An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.
This report summarizes scanner evidence for newton-physics/newton, a Python project with 5,747 GitHub stars. SynthScan examined 651,637 lines of code across 1142 source files, recording 12732 pattern matches distributed across 22 syntactic categories. The legacy adjusted pattern signal is 25.2 (Elevated pattern signal); it is not an authorship estimate.
Use the findings to ask whether maintainers can explain intent, verify dependencies, simplify unnecessary scaffolding, and focus review effort. Risk Payload v1 adds ownership, supply-chain, over-engineering, and review-effort vectors when available. These are prompts for human verification, not probabilities, security findings, or measured maintenance costs.
Use each vector to guide manual verification of the underlying findings.
Can maintainers explain intent, assumptions, and trade-offs? 10160 finding(s).
Are imports declared and package/API names verified? 954 finding(s).
Are wrappers, guards, and repeated structures necessary? 9684 finding(s).
Which changes need focused human review? 12732 finding(s).
This chart tracks the legacy adjusted pattern score across scan runs. Changes can reflect source changes, scan coverage, or detector/scoring versions; they do not measure AI adoption or prove that a team refactored code. Compare runs only when their scoring versions are compatible. The dashed line tracks the raw pattern-hit count.
Groups findings by configured severity weight. Severity is not a confidence estimate, security rating, or proof that a package is missing. Verify imports against the project's manifests and inspect each finding in its local design context.
This horizontal bar chart shows where configured pattern scores accumulate across directories. Treat the bars as locations to inspect, not as evidence of authorship or code quality. Use the file-level findings to decide whether a directory needs a focused ownership, dependency, complexity, or review check.
The scanner identified 12732 distinct pattern matches across 22 syntactic categories. Each entry below represents a discrete location in the source code where the engine recorded a detector match to inspect in context. 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 configured finding weight (CRITICAL / HIGH / MEDIUM / LOW). The Context column identifies whether the match occurred inside executable code, an inline comment, or a string literal — legacy comment-context matches receive a ×1.5 score weight. The ⚡ bolt icon marks clustered matches: three or more patterns within a 10-line window, each receiving an additional ×1.5 density multiplier under the legacy scoring model.
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | asv/tests/test_benchmark_simulation.py | 121 | def test_asv_runner_resolves_benchmark_support_modules(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 144 | def test_benchmark_imports_preserve_warp_config(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 151 | def test_benchmark_modules_defer_workload_imports(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 166 | def test_convex_benchmark_covers_types_and_scales(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 187 | def test_nightly_collision_benchmarks_cover_distinct_pipeline_paths(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 207 | def test_deformable_collision_benchmark_is_in_pr_gate(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 233 | def test_mujoco_step_falls_back_when_cuda_graph_is_unavailable(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 256 | def test_mujoco_contact_observables_only_update_on_last_substep(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 281 | def test_mujoco_benchmark_supports_sensorless_steps(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 302 | def test_mujoco_kpi_requires_cuda_graph(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 311 | def test_mujoco_metrics_include_solver_iterations(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 344 | def test_initialize_kpis_discard_a_matching_warmup_sample(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 382 | def test_initialize_kpis_share_one_cache(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 392 | def test_metric_setup_caches_skip_without_cuda(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 412 | def test_kpi_dr_legs_setup_cache_timeout_exceeds_default(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 417 | def test_fast_dr_legs_solver_does_not_import_torch(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 467 | def test_aws_benchmark_comparison_gates_only_runtime_metrics(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 531 | def test_pr_gate_caps_repeats_without_dropping_cases(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 546 | def test_fast_allegro_uses_representative_pr_workload(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 560 | def test_pr_asv_config_only_omits_torch(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 582 | def test_pr_camera_warmup_matches_selected_outputs(self): | CODE |
