulation/bench_teleop_mujoco.py565 def track_hand_object_contact_frame_pct(self, mode: str) -> float:CODE
LOWasv/benchmarks/simulation/bench_teleop_mujoco.py572 def track_object_displacement_m(self, mode: str) -> float:CODE
LOWasv/benchmarks/simulation/bench_sensor_tiled_camera.py116def _disable_collision_handling(builder: newton.ModelBuilder) -> None:CODE
LOWasv/benchmarks/simulation/bench_cable.py17def _supports_cable_pile_size_args():CODE
LOWasv/benchmarks/simulation/bench_mujoco.py84 def _validate_metrics_workload(self, workload, world_count, solver_niter_samples):CODE
LOWasv/benchmarks/simulation/bench_kamino.py193 def time_notify_actuator_properties(self):CODE
LOWasv/benchmarks/simulation/bench_kamino.py201 def time_notify_body_inertial_properties(self):CODE
LOWasv/benchmarks/simulation/bench_kamino.py205 def time_notify_body_properties(self):CODE
LOWasv/benchmarks/simulation/bench_kamino.py209 def time_notify_joint_dof_properties(self):CODE
LOWasv/benchmarks/simulation/bench_kamino.py213 def time_notify_joint_properties(self):CODE
LOWasv/benchmarks/simulation/bench_kamino.py217 def time_notify_model_properties(self):CODE
LOWasv/benchmarks/simulation/bench_kamino.py221 def time_notify_shape_properties(self):CODE
LOWasv/benchmarks/simulation/bench_inverse_dynamics.py100 def time_eval_inverse_dynamics_passive(self):CODE
LOWasv/benchmarks/simulation/bench_inverse_dynamics.py106 def time_eval_inverse_dynamics_force(self):CODE
LOWnewton/_src/sensors/sensor_frame_transform.py17def compute_shape_transforms_kernel(CODE
LOWnewton/_src/sensors/sensor_frame_transform.py49def compute_relative_transforms_kernel(CODE
LOWnewton/_src/sensors/sensor_contact.py45def compute_sensing_transforms_kernel(CODE
LOWnewton/_src/sensors/sensor_contact.py68def accumulate_contact_forces_kernel(CODE
LOWnewton/_src/sensors/sensor_contact.py160def normalize_contact_positions_kernel(CODE
LOWnewton/_src/sensors/sensor_contact.py172def expand_body_to_shape_kernel(CODE
LOWnewton/_src/sensors/sensor_contact.py241def _assign_counterpart_columns(CODE
LOWnewton/_src/sensors/sensor_imu.py17def compute_sensor_imu_kernel(CODE
LOWnewton/_src/sensors/warp_raytrace/render.py19def _srgb_packed_rgba_to_linear(packed: int) -> int:CODE
LOWnewton/_src/sensors/warp_raytrace/camera_utils.py66def _validate_camera_ray_output(CODE
LOWnewton/_src/sensors/warp_raytrace/camera_utils.py144def compute_camera_rays_usd_pinhole(CODE
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Decorative Section Separators875 hits · 2890 pts
SeverityFileLineSnippetContext
MEDIUMnewton/usd.py10# ==================================================================================COMMENT
MEDIUMnewton/usd.py12# ==================================================================================COMMENT
MEDIUMnewton/usd.py56# ==================================================================================COMMENT
MEDIUMnewton/usd.py58# ==================================================================================COMMENT
MEDIUMnewton/__init__.py49# ==================================================================================COMMENT
MEDIUMnewton/__init__.py51# ==================================================================================COMMENT
MEDIUMnewton/__init__.py4# ==================================================================================COMMENT
MEDIUMnewton/__init__.py6# ==================================================================================COMMENT
MEDIUMnewton/__init__.py76# ==================================================================================COMMENT
MEDIUMnewton/__init__.py78# ==================================================================================COMMENT
MEDIUMnewton/__init__.py123# ==================================================================================COMMENT
MEDIUMnewton/__init__.py125# ==================================================================================COMMENT
MEDIUMnewton/utils.py7# ==================================================================================COMMENT
MEDIUMnewton/utils.py9# ==================================================================================COMMENT
MEDIUMnewton/utils.py17# ==================================================================================COMMENT
MEDIUMnewton/utils.py19# ==================================================================================COMMENT
MEDIUMnewton/utils.py44# ==================================================================================COMMENT
MEDIUMnewton/utils.py46# ==================================================================================COMMENT
MEDIUMnewton/utils.py55# ==================================================================================COMMENT
MEDIUMnewton/utils.py57# ==================================================================================COMMENT
MEDIUMnewton/utils.py137# ==================================================================================COMMENT
MEDIUMnewton/utils.py139# ==================================================================================COMMENT
MEDIUMnewton/utils.py146# ==================================================================================COMMENT
MEDIUMnewton/utils.py148# ==================================================================================COMMENT
MEDIUMnewton/utils.py155# ==================================================================================COMMENT
MEDIUMnewton/utils.py157# ==================================================================================COMMENT
MEDIUMnewton/utils.py167# ==================================================================================COMMENT
MEDIUMnewton/utils.py169# ==================================================================================COMMENT
MEDIUMnewton/utils.py177# ==================================================================================COMMENT
MEDIUMnewton/utils.py179# ==================================================================================COMMENT
MEDIUMnewton/utils.py71# ==================================================================================COMMENT
MEDIUMnewton/utils.py73# ==================================================================================COMMENT
MEDIUMnewton/_src/solvers/kamino/_src/solver_kamino_impl.py167 # ---------------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/_src/solver_kamino_impl.py217 # ---------------------------------------------------------------------------COMMENT
MEDIUM…ton/_src/solvers/kamino/_src/linalg/conjugate_fused.py74# ---------------------------------------------------------------------------COMMENT
MEDIUM…ton/_src/solvers/kamino/_src/linalg/conjugate_fused.py76# ---------------------------------------------------------------------------COMMENT
MEDIUM…ton/_src/solvers/kamino/_src/linalg/conjugate_fused.py311# ---------------------------------------------------------------------------COMMENT
MEDIUM…ton/_src/solvers/kamino/_src/linalg/conjugate_fused.py313# ---------------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/_src/linalg/conjugate.py202# ---------------COMMENT
MEDIUM…_src/solvers/kamino/_src/linalg/factorize/rcm_batch.py83# ---------------------------------------------------------------------------COMMENT
MEDIUM…_src/solvers/kamino/_src/linalg/factorize/rcm_batch.py85# ---------------------------------------------------------------------------COMMENT
MEDIUM…_src/solvers/kamino/_src/linalg/factorize/rcm_batch.py110# ---------------------------------------------------------------------------COMMENT
MEDIUM…_src/solvers/kamino/_src/linalg/factorize/rcm_batch.py112# ---------------------------------------------------------------------------COMMENT
MEDIUM…_src/solvers/kamino/_src/linalg/factorize/rcm_batch.py469# ---------------------------------------------------------------------------COMMENT
MEDIUM…_src/solvers/kamino/_src/linalg/factorize/rcm_batch.py471# ---------------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/_src/geometry/aggregation.py626 # ------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/_src/geometry/aggregation.py628 # ------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/examples/rl/simulation.py943 # ------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/examples/rl/simulation.py945 # ------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/examples/rl/simulation.py372 # ------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/examples/rl/simulation.py374 # ------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/examples/rl/simulation.py431 # ------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/examples/rl/simulation.py433 # ------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/examples/rl/simulation.py499 # ------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/examples/rl/simulation.py501 # ------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/examples/rl/simulation.py556 # ------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/examples/rl/simulation.py558 # ------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/examples/rl/simulation.py578 # ------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/examples/rl/simulation.py580 # ------------------------------------------------------------------COMMENT
MEDIUMnewton/_src/solvers/kamino/examples/rl/simulation.py781 # ------------------------------------------------------------------COMMENT
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Self-Referential Comments795 hits · 2400 pts
SeverityFileLineSnippetContext
MEDIUMasv/benchmarks/benchmark_ik.py7# This module provides shared logic for IK benchmarks on theCOMMENT
MEDIUMasv/benchmarks/benchmark_inverse_dynamics.py7# This module provides shared logic for inverse-dynamics benchmarks onCOMMENT
MEDIUMnewton/_src/solvers/kamino/config.py275 # Create a default instance of the config to access default values for the attributesCOMMENT
MEDIUMnewton/_src/solvers/kamino/solver_kamino.py347 # Create a base config with default values andCOMMENT
MEDIUMnewton/_src/solvers/kamino/solver_kamino.py744 # Create a Kamino model from the Newton modelCOMMENT
MEDIUMnewton/_src/solvers/kamino/solver_kamino.py781 # Create a collision detector if enabled in the config, otherwiseCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/dynamics/dual.py26 # Create a model builder and add bodies, joints, geoms, etc.STRING
MEDIUMnewton/_src/solvers/kamino/_src/dynamics/dual.py30 # Create a model from the builder and construct additionalSTRING
MEDIUMnewton/_src/solvers/kamino/_src/dynamics/dual.py38 # Define a linear solver type to use as a back-end for theSTRING