| LOW | asv/tests/test_benchmark_simulation.py | 641 | def test_anymal_short_horizon_validation(self): | CODE |
| LOW | asv/tests/test_benchmark_metrics.py | 24 | def test_compute_simulation_metrics(self): | CODE |
| LOW | asv/tests/test_benchmark_metrics.py | 42 | def test_collect_simulation_metrics(self): | CODE |
| LOW | asv/tests/test_benchmark_metrics.py | 101 | def test_collect_simulation_metrics_with_synchronization(self): | CODE |
| LOW | asv/tests/test_benchmark_metrics.py | 155 | def test_collect_simulation_metrics_rejects_increased_free_memory(self): | CODE |
| LOW | asv/tests/test_benchmark_metrics.py | 186 | def test_collect_startup_metrics(self): | CODE |
| LOW | asv/tests/test_benchmark_metrics.py | 220 | def test_collect_startup_metrics_rejects_missing_phases(self): | CODE |
| LOW | asv/tests/test_benchmark_metrics.py | 241 | def test_collect_startup_metrics_rejects_nonpositive_samples(self): | CODE |
| LOW | asv/tests/test_benchmark_metrics.py | 247 | def test_validate_simulation_state(self): | CODE |
| LOW | asv/benchmarks/benchmark_metric_tracks.py | 18 | def track_simulation_steps_per_second(self, metrics, world_count): | CODE |
| LOW | asv/benchmarks/benchmark_metric_tracks.py | 36 | def track_steady_state_gpu_memory(self, metrics, world_count): | CODE |
| LOW | asv/benchmarks/benchmark_metric_tracks.py | 58 | def track_mean_world_step_time(self, metrics): | CODE |
| LOW | asv/benchmarks/benchmark_metric_tracks.py | 64 | def track_simulation_steps_per_second(self, metrics): | CODE |
| LOW | asv/benchmarks/benchmark_metric_tracks.py | 82 | def track_steady_state_gpu_memory(self, metrics): | CODE |
| LOW | asv/benchmarks/benchmark_metrics.py | 41 | def compute_simulation_metrics( | CODE |
| LOW | asv/benchmarks/benchmark_metrics.py | 79 | def validate_simulation_state( | CODE |
| LOW | asv/benchmarks/benchmark_metrics.py | 113 | def collect_simulation_metrics( | CODE |
| LOW | asv/benchmarks/setup/bench_model.py | 88 | def track_mean_replication_time(self, metrics, robot, world_count): | CODE |
| LOW | asv/benchmarks/setup/bench_model.py | 165 | def _initialize_model_and_sensor(self, builder): | CODE |
| LOW | asv/benchmarks/setup/bench_model.py | 220 | def peakmem_initialize_model_cpu(self, robot, world_count): | CODE |
| LOW | asv/benchmarks/simulation/bench_teleop_mujoco.py | 94 | def coefficient_of_variation_pct(self, name: str) -> float: | CODE |
| LOW⚡ | asv/benchmarks/simulation/bench_teleop_mujoco.py | 556 | def track_sustainable_physics_step_hz(self, mode: str) -> float: | CODE |
| LOW⚡ | asv/benchmarks/simulation/bench_teleop_mujoco.py | 563 | def track_mean_target_error_m(self, mode: str) -> float: | CODE |
| LOW⚡ | asv/benchmarks/simulation/bench_teleop_mujoco.py | 569 | def track_mean_target_rotation_error_rad(self, mode: str) -> float: | CODE |
| LOW⚡ | asv/benchmarks/simulation/bench_teleop_mujoco.py | 575 | def track_hand_object_contact_frame_pct(self, mode: str) -> float: | CODE |
| LOW⚡ | asv/benchmarks/simulation/bench_teleop_mujoco.py | 582 | def track_object_displacement_m(self, mode: str) -> float: | CODE |
| LOW | asv/benchmarks/simulation/bench_sensor_tiled_camera.py | 116 | def _disable_collision_handling(builder: newton.ModelBuilder) -> None: | CODE |
| LOW | asv/benchmarks/simulation/bench_contacts.py | 175 | def _build_single_world_scene(pair_count: int) -> newton.Model: | CODE |
| LOW | asv/benchmarks/simulation/bench_cable.py | 17 | def _supports_cable_pile_size_args(): | CODE |
| LOW | asv/benchmarks/simulation/bench_reset.py | 276 | def time_reset_and_first_step(self, world_count, reset_count): | CODE |
| LOW | asv/benchmarks/simulation/bench_sensor_camera.py | 115 | def _disable_collision_handling(builder: newton.ModelBuilder) -> None: | CODE |
| LOW | asv/benchmarks/simulation/bench_mujoco.py | 84 | def _validate_metrics_workload(self, workload, world_count, solver_niter_samples): | CODE |
| LOW⚡ | asv/benchmarks/simulation/bench_kamino.py | 238 | def time_notify_actuator_properties(self): | CODE |
| LOW⚡ | asv/benchmarks/simulation/bench_kamino.py | 246 | def time_notify_body_inertial_properties(self): | CODE |
| LOW⚡ | asv/benchmarks/simulation/bench_kamino.py | 250 | def time_notify_body_properties(self): | CODE |
| LOW⚡ | asv/benchmarks/simulation/bench_kamino.py | 254 | def time_notify_joint_dof_properties(self): | CODE |
| LOW⚡ | asv/benchmarks/simulation/bench_kamino.py | 258 | def time_notify_joint_properties(self): | CODE |
| LOW⚡ | asv/benchmarks/simulation/bench_kamino.py | 262 | def time_notify_model_properties(self): | CODE |
| LOW⚡ | asv/benchmarks/simulation/bench_kamino.py | 266 | def time_notify_shape_properties(self): | CODE |
| 7844 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM | newton/usd.py | 10 | # ================================================================================== | COMMENT |
| MEDIUM | newton/usd.py | 12 | # ================================================================================== | COMMENT |
| MEDIUM | newton/usd.py | 56 | # ================================================================================== | COMMENT |
| MEDIUM | newton/usd.py | 58 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/__init__.py | 47 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/__init__.py | 49 | # ================================================================================== | COMMENT |
| MEDIUM | newton/__init__.py | 4 | # ================================================================================== | COMMENT |
| MEDIUM | newton/__init__.py | 6 | # ================================================================================== | COMMENT |
| MEDIUM | newton/__init__.py | 74 | # ================================================================================== | COMMENT |
| MEDIUM | newton/__init__.py | 76 | # ================================================================================== | COMMENT |
| MEDIUM | newton/__init__.py | 123 | # ================================================================================== | COMMENT |
| MEDIUM | newton/__init__.py | 125 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 7 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 9 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 17 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 19 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 44 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 46 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 55 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 57 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 135 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 137 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 144 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 146 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 153 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 155 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 165 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 167 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 175 | # ================================================================================== | COMMENT |
| MEDIUM⚡ | newton/utils.py | 177 | # ================================================================================== | COMMENT |
| MEDIUM | newton/utils.py | 71 | # ================================================================================== | COMMENT |
| MEDIUM | newton/utils.py | 73 | # ================================================================================== | COMMENT |
| MEDIUM | newton/_src/sensors/warp_raytrace/__init__.py | 4 | # ============================================================================= | COMMENT |
| MEDIUM | newton/_src/sensors/warp_raytrace/__init__.py | 15 | # ============================================================================= | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/solver_kamino_impl.py | 167 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/solver_kamino_impl.py | 217 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …ton/_src/solvers/kamino/_src/linalg/conjugate_fused.py | 74 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …ton/_src/solvers/kamino/_src/linalg/conjugate_fused.py | 76 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …ton/_src/solvers/kamino/_src/linalg/conjugate_fused.py | 311 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …ton/_src/solvers/kamino/_src/linalg/conjugate_fused.py | 313 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/linalg/conjugate.py | 202 | # --------------- | COMMENT |