MEDIUMnewton/_src/solvers/kamino/_src/dynamics/dual.py48 # Create a dual forward dynamics problem and build it using the current modelSTRING
MEDIUMnewton/_src/solvers/kamino/_src/dynamics/delassus.py1512 # Create a shallow copy of the constraint Jacobian, but with a separate array for non-zero block values.COMMENT
MEDIUMnewton/_src/solvers/kamino/_src/dynamics/delassus.py23 # Create a model builder and add bodies, joints, geoms, etc.STRING
MEDIUMnewton/_src/solvers/kamino/_src/dynamics/delassus.py27 # Create a model from the builder and construct additionalSTRING
MEDIUMnewton/_src/solvers/kamino/_src/dynamics/delassus.py35 # Define a linear solver type to use as a back-end for theSTRING
MEDIUMnewton/_src/solvers/kamino/_src/dynamics/delassus.py45 # Create a Delassus operator and build it using the current model dataSTRING
MEDIUMnewton/_src/solvers/kamino/_src/dynamics/delassus.py1258 # Create a model builder and add bodies, joints, geoms, etc.STRING
MEDIUMnewton/_src/solvers/kamino/_src/dynamics/delassus.py1262 # Create a model from the builder and construct additionalSTRING
MEDIUMnewton/_src/solvers/kamino/_src/dynamics/delassus.py1274 # Create a Delassus operator from the model data and JacobiansSTRING
MEDIUMnewton/_src/solvers/kamino/_src/core/shapes.py473 # Create the underlying mesh data containerCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/materials.py429 # Define the Warp function to retrieve material pair propertiesCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/materials.py465 # Define the Warp function to retrieve material pair propertiesCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/model.py617 # Create a new model data info with the total constraintCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/model.py717 # Create a new state container with the initial state of the model entities on the specified deviceCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/model.py756 # Create a new control container on the specified deviceCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/model.py833 # Initialize SizeKamino object, to be completed by helper functionsCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/builder.py642 # Create a copy of the descriptor without the shape (stored separately)COMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/builder.py110 # Create a default world if requestedCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/builder.py298 # Create a new world descriptorCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/builder.py353 # Create a rigid body descriptor from the provided specificationsCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/builder.py466 # Create a joint descriptor from the provided specificationsCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/builder.py603 # Create a joint descriptor from the provided specificationsCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/builder.py1397 # Create the immutable model info arrays from the collected dataCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/builder.py1440 # Create the model time dataCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/builder.py1448 # Create the bodies modelCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/builder.py1463 # Create the joints modelCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/builder.py1518 # Create the collision geometries modelCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/builder.py1543 # Create the material pairs modelCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/builder.py1551 # Create the material pairs modelCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/state.py349 # Create a new StateKamino object, aliasing the relevant data from the input newton.StateCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/core/state.py404 # Create a new State object, aliasing the relevantCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/linalg/linear.py208 # Initialize base class membersCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/linalg/linear.py482 # Initialize base class membersCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/linalg/linear.py632 # Create the factorization and solve kernelsCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/linalg/linear.py637 # Initialize base class membersCOMMENT
MEDIUM…kamino/_src/linalg/factorize/llt_blocked_rcm_solver.py184 # Initialize base class membersCOMMENT
MEDIUM…rc/solvers/kamino/_src/linalg/factorize/llt_blocked.py50 # Define a Warp wrapper around a native C++ function to get the raw pointer of a warp arrayCOMMENT
MEDIUM…rc/solvers/kamino/_src/linalg/factorize/llt_blocked.py54 # Define a Warp function to get the raw pointer of a warp array with an offsetCOMMENT
MEDIUM…rc/solvers/kamino/_src/linalg/factorize/llt_blocked.py129 # Create a temporary warp array pointing to the i-th matrixCOMMENT
MEDIUM…rc/solvers/kamino/_src/linalg/factorize/llt_blocked.py247 # Create a temporary warp array pointing to the i-th matrixCOMMENT
MEDIUM…rc/solvers/kamino/_src/linalg/factorize/llt_blocked.py340 # Create a temporary warp array pointing to the i-th matrixCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/solvers/warmstart.py878 # Create a key sorter that can handle the maximum number of contactsCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/solvers/warmstart.py1087 # Create a key sorter that can handle the maximum number of contactsCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/solvers/metrics.py45 # Create a forward-dynamics DualProblem to be solvedSTRING
MEDIUMnewton/_src/solvers/kamino/_src/solvers/metrics.py49 # Create a forward-dynamics PADMM solverSTRING
MEDIUMnewton/_src/solvers/kamino/_src/solvers/metrics.py56 # Create a SolutionMetrics containerSTRING
MEDIUMnewton/_src/solvers/kamino/_src/solvers/metrics.py28 # Create a model builder and add bodies, joints, geoms, etc.STRING
MEDIUMnewton/_src/solvers/kamino/_src/solvers/metrics.py32 # Create a model from the builder and construct additionalSTRING
MEDIUMnewton/_src/solvers/kamino/_src/solvers/fk/solver.py256 # Create a copy of the model's joints with added joints as needed:COMMENT
MEDIUM…ton/_src/solvers/kamino/_src/solvers/padmm/__init__.py43 # Create a model builder and add bodies, joints, geoms, etc.STRING
MEDIUM…ton/_src/solvers/kamino/_src/solvers/padmm/__init__.py47 # Create a model from the builder and construct additionalSTRING
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Unused Imports777 hits · 698 pts
SeverityFileLineSnippetContext
LOWasv/run_pr_benchmarks.py6CODE
LOWasv/benchmarks/benchmark_ik.py11CODE
LOWasv/benchmarks/benchmark_inverse_dynamics.py11CODE
LOWasv/benchmarks/simulation/bench_teleop_mujoco.py12CODE
LOWasv/benchmarks/simulation/bench_ik.py4CODE
LOWasv/benchmarks/simulation/bench_inverse_dynamics.py4CODE
LOWnewton/usd.py13CODE
LOWnewton/usd.py13CODE
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LOWnewton/usd.py13CODE
LOWnewton/usd.py13CODE
LOWnewton/usd.py13CODE
LOWnewton/usd.py13CODE
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LOWnewton/usd.py60CODE
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LOWnewton/usd.py64CODE
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LOWnewton/viewer.py5CODE
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LOWnewton/sensors.py5CODE
LOWnewton/sensors.py10CODE
LOWnewton/sensors.py15CODE
LOWnewton/sensors.py20CODE
LOWnewton/controllers.py13CODE
LOWnewton/controllers.py13CODE
LOWnewton/controllers.py13CODE
LOWnewton/ik.py6CODE
LOWnewton/ik.py6CODE
LOWnewton/ik.py6CODE
LOWnewton/ik.py6CODE
LOWnewton/ik.py6CODE
LOWnewton/ik.py6CODE
LOWnewton/ik.py6CODE
LOWnewton/ik.py6CODE
LOWnewton/ik.py6CODE
LOWnewton/ik.py6CODE
LOWnewton/__init__.py7CODE
LOWnewton/__init__.py7CODE
LOWnewton/__init__.py7CODE
LOWnewton/__init__.py12CODE
LOWnewton/__init__.py52CODE
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Docstring Block Structure105 hits · 482 pts
SeverityFileLineSnippetContext
HIGHasv/benchmarks/simulation/bench_contacts.py55Import and return the ``Example`` class from candidate modules. Args: module_names: Ordered module names toSTRING
HIGHnewton/_src/sensors/sensor_imu.py127Initialize SensorIMU. Transparently requests the extended state attribute ``body_qdd`` from the model, which isSTRING
HIGHnewton/_src/core/types.py93 Convert a string representation of an axis ("x", "y", or "z") to the corresponding Axis enum member. ASTRING
HIGHnewton/_src/core/types.py116 Convert a value of various types to an Axis enum member. Args: value: The value to convertSTRING
HIGHnewton/_src/solvers/kamino/_src/core/materials.py652 Registers a new material with the manager. Args: material: The material descriptor to regiSTRING
HIGHnewton/_src/solvers/kamino/_src/core/materials.py757 Retrieves a material descriptor by its index or name. Args: key: The name or index of the STRING
HIGHnewton/_src/solvers/kamino/_src/core/materials.py788 Retrieves the index of a material by its name or index. Args: key: The name or index of thSTRING
HIGHnewton/_src/solvers/kamino/_src/core/types.py119 Check if a given UID string is valid. Args: uid: The UID string to validate. RetuSTRING
HIGHnewton/_src/solvers/kamino/_src/core/types.py180Convert ``data`` to a Warp ``int32`` array, asserting all values fit in ``int32``. Use this helper in place of ``wpSTRING
HIGHnewton/_src/solvers/kamino/_src/core/joints.py118 Converts a `JointActuationType` to the corresponding `JointTargetMode`. Args: act_type: ThSTRING
HIGHnewton/_src/solvers/kamino/_src/core/joints.py147 Converts a `JointTargetMode` to the corresponding `JointActuationType`. Args: target_mode:STRING
HIGHnewton/_src/solvers/kamino/_src/core/joints.py900 Converts a `JointDoFType` to the corresponding `JointType`. Args: dof_type: The joint DoF STRING
HIGHnewton/_src/solvers/kamino/_src/core/joints.py942 Converts a `JointType` to the corresponding `JointDoFType`. Args: type: The Newton joint tSTRING
HIGHnewton/_src/solvers/kamino/_src/core/joints.py1950 Processes a specified limit value to ensure it is a list of floats. Notes: - If the input is NSTRING
HIGHnewton/_src/solvers/kamino/_src/linalg/utils/rand.py43 Creates an array of eigen-values based on a specified distribution. Notes: - Default max/min/eps valueSTRING
HIGHnewton/_src/solvers/kamino/_src/solvers/padmm/math.py413 Computes the NCP primal residual as: `r_p := || lambda - proj_C(lambda) ||_inf`, where: - `lambda` is the vectoSTRING
HIGHnewton/_src/solvers/kamino/_src/solvers/padmm/math.py505 Computes the NCP dual residual as: `r_d := || v_aug - proj_K^*(v_aug) ||_inf`, where: - `v_aug` is the vector oSTRING