| MEDIUM⚡ | …_src/solvers/kamino/_src/linalg/factorize/rcm_batch.py | 85 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | …_src/solvers/kamino/_src/linalg/factorize/rcm_batch.py | 87 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …_src/solvers/kamino/_src/linalg/factorize/rcm_batch.py | 112 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …_src/solvers/kamino/_src/linalg/factorize/rcm_batch.py | 114 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …_src/solvers/kamino/_src/linalg/factorize/rcm_batch.py | 474 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | …_src/solvers/kamino/_src/linalg/factorize/rcm_batch.py | 476 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/geometry/aggregation.py | 626 | # ------------------------------------------------------------------ | COMMENT |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/geometry/aggregation.py | 628 | # ------------------------------------------------------------------ | COMMENT |
| MEDIUM⚡ | newton/_src/solvers/kamino/examples/rl/simulation.py | 543 | # ------------------------------------------------------------------ | COMMENT |
| MEDIUM⚡ | newton/_src/solvers/kamino/examples/rl/simulation.py | 545 | # ------------------------------------------------------------------ | COMMENT |
| MEDIUM⚡ | newton/_src/solvers/kamino/examples/rl/simulation.py | 1003 | # ------------------------------------------------------------------ | COMMENT |
| MEDIUM⚡ | newton/_src/solvers/kamino/examples/rl/simulation.py | 1005 | # ------------------------------------------------------------------ | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/examples/rl/simulation.py | 383 | # ------------------------------------------------------------------ | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/examples/rl/simulation.py | 385 | # ------------------------------------------------------------------ | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/examples/rl/simulation.py | 442 | # ------------------------------------------------------------------ | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/examples/rl/simulation.py | 444 | # ------------------------------------------------------------------ | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/examples/rl/simulation.py | 609 | # ------------------------------------------------------------------ | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/examples/rl/simulation.py | 611 | # ------------------------------------------------------------------ | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/examples/rl/simulation.py | 631 | # ------------------------------------------------------------------ | COMMENT |
| 881 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM | asv/benchmarks/benchmark_ik.py | 7 | # This module provides shared logic for IK benchmarks on the | COMMENT |
| MEDIUM | asv/benchmarks/benchmark_inverse_dynamics.py | 7 | # This module provides shared logic for inverse-dynamics benchmarks on | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/config.py | 276 | # Create a default instance of the config to access default values for the attributes | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/solver_kamino.py | 377 | # Create a base config with default values and | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/solver_kamino.py | 775 | # Create a Kamino model from the Newton model | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/solver_kamino.py | 803 | # Create a collision detector if enabled in the config, otherwise | COMMENT |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/dynamics/dual.py | 26 | # Create a model builder and add bodies, joints, geoms, etc. | STRING |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/dynamics/dual.py | 30 | # Create a model from the builder and construct additional | STRING |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/dynamics/dual.py | 38 | # Define a linear solver type to use as a back-end for the | STRING |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/dynamics/dual.py | 48 | # Create a dual forward dynamics problem and build it using the current model | STRING |
| MEDIUM | newton/_src/solvers/kamino/_src/dynamics/delassus.py | 1504 | # Create a shallow copy of the constraint Jacobian, but with a separate array for non-zero block values. | COMMENT |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/dynamics/delassus.py | 23 | # Create a model builder and add bodies, joints, geoms, etc. | STRING |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/dynamics/delassus.py | 27 | # Create a model from the builder and construct additional | STRING |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/dynamics/delassus.py | 35 | # Define a linear solver type to use as a back-end for the | STRING |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/dynamics/delassus.py | 45 | # Create a Delassus operator and build it using the current model data | STRING |
| MEDIUM | newton/_src/solvers/kamino/_src/dynamics/delassus.py | 1260 | # Create a model builder and add bodies, joints, geoms, etc. | STRING |
| MEDIUM | newton/_src/solvers/kamino/_src/dynamics/delassus.py | 1264 | # Create a model from the builder and construct additional | STRING |
| MEDIUM | newton/_src/solvers/kamino/_src/dynamics/delassus.py | 1276 | # Create a Delassus operator from the model data and Jacobians | STRING |
| MEDIUM | newton/_src/solvers/kamino/_src/core/shapes.py | 473 | # Create the underlying mesh data container | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/core/materials.py | 429 | # Define the Warp function to retrieve material pair properties | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/core/materials.py | 465 | # Define the Warp function to retrieve material pair properties | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/core/model.py | 617 | # Create a new model data info with the total constraint | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/core/model.py | 717 | # Create a new state container with the initial state of the model entities on the specified device | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/core/model.py | 756 | # Create a new control container on the specified device | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/core/model.py | 833 | # Initialize SizeKamino object, to be completed by helper functions | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/core/state.py | 349 | # Create a new StateKamino object, aliasing the relevant data from the input newton.State | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/core/state.py | 404 | # Create a new State object, aliasing the relevant | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/linalg/linear.py | 208 | # Initialize base class members | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/linalg/linear.py | 482 | # Initialize base class members | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/linalg/linear.py | 632 | # Create the factorization and solve kernels | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/linalg/linear.py | 637 | # Initialize base class members | COMMENT |
| MEDIUM | …kamino/_src/linalg/factorize/llt_blocked_rcm_solver.py | 255 | # Initialize base class members | COMMENT |
| MEDIUM | …rc/solvers/kamino/_src/linalg/factorize/llt_blocked.py | 104 | # Create a temporary warp array pointing to the i-th matrix | COMMENT |
| MEDIUM | …rc/solvers/kamino/_src/linalg/factorize/llt_blocked.py | 225 | # Create a temporary warp array pointing to the i-th matrix | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/solvers/warmstart.py | 958 | # Create a key sorter that can handle the maximum number of contacts | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/solvers/warmstart.py | 1180 | # Create a key sorter that can handle the maximum number of contacts | COMMENT |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/solvers/metrics.py | 46 | # Create a forward-dynamics DualProblem to be solved | STRING |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/solvers/metrics.py | 50 | # Create a forward-dynamics PADMM solver | STRING |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/solvers/metrics.py | 57 | # Create a SolutionMetrics container | STRING |
| MEDIUM | newton/_src/solvers/kamino/_src/solvers/metrics.py | 29 | # Create a model builder and add bodies, joints, shapes, etc. | STRING |
| MEDIUM | newton/_src/solvers/kamino/_src/solvers/metrics.py | 33 | # Create a model from the builder and construct additional | STRING |
| MEDIUM | newton/_src/solvers/kamino/_src/solvers/fk/solver.py | 266 | # Create a copy of the model's joints with added joints as needed: | COMMENT |
| MEDIUM | …ton/_src/solvers/kamino/_src/solvers/padmm/__init__.py | 43 | # Create a model builder and add bodies, joints, geoms, etc. | STRING |
| MEDIUM | …ton/_src/solvers/kamino/_src/solvers/padmm/__init__.py | 47 | # Create a model from the builder and construct additional | STRING |
| MEDIUM | …ton/_src/solvers/kamino/_src/solvers/padmm/__init__.py | 59 | # Create a forward-dynamics DualProblem to be solved | STRING |
| MEDIUM | …ton/_src/solvers/kamino/_src/solvers/padmm/__init__.py | 63 | # Create a forward-dynamics PADMM solver | STRING |
| MEDIUM | newton/_src/solvers/kamino/_src/utils/logger.py | 79 | # Create a stream handler with the custom logger format. | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/utils/profiles.py | 436 | # Create the figure and axis | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/utils/sim/datalog.py | 224 | # Create an array for time logging | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/utils/sim/datalog.py | 332 | # Create an array for time logging | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/utils/sim/datalog.py | 404 | # Create an array for time logging | COMMENT |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/utils/sim/simulator.py | 90 | # Create a model builder and define the model | STRING |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/utils/sim/simulator.py | 93 | # Define the model components (e.g., bodies, joints, collision geometries etc.) | STRING |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/utils/sim/simulator.py | 101 | # Create the simulator from the model | STRING |