HIGHnewton/_src/solvers/kamino/_src/solvers/padmm/math.py686 Computes the natural-map residual as: `r_natmap = || lambda - proj_C(lambda - (v + s)) ||_inf`, where `C` is thSTRING
HIGHnewton/_src/solvers/kamino/_src/utils/profiles.py67 Compute performance profiles for a set of num_solvers solvers across a set of np problems. Given performance mSTRING
HIGHnewton/_src/solvers/kamino/_src/geometry/keying.py39 Returns an all-ones mask for the requested number of bits. Examples: num_bits=20 -> 0x00000000000FFFFFSTRING
HIGHnewton/_src/solvers/style3d/cloth.py25Expand anisotropic bending values to a per-edge list. Args: edge_aniso_ke: Optional anisotropic stiffness. STRING
HIGHnewton/_src/solvers/implicit_mpm/solver_implicit_mpm.py947Create a solver configuration from ``NewtonMPMSceneAPI``. Only authored USD values override :class:`Config`STRING
HIGH…src/solvers/implicit_mpm/particle_surface_colliders.py84Extrapolate a particle SDF into colliders and extract its surface. Args: surface: Particle surface containiSTRING
HIGHnewton/_src/solvers/mujoco/solver_mujoco.py2887 Validate that all tendon attributes have consistent lengths. Args: model: The Newton modelSTRING
HIGHnewton/_src/solvers/mujoco/equality.py268Append a row to the ``mujoco:equality_constraint`` custom-attribute frequency on ``builder``. Args: builderSTRING
HIGHnewton/_src/utils/import_mjcf.py54Default path resolver - joins base_dir with file_path. Args: base_dir: Base directory for resolving relativSTRING
HIGHnewton/_src/utils/import_mjcf.py79Load MJCF source and recursively expand <include> elements. Args: source: File path or XML string pSTRING
HIGHnewton/_src/utils/cable.py87Create per-joint rod stiffness from elastic moduli. For a circular cross-section, this computes material stiffnesseSTRING
HIGHnewton/_src/utils/selection.py427Find indices of elements in ``labels`` that match ``pattern``. See :ref:`label-matching` for the pattern syntax accSTRING
HIGHnewton/_src/utils/import_utils.py16 Parse a Warp value from a string. This is useful for parsing values from XML files. For example, "1.0 2.0 3.0" STRING
HIGHnewton/_src/utils/import_utils.py103 Parse custom attributes from a dictionary. Args: dictlike: The dictionary (or XML element) to parse thSTRING
HIGHnewton/_src/utils/import_usd.py5426Download a USD file from a URL and resolves all references to other USD files to be downloaded to the given target foldeSTRING
HIGHnewton/_src/viewer/viewer_file.py222 Determine serialization format based on file extension. Args: file_path: Path to the file ReturnsSTRING
HIGHnewton/_src/viewer/viewer_file.py898 Resolve a dtype string to a warp dtype, with backwards compatibility. Uses metadata from serialized_data when STRING
HIGHnewton/_src/viewer/viewer_gl.py2137 Check if a key is currently pressed. Args: key: Either a string representing a character/kSTRING
HIGHnewton/_src/usd/utils.py603 Get custom attribute values from a USD prim and a set of known custom attributes. Returns a dictionary mapping STRING
HIGHnewton/_src/usd/utils.py825 Expand primvar values using indices if provided. USD primvars can be stored in an indexed form where a compactSTRING
HIGHnewton/_src/usd/utils.py3218Load Gaussian splat data from a USD prim. Reads positions from attributes: `positions`, `orientations`, `scales`, `STRING
HIGHnewton/_src/geometry/broad_phase_common.py272Precompute an index map that groups shapes by world ID with shared shapes. This method creates an index mapping wheSTRING
HIGHnewton/_src/geometry/types.py849Build and attach an SDF for this mesh. Also simplifies the precomputed mesh edges used by the SDF-mesh STRING
HIGHnewton/_src/geometry/types.py1859Infer :class:`~newton.Model.AttributeFrequency` from array length. Args: arr: The attribute array. STRING
HIGHnewton/_src/geometry/types.py2876Load Gaussian splat data from a USD prim. Reads positions from attributes: `positions`, `orientations`, `scalesSTRING
HIGHnewton/_src/geometry/_sdf_cache.py372Persist a cooked SDF dict to the cache. Args: cache_dir: Destination directory. Created if missing. STRING
HIGHnewton/_src/geometry/terrain_generator.py599Convert a 2D heightfield array to a watertight triangle mesh. Creates a closed mesh with top surface (from heightfiSTRING
HIGHnewton/_src/geometry/remesh.py392Compute a bounding sphere for a set of vertices. Uses Ritter's algorithm for a reasonable approximation. Args:STRING
HIGHnewton/_src/geometry/remesh.py425Create camera directions from subdivided icosahedron face centers. An icosahedron has 20 faces. Each face is subdivSTRING
HIGHnewton/_src/geometry/remesh.py619Compute orthonormal camera basis vectors from a view direction. Args: direction: Unit direction vector the STRING
HIGHnewton/_src/geometry/remesh.py988Extract point cloud from a triangle mesh. Performs multi-view orthographic raycasting with online voxel-based aSTRING
HIGHnewton/_src/geometry/utils.py695Compute the convex hull of a set of 3D points and return the vertices and faces of the convex hull mesh. Uses ``sciSTRING
HIGHnewton/_src/geometry/sdf_utils.py370Create an SDF from a mesh in local mesh coordinates. The SDF is built entirely via the texture-based sparse conSTRING
HIGHnewton/_src/geometry/sdf_utils.py585Create an SDF from precomputed runtime resources. Args: sparse_volume: Sparse narrow-band SDF volumSTRING
HIGHnewton/_src/geometry/sdf_utils.py853Get the bounding box extents for a primitive shape. Args: shape_type: Type of the primitive shape (from GeoSTRING
HIGHnewton/_src/geometry/sdf_utils.py904Compute sparse and coarse SDF volumes for a shape. The SDF is computed in the mesh's unscaled local space. Scale isSTRING
HIGHnewton/_src/controllers/joint_selection.py77Resolve a set of joints to control into the starting index arrays a controller needs. Integers match exactly. ``artSTRING
HIGHnewton/_src/sim/enums.py216 Returns the number of degrees of freedom (DoF) in velocity and the number of coordinates in position foSTRING
HIGHnewton/_src/sim/enums.py248 Returns the number of velocity-level bilateral kinematic constraints for this joint type. Args: STRING
HIGHnewton/_src/sim/contacts.py146Validate names passed to request_contact_attributes(). Only extended contact attributes listed in :attr:`EXTENDSTRING
HIGHnewton/_src/sim/model.py1435Return whether a canonicalized shape pair is collision-filtered. This queries the canonical filter-pair array wSTRING
HIGHnewton/_src/sim/model.py1473Return a boolean mask of which shape pairs are collision-filtered. Bulk counterpart to :meth:`shape_collision_fSTRING
HIGHnewton/_src/sim/model.py2231 Get the frequency of an attribute. Args: name: Name of the attribute. Returns: STRING
45 more matches not shown…
Deep Nesting638 hits · 466 pts
SeverityFileLineSnippetContext
LOWasv/benchmarks/benchmark_mujoco.py522CODE
LOWasv/benchmarks/setup/bench_sdf.py70CODE
LOWasv/benchmarks/simulation/bench_teleop_mujoco.py304CODE
LOWasv/benchmarks/simulation/bench_sensor_tiled_camera.py169CODE
LOWasv/benchmarks/simulation/bench_contacts.py108CODE
LOWnewton/_src/sensors/sensor_contact.py68CODE
LOWnewton/_src/sensors/warp_raytrace/camera_utils.py108CODE
LOWnewton/_src/sensors/warp_raytrace/raytrace.py79CODE
LOWnewton/_src/sensors/warp_raytrace/raytrace.py348CODE
LOWnewton/_src/sensors/warp_raytrace/raytrace.py585CODE
LOWnewton/_src/sensors/warp_raytrace/raytrace.py83CODE
LOWnewton/_src/sensors/warp_raytrace/raytrace.py201CODE
LOWnewton/_src/sensors/warp_raytrace/raytrace.py352CODE
LOWnewton/_src/sensors/warp_raytrace/raytrace.py442CODE
LOWnewton/_src/sensors/warp_raytrace/raytrace.py587CODE
LOWnewton/_src/sensors/warp_raytrace/raytrace.py643CODE
LOWnewton/_src/sensors/warp_raytrace/render_context.py485CODE
LOWnewton/_src/sensors/warp_raytrace/gaussians.py126CODE
LOWnewton/_src/sensors/warp_raytrace/gaussians.py128CODE
LOWnewton/_src/solvers/kamino/solver_kamino.py1245CODE
LOWnewton/_src/solvers/kamino/solver_kamino.py1311CODE
LOWnewton/_src/solvers/kamino/solver_kamino.py388CODE
LOWnewton/_src/solvers/kamino/_src/solver_kamino_impl.py430CODE
LOWnewton/_src/solvers/kamino/_src/dynamics/dual.py1636CODE
LOWnewton/_src/solvers/kamino/_src/dynamics/wrenches.py612CODE
LOWnewton/_src/solvers/kamino/_src/core/shapes.py644CODE
LOWnewton/_src/solvers/kamino/_src/core/conversions.py1515CODE
LOWnewton/_src/solvers/kamino/_src/core/materials.py756CODE
LOWnewton/_src/solvers/kamino/_src/core/model.py777CODE
LOWnewton/_src/solvers/kamino/_src/core/builder.py849CODE
LOWnewton/_src/solvers/kamino/_src/core/builder.py873CODE
LOWnewton/_src/solvers/kamino/_src/core/builder.py901CODE
LOWnewton/_src/solvers/kamino/_src/core/builder.py1682CODE
LOWnewton/_src/solvers/kamino/_src/core/joints.py663CODE
LOWnewton/_src/solvers/kamino/_src/core/joints.py689CODE
LOWnewton/_src/solvers/kamino/_src/core/joints.py715CODE
LOWnewton/_src/solvers/kamino/_src/core/joints.py741CODE
LOWnewton/_src/solvers/kamino/_src/core/joints.py767CODE
LOWnewton/_src/solvers/kamino/_src/core/joints.py793CODE
LOWnewton/_src/solvers/kamino/_src/core/joints.py819CODE
LOWnewton/_src/solvers/kamino/_src/core/joints.py845CODE
LOWnewton/_src/solvers/kamino/_src/core/joints.py870CODE
LOWnewton/_src/solvers/kamino/_src/core/joints.py933CODE
LOWnewton/_src/solvers/kamino/_src/core/joints.py1058CODE
LOWnewton/_src/solvers/kamino/_src/core/joints.py1130CODE
LOWnewton/_src/solvers/kamino/_src/core/joints.py1163CODE
LOWnewton/_src/solvers/kamino/_src/core/joints.py1196CODE
LOWnewton/_src/solvers/kamino/_src/core/joints.py1265CODE
LOWnewton/_src/solvers/kamino/_src/linalg/sparse_matrix.py647CODE
LOWnewton/_src/solvers/kamino/_src/linalg/sparse_matrix.py55CODE
LOWnewton/_src/solvers/kamino/_src/linalg/sparse_matrix.py580CODE
LOWnewton/_src/solvers/kamino/_src/linalg/sparse_matrix.py654CODE
LOWnewton/_src/solvers/kamino/_src/linalg/linear.py341CODE
LOW…ton/_src/solvers/kamino/_src/linalg/conjugate_fused.py317CODE
LOW…ton/_src/solvers/kamino/_src/linalg/conjugate_fused.py392CODE
LOWnewton/_src/solvers/kamino/_src/linalg/utils/rand.py135CODE
LOW…amino/_src/linalg/factorize/llt_blocked_semi_sparse.py32CODE
LOW…amino/_src/linalg/factorize/llt_blocked_semi_sparse.py135CODE
LOW…amino/_src/linalg/factorize/llt_blocked_semi_sparse.py175CODE
LOW…amino/_src/linalg/factorize/llt_blocked_semi_sparse.py308CODE
578 more matches not shown…
Cross-File Repetition88 hits · 440 pts
SeverityFileLineSnippetContext
HIGHnewton/_src/solvers/kamino/_src/core/materials.py0index of the world to which the joint belongs. defaults to `-1`, indicating that the joint has not yet been added to a wSTRING