| MEDIUM | newton/_src/solvers/kamino/_src/utils/sim/simulator.py | 211 | # Define a physics solver for time-stepping | COMMENT |
| MEDIUM | …on/_src/solvers/kamino/_src/utils/control/animation.py | 367 | # Create the up-sampling interpolation function | COMMENT |
| MEDIUM | …on/_src/solvers/kamino/_src/utils/control/animation.py | 542 | # Create the rate and loop arrays | COMMENT |
| MEDIUM⚡ | newton/_src/solvers/kamino/_src/kinematics/limits.py | 282 | # Define a vector type for the joint coordinates | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/kinematics/joints.py | 516 | # Define a vector type for the joint coordinates | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/kinematics/joints.py | 519 | # Define the coordinate bound for correction | COMMENT |
| 611 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | asv/run_pr_benchmarks.py | 6 | CODE | |
| LOW | asv/benchmarks/benchmark_ik.py | 11 | CODE | |
| LOW | asv/benchmarks/benchmark_inverse_dynamics.py | 11 | CODE | |
| LOW | asv/benchmarks/simulation/bench_teleop_mujoco.py | 12 | CODE | |
| LOW | asv/benchmarks/simulation/bench_ik.py | 4 | CODE | |
| LOW | asv/benchmarks/simulation/bench_inverse_dynamics.py | 4 | CODE | |
| LOW | newton/usd.py | 13 | CODE | |
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| LOW | newton/viewer.py | 5 | CODE | |
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| LOW | newton/sensors.py | 4 | CODE | |
| LOW | newton/sensors.py | 9 | CODE | |
| LOW | newton/sensors.py | 14 | CODE | |
| LOW | newton/sensors.py | 19 | CODE | |
| LOW | newton/sensors.py | 24 | CODE | |
| LOW | newton/controllers.py | 13 | CODE | |
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| LOW | newton/controllers.py | 13 | CODE | |
| LOW | newton/ik.py | 6 | CODE | |
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| 813 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| CRITICAL | newton/_src/solvers/kamino/_src/solvers/fk/solver.py | 897 | self.data.problem.sparse_jacobian.dims.assign(jacobian_dims) | CODE |
| CRITICAL⚡ | newton/_src/solvers/kamino/_src/utils/sim/datalog.py | 159 | self.log_num_contacts[self._frames] = self._sim.contacts.data.model_active_contacts.numpy()[0] | CODE |
| CRITICAL⚡ | newton/_src/solvers/kamino/_src/utils/sim/datalog.py | 162 | self.log_padmm_iters[self._frames] = self._sim.solver.solver_fd.data.status.numpy()[0][1] | CODE |
| CRITICAL⚡ | newton/_src/solvers/kamino/_src/utils/sim/datalog.py | 163 | self.log_padmm_r_p[self._frames] = self._sim.solver.solver_fd.data.status.numpy()[0][2] | CODE |
| CRITICAL⚡ | newton/_src/solvers/kamino/_src/utils/sim/datalog.py | 164 | self.log_padmm_r_d[self._frames] = self._sim.solver.solver_fd.data.status.numpy()[0][3] | CODE |
| CRITICAL⚡ | newton/_src/solvers/kamino/_src/utils/sim/datalog.py | 165 | 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.py | 446 | np.testing.assert_allclose(multi_sim.solver.data.joints.tau_j.numpy(), sample_ctrl_tau_j) | CODE |
| CRITICAL⚡ | newton/_src/solvers/kamino/examples/rl/simulation.py | 540 | self._w_e_i = self.sim.solver.data.bodies.w_e_i.view(wp.float32).reshape((nw, nb, 6)) | CODE |
| CRITICAL⚡ | newton/_src/solvers/kamino/examples/rl/simulation.py | 541 | self._mass = self.sim.model.bodies.m_i.reshape((nw, nb)) | CODE |
| CRITICAL⚡ | newton/_src/solvers/kamino/examples/rl/simulation.py | 554 | joint_num_coords = self.sim.model.joints.num_coords.numpy()[:max_joints].tolist() | CODE |
| CRITICAL⚡ | newton/_src/solvers/kamino/examples/rl/simulation.py | 555 | joint_num_dofs = self.sim.model.joints.num_dofs.numpy()[:max_joints].tolist() | CODE |
| CRITICAL⚡ | newton/_src/solvers/kamino/examples/rl/simulation.py | 556 | joint_act_type = self.sim.model.joints.act_type.numpy()[:max_joints].tolist() | CODE |
| CRITICAL⚡ | newton/_src/solvers/kamino/examples/rl/simulation.py | 557 | joint_q_j_min = self.sim.model.joints.q_j_min.numpy() | CODE |
| CRITICAL⚡ | newton/_src/solvers/kamino/examples/rl/simulation.py | 558 | joint_q_j_max = self.sim.model.joints.q_j_max.numpy() | CODE |
| CRITICAL | …n/_src/solvers/kamino/examples/rl/example_rl_drlegs.py | 461 | self.sim_wrapper.sim.control.q_j_ref.zero_() | CODE |
| CRITICAL | …n/_src/solvers/kamino/examples/rl/example_rl_drlegs.py | 462 | self.sim_wrapper.sim.control.dq_j_ref.zero_() | CODE |