HIGHnewton/_src/solvers/kamino/_src/core/bodies.py0index of the world to which the joint belongs. defaults to `-1`, indicating that the joint has not yet been added to a wSTRING
HIGHnewton/_src/solvers/kamino/_src/core/geometry.py0index of the world to which the joint belongs. defaults to `-1`, indicating that the joint has not yet been added to a wSTRING
HIGHnewton/_src/solvers/kamino/_src/core/joints.py0index of the world to which the joint belongs. defaults to `-1`, indicating that the joint has not yet been added to a wSTRING
HIGHnewton/_src/solvers/kamino/_src/core/bodies.py0index of the geometry w.r.t. its world. defaults to `-1`, indicating that the geometry has not yet been added to a worldSTRING
HIGHnewton/_src/solvers/kamino/_src/core/joints.py0index of the geometry w.r.t. its world. defaults to `-1`, indicating that the geometry has not yet been added to a worldSTRING
HIGHnewton/_src/solvers/kamino/_src/core/geometry.py0index of the geometry w.r.t. its world. defaults to `-1`, indicating that the geometry has not yet been added to a worldSTRING
HIGHnewton/_src/solvers/kamino/_src/linalg/sparse_matrix.py0kamino: linear algebra: core types and utilities for multi-linear systems this module provides data structures and utiliSTRING
HIGH…ton/_src/solvers/kamino/_src/linalg/sparse_operator.py0kamino: linear algebra: core types and utilities for multi-linear systems this module provides data structures and utiliSTRING
HIGHnewton/_src/solvers/kamino/_src/linalg/core.py0kamino: linear algebra: core types and utilities for multi-linear systems this module provides data structures and utiliSTRING
HIGH…ton/_src/solvers/kamino/_src/integrators/integrator.py0solves the time integration sub-problem using a semi-implicit euler scheme to integrate the current state of the system STRING
HIGHnewton/_src/solvers/kamino/_src/integrators/moreau.py0solves the time integration sub-problem using a semi-implicit euler scheme to integrate the current state of the system STRING
HIGHnewton/_src/solvers/kamino/_src/integrators/euler.py0solves the time integration sub-problem using a semi-implicit euler scheme to integrate the current state of the system STRING
HIGHnewton/_src/viewer/viewer_usd.py0log a batch of mesh instances for rendering. args: name: unique name for the instancer. mesh: name of the base mesh prevSTRING
HIGHnewton/_src/viewer/viewer_gl.py0log a batch of mesh instances for rendering. args: name: unique name for the instancer. mesh: name of the base mesh prevSTRING
HIGHnewton/_src/viewer/viewer_rtx.py0log a batch of mesh instances for rendering. args: name: unique name for the instancer. mesh: name of the base mesh prevSTRING
HIGHnewton/_src/viewer/viewer_rtx.py0get the current vsync state. returns: true if vsync is enabled, false otherwise.STRING
HIGHnewton/_src/viewer/viewer_gl.py0get the current vsync state. returns: true if vsync is enabled, false otherwise.STRING
HIGHnewton/_src/viewer/gl/opengl.py0get the current vsync state. returns: true if vsync is enabled, false otherwise.STRING
HIGHnewton/_src/viewer/viewer_rtx.py0remove the splash set by :meth:`show_loading_splash`.STRING
HIGHnewton/_src/viewer/viewer_gl.py0remove the splash set by :meth:`show_loading_splash`.STRING
HIGHnewton/_src/viewer/viewer_gui.py0remove the splash set by :meth:`show_loading_splash`.STRING
HIGHnewton/_src/actuators/delay.py0resolve user-provided arguments with defaults. args: args: user-provided arguments. returns: complete arguments with defSTRING
HIGHnewton/_src/actuators/clamping/base.py0resolve user-provided arguments with defaults. args: args: user-provided arguments. returns: complete arguments with defSTRING
HIGHnewton/_src/actuators/controllers/base.py0resolve user-provided arguments with defaults. args: args: user-provided arguments. returns: complete arguments with defSTRING
HIGHnewton/tests/test_import_urdf.py0test that floating=true creates a free joint for the root body.STRING
HIGHnewton/tests/test_import_usd.py0test that floating=true creates a free joint for the root body.STRING
HIGHnewton/tests/test_import_mjcf.py0test that floating=true creates a free joint for the root body.STRING
HIGHnewton/tests/test_import_urdf.py0test that floating=false creates a fixed joint for the root body.STRING
HIGHnewton/tests/test_import_usd.py0test that floating=false creates a fixed joint for the root body.STRING
HIGHnewton/tests/test_import_mjcf.py0test that floating=false creates a fixed joint for the root body.STRING
HIGHnewton/tests/test_import_urdf.py0test that base_joint dict with linear and angular axes creates a d6 joint.STRING
HIGHnewton/tests/test_import_usd.py0test that base_joint dict with linear and angular axes creates a d6 joint.STRING
HIGHnewton/tests/test_import_mjcf.py0test that base_joint dict with linear and angular axes creates a d6 joint.STRING
HIGHnewton/tests/test_import_urdf.py0test that base_joint dict with jointtype.revolute creates a revolute joint with custom axis.STRING
HIGHnewton/tests/test_import_usd.py0test that base_joint dict with jointtype.revolute creates a revolute joint with custom axis.STRING
HIGHnewton/tests/test_import_mjcf.py0test that base_joint dict with jointtype.revolute creates a revolute joint with custom axis.STRING
HIGHnewton/tests/test_import_urdf.py0test that specifying both floating and base_joint raises an error.STRING
HIGHnewton/tests/test_import_mjcf.py0test that specifying both floating and base_joint raises an error.STRING
HIGHnewton/tests/test_import_usd.py0test that specifying both floating and base_joint raises an error.STRING
HIGHnewton/tests/test_import_urdf.py0test that parent_body with base_joint creates a d6 joint to parent.STRING
HIGHnewton/tests/test_import_usd.py0test that parent_body with base_joint creates a d6 joint to parent.STRING
HIGHnewton/tests/test_import_mjcf.py0test that parent_body with base_joint creates a d6 joint to parent.STRING
HIGHnewton/tests/test_import_urdf.py0test that parent_body creates a joint connecting to the parent body.STRING
HIGHnewton/tests/test_import_usd.py0test that parent_body creates a joint connecting to the parent body.STRING
HIGHnewton/tests/test_import_mjcf.py0test that parent_body creates a joint connecting to the parent body.STRING
HIGHnewton/tests/test_import_urdf.py0test that attaching to a non-sequential articulation raises an error.STRING
HIGHnewton/tests/test_import_usd.py0test that attaching to a non-sequential articulation raises an error.STRING
HIGHnewton/tests/test_import_mjcf.py0test that attaching to a non-sequential articulation raises an error.STRING
HIGHnewton/tests/test_import_urdf.py0test that floating=false with parent_body is explicitly allowed.STRING
HIGHnewton/tests/test_import_usd.py0test that floating=false with parent_body is explicitly allowed.STRING
HIGHnewton/tests/test_import_mjcf.py0test that floating=false with parent_body is explicitly allowed.STRING
HIGHnewton/tests/test_import_urdf.py0test that floating=true with parent_body raises an error.STRING
HIGHnewton/tests/test_import_usd.py0test that floating=true with parent_body raises an error.STRING
HIGHnewton/tests/test_import_mjcf.py0test that floating=true with parent_body raises an error.STRING
HIGHnewton/tests/test_import_urdf.py0test that attaching to a body not in any articulation raises an error.STRING
HIGHnewton/tests/test_import_usd.py0test that attaching to a body not in any articulation raises an error.STRING
HIGHnewton/tests/test_import_mjcf.py0test that attaching to a body not in any articulation raises an error.STRING
HIGHnewton/tests/test_import_urdf.py0test attaching multiple levels: arm → gripper → sensor.STRING
HIGHnewton/tests/test_import_usd.py0test attaching multiple levels: arm → gripper → sensor.STRING
28 more matches not shown…
Hallucination Indicators22 hits · 260 pts
SeverityFileLineSnippetContext
CRITICALnewton/_src/solvers/kamino/_src/utils/sim/datalog.py159 self.log_num_contacts[self._frames] = self._sim.contacts.data.model_active_contacts.numpy()[0]CODE
CRITICALnewton/_src/solvers/kamino/_src/utils/sim/datalog.py162 self.log_padmm_iters[self._frames] = self._sim.solver.solver_fd.data.status.numpy()[0][1]CODE
CRITICALnewton/_src/solvers/kamino/_src/utils/sim/datalog.py163 self.log_padmm_r_p[self._frames] = self._sim.solver.solver_fd.data.status.numpy()[0][2]CODE
CRITICALnewton/_src/solvers/kamino/_src/utils/sim/datalog.py164 self.log_padmm_r_d[self._frames] = self._sim.solver.solver_fd.data.status.numpy()[0][3]CODE
CRITICALnewton/_src/solvers/kamino/_src/utils/sim/datalog.py165 self.log_padmm_r_c[self._frames] = self._sim.solver.solver_fd.data.status.numpy()[0][4]CODE
CRITICAL…/_src/solvers/kamino/tests/test_utils_sim_simulator.py446 np.testing.assert_allclose(multi_sim.solver.data.joints.tau_j.numpy(), sample_ctrl_tau_j)CODE
CRITICAL…/_src/solvers/kamino/examples/rl/example_rl_bipedal.py229 self.sim_wrapper.sim.model.joints.k_p_j.fill_(15.0)CODE
CRITICAL…/_src/solvers/kamino/examples/rl/example_rl_bipedal.py230 self.sim_wrapper.sim.model.joints.k_d_j.fill_(0.6)CODE
CRITICAL…/_src/solvers/kamino/examples/rl/example_rl_bipedal.py231 self.sim_wrapper.sim.model.joints.a_j.fill_(0.004)CODE
CRITICAL…/_src/solvers/kamino/examples/rl/example_rl_bipedal.py232 self.sim_wrapper.sim.model.joints.b_j.fill_(0.0)CODE
CRITICALnewton/tests/test_mujoco_solver.py10599 meaninertia = self.solver.mjw_model.stat.meaninertia.numpy()STRING
CRITICAL…sts/kamino/test_kamino_solver_kamino_joint_friction.py108 friction_torques.append(float(solver._solver_kamino.data.joints.lambda_f_j.numpy()[0]))CODE
CRITICAL…sts/kamino/test_kamino_solver_kamino_joint_friction.py365 cold_residual = float(cold_solver._solver_kamino.metrics.data.r_vi_natmap.numpy()[0])CODE
CRITICAL…sts/kamino/test_kamino_solver_kamino_joint_friction.py366 warm_residual = float(warm_solver._solver_kamino.metrics.data.r_vi_natmap.numpy()[0])CODE
CRITICAL…/tests/kamino/test_kamino_solver_joint_effort_limit.py156 actual_effort = float(solver._solver_kamino.data.joints.lambda_tau_j.numpy()[0])CODE
CRITICAL…/tests/kamino/test_kamino_solver_joint_effort_limit.py164 float(solver._solver_kamino.data.bodies.w_a_i.numpy()[0, 4]),CODE
CRITICAL…/tests/kamino/test_kamino_solver_joint_effort_limit.py224 cold_residual = float(cold_solver._solver_kamino.metrics.data.r_vi_natmap.numpy()[0])CODE
CRITICAL…/tests/kamino/test_kamino_solver_joint_effort_limit.py225 warm_residual = float(warm_solver._solver_kamino.metrics.data.r_vi_natmap.numpy()[0])CODE
CRITICALnewton/tests/kamino/test_kamino_solvers_dvi.py908 contact_lambdas = solver_kamino.solver_fd.data.solution.lambdas.numpy()[CODE
CRITICALnewton/tests/kamino/test_kamino_solvers_dvi.py1818 joint_dims = solver._solver_kamino._model.info.num_joint_bilateral_cts.numpy()CODE
CRITICALnewton/tests/kamino/test_kamino_solvers_dvi.py2437 self.assertEqual(int(solver._solver_kamino.solver_fd.data.status.numpy()[0]["converged"]), 1)CODE
CRITICALnewton/tests/kamino/test_kamino_solvers_dvi.py2915 lambdas = example.solver._solver_kamino.solver_fd.data.solution.lambdas.numpy()CODE
Redundant / Tautological Comments179 hits · 243 pts
SeverityFileLineSnippetContext
LOWnewton/_src/sensors/sensor_contact.py584 # Assign rows to sensing objectsCOMMENT
LOWnewton/_src/sensors/sensor_contact.py589 # Assign columns to counterparts: first global, then localCOMMENT
LOWnewton/_src/solvers/kamino/config.py210 # Check if optional arguments are specified and override with defaults if notCOMMENT
LOWnewton/_src/solvers/kamino/_src/solver_kamino_impl.py601 # Set base_q to provided valueCOMMENT
LOWnewton/_src/solvers/kamino/_src/solver_kamino_impl.py635 # Set base_u to provided valueCOMMENT
LOWnewton/_src/solvers/kamino/_src/dynamics/delassus.py423 # Check if block index is valid for this matrix.COMMENT
LOWnewton/_src/solvers/kamino/_src/dynamics/delassus.py482 # Check if block index is valid for this matrix.COMMENT
LOWnewton/_src/solvers/kamino/_src/dynamics/delassus.py777 # Check if block index is valid for this matrix.COMMENT
LOWnewton/_src/solvers/kamino/_src/core/world.py420 # Check if the body has already been added to a worldCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/world.py446 # Check if the joint has already been added to a worldCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/world.py452 # Check if the specified Base-Follower body indices are validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/world.py543 # Check if the geometry has already been added to a worldCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/world.py562 # Check if the material has already been added to a worldCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/conversions.py2072 # Check if material with these parameters already existsCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/materials.py770 # Check if the key is an integerCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/materials.py772 # Check if the key is within the range of materialsCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/materials.py778 # Check if the key is a stringCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/materials.py780 # Check if the key is a valid material nameCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/materials.py667 # Check if the material already existsCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/materials.py801 # Check if the name exists in the materials listCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/materials.py857 # Check if the material pair properties existCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/materials.py907 # Check if the material pair properties existCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/materials.py957 # Check if the material pair properties existCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py381 # Check if the descriptor is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py385 # Check if body properties are validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py389 # Check if the world index is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py637 # Check if the descriptor is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py645 # Check if the world index is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py456 # Check if the DoF type is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py509 # Check if the descriptor is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py515 # Check if the world index is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py674 # Check if the world index is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py677 # Check if the material is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py704 # Check if the other builder is of valid typeCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py778 # Check if the world index is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py781 # Check if the axis is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py797 # Check if the world index is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py809 # Check if the world index is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py812 # Check if the material is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py839 # Check if the world index is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py859 # Check if the world index is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/builder.py883 # Check if the world index is validCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/joints.py1809 # Check if DoF type + actuation type are compatibleCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/joints.py1839 # Check if DoF type + dynamic/implicit PD settings are compatible.COMMENT
LOWnewton/_src/solvers/kamino/_src/core/math.py160 # Check if the norm of the imaginary part is infinitesimalCOMMENT
LOWnewton/_src/solvers/kamino/_src/core/math.py220 # Check if the norm of the imaginary part is infinitesimalCOMMENT
LOWnewton/_src/solvers/kamino/_src/linalg/sparse_matrix.py679 # Check if any element in this block is non-zeroCOMMENT
LOWnewton/_src/solvers/kamino/_src/linalg/blas.py201 # Check if block index is valid for this matrix.COMMENT
LOWnewton/_src/solvers/kamino/_src/linalg/blas.py267 # Check if block index is valid for this matrix.COMMENT
LOWnewton/_src/solvers/kamino/_src/linalg/blas.py336 # Check if block index is valid for this matrix.COMMENT
LOWnewton/_src/solvers/kamino/_src/linalg/blas.py400 # Check if block index is valid for this matrix.COMMENT
LOWnewton/_src/solvers/kamino/_src/linalg/blas.py541 # Check if block index is valid for this matrix.COMMENT
LOWnewton/_src/solvers/kamino/_src/linalg/blas.py609 # Check if block index is valid for this matrix.COMMENT
LOWnewton/_src/solvers/kamino/_src/linalg/blas.py680 # Check if block index is valid for this matrix.COMMENT
LOWnewton/_src/solvers/kamino/_src/linalg/blas.py746 # Check if block index is valid for this matrix.COMMENT
LOWnewton/_src/solvers/kamino/_src/linalg/blas.py874 # Check if block index is valid for this matrix.COMMENT
LOWnewton/_src/solvers/kamino/_src/linalg/blas.py926 # Check if block index is valid for this matrix.COMMENT
LOWnewton/_src/solvers/kamino/_src/linalg/utils/matrix.py167 # Check if the matrix is valid type and dimensionsCOMMENT
LOWnewton/_src/solvers/kamino/_src/linalg/utils/matrix.py312 # Check if the matrix is valid type and dimensionsCOMMENT
LOW…amino/_src/linalg/factorize/llt_blocked_semi_sparse.py220 # Check if this diagonal tile is nonzeroCOMMENT
119 more matches not shown…
Modern Structural Boilerplate244 hits · 234 pts
SeverityFileLineSnippetContext
LOWasv/benchmarks/benchmark_inverse_dynamics.py40def set_default_pose(model: newton.Model, state: newton.State) -> None:CODE
LOWasv/benchmarks/simulation/bench_teleop_mujoco.py262 def _setup_ik(self) -> None:CODE
LOWasv/benchmarks/simulation/bench_teleop_mujoco.py304 def _update_command(self) -> None:CODE
LOWasv/benchmarks/simulation/bench_sensor_tiled_camera.py101def _set_joint_positions(builder: newton.ModelBuilder, joint_positions: dict[str, float]) -> None:CODE
LOWnewton/usd.py34__all__ = [CODE
LOWnewton/viewer.py17__all__ = [CODE
LOWnewton/sensors.py24__all__ = [CODE
LOWnewton/controllers.py19__all__ = [CODE
LOWnewton/ik.py19__all__ = [CODE
LOWnewton/__init__.py41__all__ = [CODE
LOWnewton/solvers.py27__all__ = [*_solvers.__all__, "experimental"] # noqa: PLE0604CODE
LOWnewton/actuators.py38__all__ = [CODE
LOWnewton/utils.py12__all__ = [CODE
LOWnewton/geometry.py32__all__ = [CODE
LOWnewton/math.py29__all__ = [CODE
LOWnewton/selection.py6__all__ = [CODE
LOWnewton/_src/sensors/warp_raytrace/__init__.py17__all__ = [CODE
LOWnewton/_src/core/__init__.py13__all__ = [CODE
LOWnewton/_src/core/types.py201__all__ = [CODE
LOWnewton/_src/solvers/solver.py206 def _set_module_options(self, options: dict[str, Any], module: Any) -> None:CODE
LOWnewton/_src/solvers/solver.py431 def update_contacts(self, contacts: Contacts, state: State | None = None) -> None:CODE
LOWnewton/_src/solvers/__init__.py19__all__ = [CODE
LOWnewton/_src/solvers/kamino/config.py23__all__ = [CODE
LOWnewton/_src/solvers/kamino/solver_kamino.py56__all__ = ["SolverKamino"]CODE
LOWnewton/_src/solvers/kamino/solver_kamino.py1117 def update_contacts(self, contacts: Contacts, state: State | None = None) -> None:CODE
LOWnewton/_src/solvers/kamino/solver_kamino.py1485 def _update_actuation_types(self) -> None:CODE
LOWnewton/_src/solvers/kamino/solver_kamino.py1510 def _update_materials(self) -> None:CODE
LOWnewton/_src/solvers/kamino/__init__.py15__all__ = ["SolverKamino"]CODE
LOWnewton/_src/solvers/kamino/_src/__init__.py39__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/solver_kamino_impl.py72__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/solver_kamino_impl.py779 def update_contacts(self, contacts: Contacts, state: State | None = None) -> None:CODE
LOWnewton/_src/solvers/kamino/_src/dynamics/__init__.py14__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/dynamics/dual.py78__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/dynamics/delassus.py89__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/dynamics/wrenches.py24__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/core/time.py19__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/core/world.py21__all__ = ["WorldDescriptor"]CODE
LOWnewton/_src/solvers/kamino/_src/core/shapes.py22__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/core/conversions.py48__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/core/inertia.py15__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/core/materials.py41__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/core/bodies.py19__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/core/__init__.py18__all__ = ["ControlKamino", "DataKamino", "ModelBuilderKamino", "ModelKamino", "StateKamino"]CODE
LOWnewton/_src/solvers/kamino/_src/core/size.py16__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/core/model.py41__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/core/builder.py40__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/core/gravity.py18__all__ = ["GRAVITY_DEFAULT", "GravityDescriptor", "GravityModel"]CODE