| CRITICAL⚡ | …/_src/solvers/kamino/examples/rl/example_rl_bipedal.py | 229 | self.sim_wrapper.sim.model.joints.k_p_j.fill_(15.0) | CODE |
| CRITICAL⚡ | …/_src/solvers/kamino/examples/rl/example_rl_bipedal.py | 230 | self.sim_wrapper.sim.model.joints.k_d_j.fill_(0.6) | CODE |
| CRITICAL⚡ | …/_src/solvers/kamino/examples/rl/example_rl_bipedal.py | 231 | self.sim_wrapper.sim.model.joints.a_j.fill_(0.004) | CODE |
| CRITICAL⚡ | …/_src/solvers/kamino/examples/rl/example_rl_bipedal.py | 232 | self.sim_wrapper.sim.model.joints.b_j.fill_(0.0) | CODE |
| CRITICAL | newton/tests/test_mujoco_solver.py | 10832 | meaninertia = self.solver.mjw_model.stat.meaninertia.numpy() | STRING |
| CRITICAL | …sts/kamino/test_kamino_solver_kamino_joint_friction.py | 372 | solver._solver_kamino.data.joints.lambda_f_j.numpy(), torque, atol=1.0e-3, rtol=0.0 | CODE |
| CRITICAL | …sts/kamino/test_kamino_solver_kamino_joint_friction.py | 393 | solver._solver_kamino.data.joints.lambda_f_j.numpy(), -1.0e-5, atol=1.0e-8, rtol=0.0 | CODE |
| CRITICAL | …sts/kamino/test_kamino_solver_kamino_joint_friction.py | 505 | cold_residual = float(cold_solver._solver_kamino.metrics.data.r_vi_natmap.numpy()[0]) | CODE |
| CRITICAL | …sts/kamino/test_kamino_solver_kamino_joint_friction.py | 506 | warm_residual = float(warm_solver._solver_kamino.metrics.data.r_vi_natmap.numpy()[0]) | CODE |
| CRITICAL⚡ | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 222 | impulses = solver.owner.data.solution.lambdas.numpy().astype(np.float64) | CODE |
| CRITICAL⚡ | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 505 | solver.owner.data.solution.lambdas.numpy(), [-0.4, 0.0, 0.8], atol=1e-6, rtol=0.0 | CODE |
| CRITICAL⚡ | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 512 | solver.owner.data.solution.lambdas.assign(np.array([-0.5, 0.0, 1.0], dtype=np.float32)) | CODE |
| CRITICAL⚡ | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 516 | solver.owner.data.solution.lambdas.numpy(), [-0.5, 0.0, 1.0], atol=1e-6, rtol=0.0 | CODE |
| CRITICAL⚡ | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 753 | solver.owner.data.solution.lambdas.assign(stale) | CODE |
| CRITICAL⚡ | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 755 | result = solver.owner.data.solution.lambdas.numpy() | CODE |
| CRITICAL⚡ | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 759 | np.testing.assert_allclose(solver.owner.data.solution.lambdas.numpy(), [-0.5, 0.0, 1.0] * 2, atol=2e-5) | CODE |
| CRITICAL⚡ | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 907 | solver.owner.data.solution.lambdas.zero_() | CODE |
| CRITICAL⚡ | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 911 | np.testing.assert_allclose(solver.owner.data.solution.lambdas.numpy(), expected, atol=2e-5) | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 184 | impulses = solver.owner.data.solution.lambdas.numpy() | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 206 | solver.owner.data.solution.lambdas.zero_() | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 252 | solver.owner.data.solution.lambdas.zero_() | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 257 | impulses = solver.owner.data.solution.lambdas.numpy() | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 299 | impulses = solver.owner.data.solution.lambdas.numpy().reshape(-1, 2).astype(np.float64) | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 334 | impulses = solver.owner.data.solution.lambdas.numpy().reshape(-1, 3).astype(np.float64) | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 359 | solver.owner.data.solution.lambdas.zero_() | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 379 | np.testing.assert_allclose(solver.owner.data.solution.lambdas.numpy(), [1.0, 0.0], atol=1e-6) | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 424 | solver.owner.data.solution.lambdas.numpy()[:12], np.ravel(expected), atol=2e-5 | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 446 | solver.owner.data.solution.lambdas.numpy(), | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 470 | np.testing.assert_allclose(solver.owner.data.solution.lambdas.numpy(), expected, atol=2e-5) | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 485 | np.testing.assert_array_equal(solver.owner.data.solution.lambdas.numpy(), [0.0, 0.0, 0.0]) | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 541 | solver.owner.data.solution.lambdas.zero_() | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 554 | np.testing.assert_array_equal(solver.owner.data.solution.lambdas.numpy(), [0.0, 0.0, 0.0]) | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 577 | solver.owner.data.solution.lambdas.zero_() | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 614 | solver.owner.data.solution.lambdas.numpy(), [-0.25, 0.0, 0.5], atol=1e-5, rtol=0.0 | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 685 | solver.owner.data.solution.lambdas.zero_() | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 696 | impulses = solver.owner.data.solution.lambdas.numpy() | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 727 | np.testing.assert_array_equal(solver.owner.data.solution.lambdas.numpy(), impulses) | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 972 | info = solver._solver_kamino.solver_fd.data.status.numpy()[0] | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi_apgd.py | 1027 | info = example.solver._solver_kamino.solver_fd.data.status.numpy()[0] | CODE |