LOWnewton/_src/solvers/kamino/_src/core/joints.py34__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/core/geometry.py28__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/core/data.py27__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/core/state.py20__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/linalg/sparse_matrix.py32__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/linalg/linear.py38__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/linalg/linear.py444 def _update_sparse_bsm(self) -> None:CODE
LOW…ton/_src/solvers/kamino/_src/linalg/sparse_operator.py29__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/linalg/__init__.py53__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/linalg/core.py27__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/linalg/types.py21__all__ = [CODE
LOW…ton/_src/solvers/kamino/_src/linalg/conjugate_fused.py31__all__ = [CODE
LOWnewton/_src/solvers/kamino/_src/linalg/blas.py20__all__ = [CODE
184 more matches not shown…
Excessive Try-Catch Wrapping187 hits · 194 pts
SeverityFileLineSnippetContext
LOW…solvers/kamino/_src/linalg/factorize/_tile_builtins.py24 except Exception:CODE
LOW…solvers/kamino/_src/linalg/factorize/_tile_builtins.py39 except Exception:CODE
LOWnewton/_src/solvers/kamino/_src/solvers/fk/solver.py170 except Exception as e:CODE
LOWnewton/_src/solvers/kamino/_src/utils/logger.py28 except Exception:CODE
LOWnewton/_src/solvers/kamino/_src/utils/sparse.py43 except Exception as exc: # pragma: no cover - optional dependencyCODE
LOWnewton/_src/solvers/kamino/_src/utils/profiles.py417 except Exception as exc: # pragma: no cover - optional dependencyCODE
LOWnewton/_src/solvers/kamino/_src/utils/io/usd.py1769 except Exception as e:CODE
LOWnewton/_src/solvers/kamino/_src/utils/io/usd.py1774 except Exception as e:CODE
LOW…_src/solvers/kamino/_src/utils/sim/viewer_recording.py415 except Exception as e:CODE
LOWnewton/_src/solvers/kamino/examples/rl/simulation.py766 except Exception as e:CODE
LOWnewton/_src/solvers/kamino/examples/rl/joystick.py184 except Exception:CODE
LOWnewton/_src/solvers/kamino/examples/rl/joystick.py300 except Exception:CODE
LOW…c/solvers/kamino/examples/rl/test_multi_env_dr_legs.py83 except Exception as e:CODE
LOWnewton/_src/solvers/mujoco/solver_mujoco.py539 except Exception:CODE
LOWnewton/_src/solvers/mujoco/solver_mujoco.py9495 except Exception:CODE
LOWnewton/_src/utils/mesh.py1179 except Exception:CODE
LOWnewton/_src/utils/mesh.py1267 except Exception:CODE
LOWnewton/_src/utils/texture.py73 except Exception as exc:CODE
LOWnewton/_src/utils/texture.py86 except Exception as exc:CODE
LOWnewton/_src/utils/texture.py125 except Exception as exc:CODE
LOWnewton/_src/utils/download_assets.py166 except Exception:CODE
LOWnewton/_src/utils/download_assets.py423 except Exception as e:CODE
LOWnewton/_src/utils/selection.py1646 except Exception:CODE
LOWnewton/_src/utils/selection.py1653 except Exception:CODE
LOWnewton/_src/utils/selection.py1622 except Exception as error:CODE
LOWnewton/_src/utils/import_utils.py49 except Exception as e:CODE
LOWnewton/_src/utils/import_usd.py634 except Exception as e:CODE
LOWnewton/_src/utils/import_usd.py641 except Exception as e:CODE
LOWnewton/_src/utils/import_usd.py1112 except Exception:CODE
LOWnewton/_src/utils/import_usd.py2842 except Exception:CODE
LOWnewton/_src/utils/import_usd.py5258 except Exception as e:CODE
LOWnewton/_src/utils/import_usd.py5268 except Exception as e:CODE
LOWnewton/_src/utils/import_usd.py5605 except Exception:CODE
LOWnewton/_src/utils/import_usd.py5621 except Exception:CODE
LOWnewton/_src/viewer/viewer_usd.py388 except Exception as exc:CODE
LOWnewton/_src/viewer/viewer.py3103 except Exception:CODE
LOWnewton/_src/viewer/viewer_rerun.py55 except Exception:CODE
LOWnewton/_src/viewer/viewer_rerun.py91 except Exception:CODE
LOWnewton/_src/viewer/viewer_rerun.py96 except Exception:CODE
LOWnewton/_src/viewer/viewer_rerun.py184 except Exception:CODE
LOWnewton/_src/viewer/viewer_rerun.py528 except Exception:CODE
LOWnewton/_src/viewer/viewer_rerun.py535 except Exception:CODE
MEDIUMnewton/_src/viewer/viewer_file.py1221 print(f"Error saving recording: {e}")CODE
MEDIUMnewton/_src/viewer/viewer_file.py265def _warp_key(x) -> int:CODE
LOWnewton/_src/viewer/viewer_file.py522 except Exception:CODE
LOWnewton/_src/viewer/viewer_file.py529 except Exception:CODE
LOWnewton/_src/viewer/viewer_file.py268 except Exception:CODE
LOWnewton/_src/viewer/viewer_file.py276 except Exception:CODE
LOWnewton/_src/viewer/viewer_file.py1025 except Exception as e:CODE
LOWnewton/_src/viewer/viewer_file.py1078 except Exception as e:CODE
LOWnewton/_src/viewer/viewer_file.py1219 except Exception as e:CODE
LOWnewton/_src/viewer/viewer_rtx.py720 except Exception as e:CODE
LOWnewton/_src/viewer/viewer_rtx.py737 except Exception as e:CODE
LOWnewton/_src/viewer/viewer_rtx.py826 except Exception as exc:CODE
LOWnewton/_src/viewer/viewer_rtx.py1383 except Exception as exc:CODE
LOWnewton/_src/viewer/viewer_rtx.py2261 except Exception:CODE
LOWnewton/_src/viewer/viewer_viser.py447 except Exception:CODE
LOWnewton/_src/viewer/viewer_viser.py451 except Exception:CODE
LOWnewton/_src/viewer/viewer_viser.py78 except Exception:CODE
LOWnewton/_src/viewer/viewer_viser.py93 except Exception:CODE
127 more matches not shown…
Over-Commented Block179 hits · 156 pts
SeverityFileLineSnippetContext
LOWasv/tests/__init__.py1# SPDX-FileCopyrightText: Copyright (c) 2026 The Newton DevelopersCOMMENT
LOWasv/benchmarks/benchmark_inverse_dynamics.py1# SPDX-FileCopyrightText: Copyright (c) 2026 The Newton DevelopersCOMMENT
LOWnewton/_src/sensors/__init__.py1# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton DevelopersCOMMENT
LOWnewton/_src/solvers/kamino/_src/dynamics/dual.py781 # Retrieve the contact material propertiesCOMMENT
LOWnewton/_src/solvers/kamino/_src/dynamics/delassus.py1341 self._device: wp.DeviceLike = NoneCOMMENT
LOW…rc/solvers/kamino/_src/linalg/factorize/llt_blocked.py61COMMENT
LOW…rc/solvers/kamino/_src/linalg/factorize/llt_blocked.py81# tid_block: int,COMMENT
LOWnewton/_src/solvers/kamino/_src/solvers/padmm/types.py81COMMENT
LOW…solvers/kamino/examples/reset/example_reset_dr_legs.py1# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton DevelopersCOMMENT
LOWnewton/_src/solvers/kamino/examples/rl/simulation.py1# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton DevelopersCOMMENT
LOW…n/_src/solvers/kamino/examples/rl/example_rl_drlegs.py1# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton DevelopersCOMMENT
LOW…/_src/solvers/kamino/examples/rl/example_rl_bipedal.py1# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton DevelopersCOMMENT
LOWnewton/_src/solvers/mujoco/solver_mujoco.py3981 # notify_model_changed() may invalidate them during conversion. TheCOMMENT
LOWnewton/_src/solvers/mujoco/solver_mujoco.py4501 )COMMENT
LOWnewton/_src/solvers/mujoco/solver_mujoco.py6801 # RAW solref_limit values are authored MuJoCo data andCOMMENT
LOWnewton/_src/solvers/mujoco/solver_mujoco.py7741 # now complete the data from the Newton modelCOMMENT
LOWnewton/_src/solvers/mujoco/solver_mujoco.py8821 solref_mode_np = np.array(solref_mode_np, copy=True)COMMENT
LOWnewton/_src/solvers/mujoco/kernels.py441 contact_worldid_out: wp.array[int],COMMENT
LOWnewton/_src/solvers/semi_implicit/kernels_particle.py321 f2 = wp.vec3(H[0, 1], H[1, 1], H[2, 1])COMMENT
LOWnewton/_src/solvers/semi_implicit/kernels_particle.py341 # grad1 = vec3(dCdx[0,0], dCdx[1,0], dCdx[2,0])COMMENT
LOWnewton/_src/solvers/semi_implicit/kernels_particle.py361 # grad2 = vec3(dCdx[0,1], dCdx[1,1], dCdx[2,1])COMMENT
LOWnewton/_src/solvers/semi_implicit/kernels_particle.py381COMMENT
LOWnewton/_src/solvers/xpbd/kernels.py501 # F = Ds * inv(Dm).COMMENT
LOWnewton/_src/solvers/xpbd/kernels.py621 wp.atomic_add(delta, l, w3 * dlambda * grad3 * relaxation)COMMENT
LOWnewton/_src/solvers/xpbd/kernels.py641 # grad2 = wp.vec3(dCdx[0, 1], dCdx[1, 1], dCdx[2, 1])COMMENT
LOWnewton/_src/solvers/xpbd/kernels.py661 # # grad1 = wp.vec3(dCdx[0,0], dCdx[1,0], dCdx[2,0])COMMENT
LOWnewton/_src/solvers/xpbd/kernels.py741COMMENT
LOWnewton/_src/solvers/xpbd/kernels.py761 # if (tr < 3.0):COMMENT
LOWnewton/_src/solvers/featherstone/solver_featherstone.py841 )COMMENT
LOWnewton/_src/solvers/featherstone/kernels.py1541# @wp.func_grad(dense_gemm)COMMENT
LOWnewton/_src/solvers/coupled/admm_utils.py721COMMENT
LOWnewton/_src/solvers/coupled/admm_utils.py961 world_pt_a = wp.transform_point(xform_a, point_a_local[i])COMMENT
LOWnewton/_src/utils/import_mjcf.py1981 limit_ke, limit_kd = solref_to_stiffness_damping(solreflimit)COMMENT
LOWnewton/_src/utils/import_usd_deformable_cloth.py181 # the Poisson ratio nu = tri_ka / (tri_ka + 2*tri_ke); the surface material authors noCOMMENT
LOWnewton/_src/utils/selection.py61COMMENT
LOWnewton/_src/utils/selection.py101):COMMENT
LOWnewton/_src/utils/import_usd.py861 com = mass_api.GetCenterOfMassAttr().Get()COMMENT
LOWnewton/_src/utils/import_usd.py1221 subset_props = [(str(subset.GetPath()), usd.resolve_material_properties_for_prim(subset)) for subset in subsets]COMMENT
LOWnewton/_src/utils/import_usd.py2981 child_body_id = add_body(**body_data[i])COMMENT
LOWnewton/_src/utils/import_usd.py3321 # Normalize non-mergeable joints to singleton groups for the parsing pass below.COMMENT
LOWnewton/_src/utils/import_usd.py4141COMMENT
LOWnewton/_src/utils/import_usd.py5301 # gain/bias/dyntype fields before USD export, so a <position kp=K> and aCOMMENT
LOWnewton/_src/viewer/viewer_rtx.py1# SPDX-FileCopyrightText: Copyright (c) 2026 The Newton DevelopersCOMMENT
LOWnewton/_src/viewer/viewer_gui.py1# SPDX-FileCopyrightText: Copyright (c) 2026 The Newton DevelopersCOMMENT
LOWnewton/_src/viewer/gl/gui.py61 self.impl._attach_callbacks(self.window)COMMENT
LOWnewton/_src/geometry/contact_reduction_hydroelastic.py81# associative, so in deterministic mode every per-bin aggregate is accumulatedCOMMENT
LOWnewton/_src/geometry/contact_reduction_hydroelastic.py1201 # Compute shared stiffness so the K reduced contacts reproduceCOMMENT
LOWnewton/_src/geometry/sdf_contact.py21 export_and_reduce_predictive_contact,COMMENT
LOWnewton/_src/geometry/sdf_contact.py41# Search-radius slack over the narrow-band culling threshold for midpoint SDFCOMMENT
LOWnewton/_src/geometry/sdf_contact.py1261 # edge through ``do_edge_sdf_collision``, andCOMMENT
LOWnewton/_src/geometry/narrow_phase.py2301 # CPU kernels currently observe ``wp.block_dim() == 1`` regardlessCOMMENT
LOWnewton/_src/geometry/sdf_texture.py81 raise ValueError("shape_scale components must be finite")COMMENT
LOWnewton/_src/geometry/sdf_texture.py101# ``"hardware"`` path. One ``wp.texture_sample`` for the value, sixCOMMENT
LOWnewton/_src/geometry/inertia.py21COMMENT
LOWnewton/_src/geometry/contact_reduction.py61# "icosahedron" -> 20 bins (default, finer normal resolution)COMMENT
LOWnewton/_src/geometry/contact_match.py481 data.dst_normal_sticky[i] = data.src_normal[i]COMMENT
LOWnewton/_src/geometry/_sdf_cache.py421 # each other's in-flight ``*.tmp.npz``. ``os.replace`` is atomic onCOMMENT
LOWnewton/_src/geometry/contact_reduction_global.py361#COMMENT
LOWnewton/_src/geometry/contact_reduction_global.py721COMMENT
LOWnewton/_src/geometry/contact_sort.py21# Sentinel key for unused contact slots. ``radix_sort_pairs`` treatsCOMMENT
119 more matches not shown…
AI Structural Patterns143 hits · 99 pts
SeverityFileLineSnippetContext
LOWasv/benchmarks/benchmark_mujoco.py359CODE
LOWasv/benchmarks/benchmark_mujoco.py568CODE
LOWnewton/_src/sensors/sensor_tiled_camera.py176CODE
LOWnewton/_src/sensors/warp_raytrace/utils.py415CODE
LOWnewton/_src/sensors/warp_raytrace/utils.py551CODE
LOWnewton/_src/sensors/warp_raytrace/utils.py677CODE
LOWnewton/_src/sensors/warp_raytrace/utils.py761CODE
LOWnewton/_src/sensors/warp_raytrace/utils.py847CODE
LOWnewton/_src/sensors/warp_raytrace/render_context.py175CODE
LOWnewton/_src/solvers/kamino/_src/dynamics/dual.py1204CODE
LOWnewton/_src/solvers/kamino/_src/core/shapes.py433CODE
LOWnewton/_src/solvers/kamino/_src/core/builder.py403CODE
LOWnewton/_src/solvers/kamino/_src/core/builder.py540CODE
LOWnewton/_src/solvers/kamino/_src/linalg/linear.py274CODE
LOWnewton/_src/solvers/kamino/_src/linalg/linear.py581CODE
LOWnewton/_src/solvers/kamino/_src/linalg/conjugate.py548CODE
LOWnewton/_src/solvers/kamino/_src/linalg/utils/rand.py27CODE
LOW…kamino/_src/linalg/factorize/llt_blocked_rcm_solver.py97CODE
LOWnewton/_src/solvers/kamino/_src/solvers/fk/solver.py2299CODE
LOWnewton/_src/solvers/kamino/_src/solvers/dvi/solver.py74CODE
LOWnewton/_src/solvers/kamino/_src/solvers/dvi/solver.py160CODE
LOWnewton/_src/solvers/kamino/_src/utils/profiles.py379CODE
LOWnewton/_src/solvers/kamino/_src/utils/io/usd.py1716CODE
LOW…on/_src/solvers/kamino/_src/utils/control/animation.py237CODE
LOW…ton/_src/solvers/kamino/_src/models/builders/basics.py851CODE
LOW…on/_src/solvers/kamino/_src/models/builders/testing.py144CODE
LOW…on/_src/solvers/kamino/_src/models/builders/testing.py240CODE
LOW…on/_src/solvers/kamino/_src/models/builders/testing.py350CODE
LOW…on/_src/solvers/kamino/_src/models/builders/testing.py441CODE
LOW…on/_src/solvers/kamino/_src/models/builders/testing.py551CODE
LOW…on/_src/solvers/kamino/_src/models/builders/testing.py644CODE
LOW…on/_src/solvers/kamino/_src/models/builders/testing.py1128CODE
LOW…on/_src/solvers/kamino/_src/models/builders/testing.py1221CODE
LOW…on/_src/solvers/kamino/_src/models/builders/testing.py1561CODE
LOWnewton/_src/solvers/kamino/examples/rl/simulation.py232CODE
LOWnewton/_src/solvers/style3d/cloth.py180CODE
LOWnewton/_src/solvers/style3d/cloth.py396CODE
LOWnewton/_src/solvers/implicit_mpm/solver_implicit_mpm.py1525CODE
LOW…rc/solvers/implicit_mpm/implicit_mpm_solver_kernels.py1009CODE
LOW…rc/solvers/implicit_mpm/implicit_mpm_solver_kernels.py1085CODE
LOWnewton/_src/solvers/implicit_mpm/implicit_mpm_model.py433CODE
LOWnewton/_src/solvers/mujoco/solver_mujoco.py3657CODE
LOWnewton/_src/solvers/mujoco/solver_mujoco.py5456CODE
LOWnewton/_src/solvers/mujoco/equality.py253CODE
LOWnewton/_src/solvers/xpbd/solver_xpbd.py100CODE
LOWnewton/_src/solvers/vbd/solver_vbd.py279CODE
LOWnewton/_src/solvers/vbd/tri_mesh_collision.py236CODE
LOWnewton/_src/utils/import_mjcf.py180CODE
LOWnewton/_src/utils/mesh.py1079CODE
LOWnewton/_src/utils/import_urdf.py62CODE
LOWnewton/_src/utils/selection.py567CODE
LOWnewton/_src/utils/import_usd.py273CODE
LOWnewton/_src/viewer/viewer_usd.py283CODE
LOWnewton/_src/viewer/viewer.py1729CODE
LOWnewton/_src/viewer/viewer_rerun.py113CODE
LOWnewton/_src/viewer/viewer_rerun.py248CODE
LOWnewton/_src/viewer/viewer_file.py1335CODE
LOWnewton/_src/viewer/viewer_rtx.py131CODE
LOWnewton/_src/viewer/viewer_rtx.py1421CODE
LOWnewton/_src/viewer/viewer_viser.py610CODE
83 more matches not shown…
Cross-Language Confusion17 hits · 81 pts
SeverityFileLineSnippetContext
HIGHnewton/_src/viewer/kernels.py375 When ``contact_force`` is provided (non-null), the disk is colored by anSTRING
HIGHnewton/_src/viewer/kernels.py383 When ``contact_force`` is null, every active contact uses ``color_open``.STRING
HIGHnewton/_src/viewer/gl/shaders.py183 if (abs(gl_FragCoord.w) < 1.0e-8 || abs(denominator) < 1.0e-8)CODE
HIGHnewton/_src/viewer/gl/shaders.py789 if (s.w <= 0.0 || e.w <= 0.0) return;CODE
HIGHnewton/_src/viewer/gl/shaders.py897 if (s.w <= 0.0 || e.w <= 0.0) return;CODE
HIGHnewton/_src/geometry/soft_contacts_sdf.py123 # conservative lower bound for the cull/search. wp.length() / wp.min(wp.abs()) keep a mirroredCOMMENT
HIGHnewton/_src/sim/builder.py925 """Transformer function that converts a USD attribute value to a valid Warp dtype. If undefined, the generic conSTRING
HIGHnewton/_src/sim/builder.py930 """Transformer function that converts a MJCF attribute value string to a valid Warp dtype. If undefined, the genSTRING
HIGHnewton/_src/sim/builder.py933 """Transformer function that converts a URDF attribute value string to a valid Warp dtype. If undefined, the genSTRING
HIGHnewton/tests/test_download_assets.py59 self.work.git.push("--set-upstream", "origin", "main")CODE
HIGHnewton/tests/test_download_assets.py440 self.work.git.push("--set-upstream", "origin", "main")CODE
HIGHnewton/tests/test_download_assets.py457 self.work.git.push("origin", "v1.0")CODE
HIGHnewton/tests/test_download_assets.py463 self.work.git.push("origin", "v2.0")CODE
HIGHnewton/tests/test_download_assets.py86 self.work.git.push("origin", "main")CODE
HIGHnewton/tests/test_download_assets.py178 self.work.git.push("origin", "v1.0")CODE
HIGHnewton/tests/test_sdf_compute.py1765 undefined, so this test only verifies that the override runs the paritySTRING
HIGHnewton/examples/__init__.py650 help="Viewer to use (gl, usd, rtx, rerun, null, or viser).",CODE
Verbosity Indicators51 hits · 75 pts
SeverityFileLineSnippetContext
LOWnewton/_src/solvers/implicit_mpm/solve_rheology.py1094 # Step 1: strain → batch mappingCOMMENT
LOWnewton/_src/solvers/implicit_mpm/solve_rheology.py1125 # Step 3: compute Delassus diagonal with per-batch mass splittingCOMMENT
LOWnewton/_src/solvers/implicit_mpm/solve_rheology.py1200 # Step 2: per-row exclusive prefix scan (local offsets per batch; fully written)COMMENT
LOWnewton/_src/solvers/implicit_mpm/solve_rheology.py1207 # Step 3: compute per-batch base offsets (single-threaded kernel; fully written)COMMENT
LOWnewton/_src/solvers/implicit_mpm/solve_rheology.py1217 # Step 4: globalize local offsets → _batch_global_offsets[n_batches, n_vel+1]COMMENT
LOWnewton/_src/solvers/implicit_mpm/solve_rheology.py1105 # Step 2: per-velocity-node per-batch sharing counts (accumulator: must be zero)COMMENT
LOWnewton/_src/solvers/implicit_mpm/solve_rheology.py1187 # Step 1: count entries per (batch, velocity-node) (accumulator: must be zero)COMMENT
LOWnewton/_src/solvers/implicit_mpm/solve_rheology.py1229 # Step 5: allocate flat arrays and fill all SCs in one passCOMMENT
LOWnewton/_src/geometry/sdf_contact.py1062 # Step 3: exclusive scan of block counts → block_offsetsCOMMENT
LOWnewton/_src/geometry/sdf_contact.py1029 # Step 1: compute per-pair edge counts in parallelCOMMENT
LOWnewton/_src/geometry/sdf_contact.py1046 # Step 2: compute per-pair block counts using the scalar total.COMMENT
LOWnewton/_src/geometry/narrow_phase.py1745 # Step 3: exclusive scan of block counts → block_offsetsCOMMENT
LOWnewton/_src/geometry/narrow_phase.py1714 # Step 1: compute per-pair vertex counts in parallelCOMMENT
LOWnewton/_src/geometry/narrow_phase.py1729 # Step 2: compute per-pair block counts using the scalar total.COMMENT
LOWnewton/_src/geometry/remesh.py44 # Step 1: Extract point cloud with reliable normalsSTRING
LOWnewton/_src/geometry/remesh.py55 # Step 2: Reconstruct clean mesh using Poisson reconstructionSTRING
LOWnewton/_src/geometry/utils.py301 # Step 1: Compute convex hullCOMMENT
LOWnewton/_src/geometry/utils.py305 # Step 2: Compute mesh inertiaCOMMENT
LOWnewton/_src/geometry/utils.py338 # Step 3: Warp kernel searchCOMMENT
LOWnewton/tests/test_remesh.py327 # Step 1: Extract point cloudCOMMENT
LOWnewton/tests/test_remesh.py334 # Step 2: Reconstruct meshCOMMENT
LOWnewton/tests/test_remesh.py348 # Step 3: Validate reconstructed mesh is close to original cubeCOMMENT
LOWnewton/tests/test_mujoco_solver.py1195 # Step 3: Create solver (it will read the updated values now)COMMENT
LOWnewton/tests/test_mujoco_solver.py1198 # Step 4: Verify jnt_solimp is properly expanded for multi-worldCOMMENT
LOWnewton/tests/test_mujoco_solver.py1202 # Step 5: Verify initial values were converted correctlyCOMMENT
LOWnewton/tests/test_mujoco_solver.py1262 # Step 7: Notify solver of changesCOMMENT
LOWnewton/tests/test_mujoco_solver.py1265 # Step 8: Verify updated values were converted correctlyCOMMENT
LOWnewton/tests/test_mujoco_solver.py1292 # Step 1: Create a template builder and register SolverMuJoCo custom attributesCOMMENT
LOWnewton/tests/test_mujoco_solver.py1346 # Step 2: Replicate to multiple worldsCOMMENT
LOWnewton/tests/test_mujoco_solver.py1352 # Step 3: Initialize solverCOMMENT
LOWnewton/tests/test_mujoco_solver.py1402 # Step 6: Notify solverCOMMENT
LOWnewton/tests/test_mujoco_solver.py1405 # Step 7: Verify updates - iterate over MuJoCo jointsCOMMENT
LOWnewton/tests/test_mujoco_solver.py931 # Step 1: Set initial values with different patterns for each attributeCOMMENT
LOWnewton/tests/test_mujoco_solver.py982 # Step 2: Create solver (this should apply values to MuJoCo)COMMENT
LOWnewton/tests/test_mujoco_solver.py1011 # Step 4: Change all values with different patternsCOMMENT
LOWnewton/tests/test_mujoco_solver.py1054 # Step 5: Notify MuJoCo of changesCOMMENT
LOWnewton/tests/test_mujoco_solver.py1097 # Step 1: Create a template builder and register SolverMuJoCo custom attributesCOMMENT
LOWnewton/tests/test_mujoco_solver.py1155 # Step 2: Set initial solimplimit valuesCOMMENT
LOWnewton/tests/test_mujoco_solver.py1230 # Step 6: Update solimplimit values with different patternsCOMMENT
LOWnewton/tests/test_mujoco_solver.py1365 # Step 4: Verify initial values - iterate over MuJoCo jointsCOMMENT
LOWnewton/tests/test_mujoco_solver.py1381 # Step 5: Update limit_margin values at runtimeCOMMENT
LOWnewton/tests/test_collision_primitives.py1901 # Step 1: Initially separated by 0.1COMMENT
LOWnewton/tests/test_collision_primitives.py1907 # Step 2: Just touching (gap = 0)COMMENT
LOWnewton/tests/test_collision_primitives.py1913 # Step 3: Penetration of 0.1COMMENT
LOWnewton/tests/test_collision_primitives.py1920 # Step 4: Penetration of 0.2COMMENT
LOWnewton/tests/test_collision_primitives.py1927 # Step 5: Penetration of 0.3COMMENT
LOWnewton/tests/test_runtime_gravity.py87 # Step 1: Simulate with default gravityCOMMENT
LOWnewton/tests/test_runtime_gravity.py96 # Step 2: Change gravity to zero at runtimeCOMMENT
LOWnewton/tests/test_runtime_gravity.py143 # Step 1: Simulate with default gravityCOMMENT
LOWnewton/tests/test_runtime_gravity.py152 # Step 2: Change gravity to horizontalCOMMENT
LOWnewton/tests/test_runtime_gravity.py110 # Step 3: Change gravity to positive (upward)COMMENT
Structural Annotation Overuse51 hits · 74 pts
SeverityFileLineSnippetContext
LOWnewton/_src/solvers/implicit_mpm/solve_rheology.py1094 # Step 1: strain → batch mappingCOMMENT
LOWnewton/_src/solvers/implicit_mpm/solve_rheology.py1125 # Step 3: compute Delassus diagonal with per-batch mass splittingCOMMENT
LOWnewton/_src/solvers/implicit_mpm/solve_rheology.py1200 # Step 2: per-row exclusive prefix scan (local offsets per batch; fully written)COMMENT
LOWnewton/_src/solvers/implicit_mpm/solve_rheology.py1207 # Step 3: compute per-batch base offsets (single-threaded kernel; fully written)COMMENT
LOWnewton/_src/solvers/implicit_mpm/solve_rheology.py1217 # Step 4: globalize local offsets → _batch_global_offsets[n_batches, n_vel+1]COMMENT
LOWnewton/_src/solvers/implicit_mpm/solve_rheology.py1105 # Step 2: per-velocity-node per-batch sharing counts (accumulator: must be zero)COMMENT
LOWnewton/_src/solvers/implicit_mpm/solve_rheology.py1187 # Step 1: count entries per (batch, velocity-node) (accumulator: must be zero)COMMENT
LOWnewton/_src/solvers/implicit_mpm/solve_rheology.py1229 # Step 5: allocate flat arrays and fill all SCs in one passCOMMENT
LOWnewton/_src/geometry/sdf_contact.py1062 # Step 3: exclusive scan of block counts → block_offsetsCOMMENT
LOWnewton/_src/geometry/sdf_contact.py1029 # Step 1: compute per-pair edge counts in parallelCOMMENT
LOWnewton/_src/geometry/sdf_contact.py1046 # Step 2: compute per-pair block counts using the scalar total.COMMENT
LOWnewton/_src/geometry/narrow_phase.py1745 # Step 3: exclusive scan of block counts → block_offsetsCOMMENT
LOWnewton/_src/geometry/narrow_phase.py1714 # Step 1: compute per-pair vertex counts in parallelCOMMENT
LOWnewton/_src/geometry/narrow_phase.py1729 # Step 2: compute per-pair block counts using the scalar total.COMMENT
LOWnewton/_src/geometry/remesh.py44 # Step 1: Extract point cloud with reliable normalsSTRING
LOWnewton/_src/geometry/remesh.py55 # Step 2: Reconstruct clean mesh using Poisson reconstructionSTRING
LOWnewton/_src/geometry/utils.py301 # Step 1: Compute convex hullCOMMENT
LOWnewton/_src/geometry/utils.py305 # Step 2: Compute mesh inertiaCOMMENT
LOWnewton/_src/geometry/utils.py338 # Step 3: Warp kernel searchCOMMENT
LOWnewton/tests/test_remesh.py327 # Step 1: Extract point cloudCOMMENT
LOWnewton/tests/test_remesh.py334 # Step 2: Reconstruct meshCOMMENT
LOWnewton/tests/test_remesh.py348 # Step 3: Validate reconstructed mesh is close to original cubeCOMMENT
LOWnewton/tests/test_mujoco_solver.py1195 # Step 3: Create solver (it will read the updated values now)COMMENT
LOWnewton/tests/test_mujoco_solver.py1198 # Step 4: Verify jnt_solimp is properly expanded for multi-worldCOMMENT
LOWnewton/tests/test_mujoco_solver.py1202 # Step 5: Verify initial values were converted correctlyCOMMENT
LOWnewton/tests/test_mujoco_solver.py1262 # Step 7: Notify solver of changesCOMMENT
LOWnewton/tests/test_mujoco_solver.py1265 # Step 8: Verify updated values were converted correctlyCOMMENT
LOWnewton/tests/test_mujoco_solver.py1292 # Step 1: Create a template builder and register SolverMuJoCo custom attributesCOMMENT
LOWnewton/tests/test_mujoco_solver.py1346 # Step 2: Replicate to multiple worldsCOMMENT
LOWnewton/tests/test_mujoco_solver.py1352 # Step 3: Initialize solverCOMMENT
LOWnewton/tests/test_mujoco_solver.py1402 # Step 6: Notify solverCOMMENT
LOWnewton/tests/test_mujoco_solver.py1405 # Step 7: Verify updates - iterate over MuJoCo jointsCOMMENT
LOWnewton/tests/test_mujoco_solver.py931 # Step 1: Set initial values with different patterns for each attributeCOMMENT
LOWnewton/tests/test_mujoco_solver.py982 # Step 2: Create solver (this should apply values to MuJoCo)COMMENT
LOWnewton/tests/test_mujoco_solver.py1011 # Step 4: Change all values with different patternsCOMMENT
LOWnewton/tests/test_mujoco_solver.py1054 # Step 5: Notify MuJoCo of changesCOMMENT
LOWnewton/tests/test_mujoco_solver.py1097 # Step 1: Create a template builder and register SolverMuJoCo custom attributesCOMMENT
LOWnewton/tests/test_mujoco_solver.py1155 # Step 2: Set initial solimplimit valuesCOMMENT
LOWnewton/tests/test_mujoco_solver.py1230 # Step 6: Update solimplimit values with different patternsCOMMENT
LOWnewton/tests/test_mujoco_solver.py1365 # Step 4: Verify initial values - iterate over MuJoCo jointsCOMMENT
LOWnewton/tests/test_mujoco_solver.py1381 # Step 5: Update limit_margin values at runtimeCOMMENT
LOWnewton/tests/test_collision_primitives.py1901 # Step 1: Initially separated by 0.1COMMENT
LOWnewton/tests/test_collision_primitives.py1907 # Step 2: Just touching (gap = 0)COMMENT
LOWnewton/tests/test_collision_primitives.py1913 # Step 3: Penetration of 0.1COMMENT
LOWnewton/tests/test_collision_primitives.py1920 # Step 4: Penetration of 0.2COMMENT
LOWnewton/tests/test_collision_primitives.py1927 # Step 5: Penetration of 0.3COMMENT
LOWnewton/tests/test_runtime_gravity.py87 # Step 1: Simulate with default gravityCOMMENT
LOWnewton/tests/test_runtime_gravity.py96 # Step 2: Change gravity to zero at runtimeCOMMENT
LOWnewton/tests/test_runtime_gravity.py143 # Step 1: Simulate with default gravityCOMMENT
LOWnewton/tests/test_runtime_gravity.py152 # Step 2: Change gravity to horizontalCOMMENT
LOWnewton/tests/test_runtime_gravity.py110 # Step 3: Change gravity to positive (upward)COMMENT
AI Slop Vocabulary25 hits · 62 pts
SeverityFileLineSnippetContext
MEDIUMnewton/_src/solvers/kamino/_src/solvers/warmstart.py619 # First sort the keys of cached limits to facilitate binary searchCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/solvers/warmstart.py672 # First sort the keys of cached contacts to facilitate binary searchCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/solvers/warmstart.py746 # First sort the keys of cached contacts to facilitate binary searchCOMMENT
MEDIUMnewton/_src/solvers/kamino/_src/solvers/warmstart.py801 # First sort the keys of cached contacts to facilitate binary searchCOMMENT
MEDIUM…on/_src/solvers/kamino/_src/utils/control/animation.py393 # TODO: Try this instead (it might be more robust):COMMENT
LOWnewton/_src/solvers/kamino/_src/kinematics/jacobians.py103 # TODO: Since the lever-arm is a relative position, can we just use B_r_Bj and F_r_Fj instead?COMMENT
MEDIUM…ton/_src/solvers/implicit_mpm/rasterized_collisions.py35"""Small angle threshold to use more robust and faster path for angular velocity calculations"""STRING
MEDIUMnewton/_src/solvers/mujoco/solver_mujoco.py5847 # this robust for models assembled without the standard custom-attribute pipeline.COMMENT
MEDIUMnewton/_src/solvers/featherstone/solver_featherstone.py362 # allocate mass, Jacobian matrices, and other auxiliary variables pertaining to the modelCOMMENT
LOWnewton/_src/utils/import_mjcf.py791 # to pad against, so just return the parsed vector as-is.COMMENT
MEDIUMnewton/_src/utils/mesh.py1825 # Side vertices first (contiguous layout for robust indexing).COMMENT
MEDIUMnewton/_src/utils/import_urdf.py35# Optional dependency for robust URI resolutionCOMMENT
MEDIUMnewton/_src/viewer/viewer_usd.py928 # Convert the string to an Sdf.Path object for robust manipulationCOMMENT
LOWnewton/_src/viewer/viewer_rerun.py411 # so we just use the first instance's color for all instancesCOMMENT
MEDIUMnewton/_src/viewer/viewer_rtx.py165 # OVRTX 0.3+ ships with namespaced USD builds that should be safe to use in conjunction withCOMMENT
MEDIUMnewton/_src/geometry/flags.py52 """Angle-weighted closest-face pseudo-normal; robust for open surfaces."""STRING
MEDIUMnewton/_src/geometry/simplex_solver.py383 # Track last search direction for robust normal fallbackCOMMENT
LOWnewton/_src/geometry/remesh.py504 # No subdivision needed - just return face centersCOMMENT
MEDIUMnewton/_src/geometry/collision_primitive.py1206 # sphere center inside box (use robust epsilon for numerical stability across platforms)COMMENT
MEDIUMnewton/tests/test_recorder.py483 # This comprehensive list covers all dtypes used in Newton Model/State/Control/ContactsCOMMENT
MEDIUMnewton/tests/test_schema_resolver.py815 # Map joint keys to expected values for more robust testingCOMMENT
MEDIUMnewton/tests/test_import_usd.py1115 # Find joints by their keys to make test robust to ordering changesSTRING
MEDIUMnewton/tests/test_joint_limits.py204 # Test robust comparisonsCOMMENT
MEDIUMnewton/examples/contacts/example_brick_stacking.py657 # approximate the brick geometry to make brick-brick contacts more robust,COMMENT
MEDIUMnewton/examples/cloth/example_cloth_h1.py10# Demonstrates how to leverage interpolated robot kinematics within theCOMMENT
Slop Phrases5 hits · 6 pts
SeverityFileLineSnippetContext
LOWnewton/_src/solvers/xpbd/kernels.py1132 # Eq. 2-3 (make sure to project into the frame of the body)COMMENT
LOWnewton/_src/solvers/xpbd/kernels.py2070 # Eq. 2-3 (make sure to project into the frame of the body)COMMENT
LOWnewton/_src/solvers/xpbd/kernels.py2110 # Eq. 2-3 (make sure to project into the frame of the body)COMMENT
LOWnewton/_src/solvers/xpbd/kernels.py2147 # Eq. 2-3 (make sure to project into the frame of the body)COMMENT
LOWnewton/_src/solvers/vbd/particle_vbd_kernels.py2294 # Don't forget to do the final truncation based on the maximum displacement allowance!STRING
Example Usage Blocks3 hits · 4 pts
SeverityFileLineSnippetContext
LOW…n/_src/solvers/kamino/examples/rl/example_rl_drlegs.py18# Usage:COMMENT
LOW…/_src/solvers/kamino/examples/rl/example_rl_bipedal.py12# Usage:COMMENT
LOW…c/solvers/kamino/examples/rl/test_multi_env_dr_legs.py7# Usage:COMMENT
Overly Generic Function Names2 hits · 2 pts
SeverityFileLineSnippetContext
LOW…tests/kamino/test_kamino_solvers_forward_kinematics.py106 def test_function(model: ModelKamino):CODE
LOW…tests/kamino/test_kamino_solvers_forward_kinematics.py257 def test_function(model: ModelKamino):CODE
TODO Padding1 hit · 2 pts
SeverityFileLineSnippetContext
LOWnewton/_src/solvers/kamino/_src/linalg/conjugate.py370 # TODO: consider using a spinlock for fusing kernelsCOMMENT