| CRITICAL | …/tests/kamino/test_kamino_solver_joint_effort_limit.py | 145 | actual_efforts = solver._solver_kamino.data.joints.lambda_tau_j.numpy() | CODE |
| CRITICAL | …/tests/kamino/test_kamino_solver_joint_effort_limit.py | 147 | body_efforts = solver._solver_kamino.data.bodies.w_a_i.numpy() | CODE |
| CRITICAL | …/tests/kamino/test_kamino_solver_joint_effort_limit.py | 214 | cold_residual = float(cold_solver._solver_kamino.metrics.data.r_vi_natmap.numpy()[0]) | CODE |
| CRITICAL | …/tests/kamino/test_kamino_solver_joint_effort_limit.py | 215 | warm_residual = float(warm_solver._solver_kamino.metrics.data.r_vi_natmap.numpy()[0]) | CODE |
| CRITICAL | newton/tests/kamino/test_kamino_solvers_dvi.py | 1080 | contact_lambdas = solver_kamino.solver_fd.data.solution.lambdas.numpy()[ | CODE |
| 4 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| HIGH | newton/_src/solvers/kamino/_src/linalg/sparse_matrix.py | 0 | kamino: linear algebra: core types and utilities for multi-linear systems this module provides data structures and utili | STRING |
| HIGH | …ton/_src/solvers/kamino/_src/linalg/sparse_operator.py | 0 | kamino: linear algebra: core types and utilities for multi-linear systems this module provides data structures and utili | STRING |
| HIGH | newton/_src/solvers/kamino/_src/linalg/core.py | 0 | kamino: linear algebra: core types and utilities for multi-linear systems this module provides data structures and utili | STRING |
| HIGH | …ton/_src/solvers/kamino/_src/integrators/integrator.py | 0 | solves the time integration sub-problem using a semi-implicit euler scheme to integrate the current state of the system | STRING |
| HIGH | newton/_src/solvers/kamino/_src/integrators/moreau.py | 0 | solves the time integration sub-problem using a semi-implicit euler scheme to integrate the current state of the system | STRING |
| HIGH | newton/_src/solvers/kamino/_src/integrators/euler.py | 0 | solves the time integration sub-problem using a semi-implicit euler scheme to integrate the current state of the system | STRING |
| HIGH | newton/_src/viewer/viewer_rtx.py | 0 | get the current vsync state. returns: true if vsync is enabled, false otherwise. | STRING |
| HIGH | newton/_src/viewer/viewer_gl.py | 0 | get the current vsync state. returns: true if vsync is enabled, false otherwise. | STRING |
| HIGH | newton/_src/viewer/gl/opengl.py | 0 | get the current vsync state. returns: true if vsync is enabled, false otherwise. | STRING |
| HIGH | newton/_src/viewer/viewer_rtx.py | 0 | log a scalar value as a live time-series plot. each unique *name* creates a separate line plot displayed in an auto-gene | STRING |
| HIGH | newton/_src/viewer/plot_logger.py | 0 | log a scalar value as a live time-series plot. each unique *name* creates a separate line plot displayed in an auto-gene | STRING |
| HIGH | newton/_src/viewer/viewer_gl.py | 0 | log a scalar value as a live time-series plot. each unique *name* creates a separate line plot displayed in an auto-gene | STRING |
| HIGH | newton/_src/viewer/viewer_rtx.py | 0 | remove the splash set by :meth:`show_loading_splash`. | STRING |
| HIGH | newton/_src/viewer/viewer_gl.py | 0 | remove the splash set by :meth:`show_loading_splash`. | STRING |
| HIGH | newton/_src/viewer/viewer_gui.py | 0 | remove the splash set by :meth:`show_loading_splash`. | STRING |
| HIGH | newton/_src/viewer/viewer_rtx.py | 0 | register a callback invoked when the user clicks the native reset button. args: callback: called with no arguments on re | STRING |
| HIGH | newton/_src/viewer/viewer_gl.py | 0 | register a callback invoked when the user clicks the native reset button. args: callback: called with no arguments on re | STRING |
| HIGH | newton/_src/viewer/viewer_viser.py | 0 | register a callback invoked when the user clicks the native reset button. args: callback: called with no arguments on re | STRING |
| HIGH | newton/_src/actuators/delay.py | 0 | resolve user-provided arguments with defaults. args: args: user-provided arguments. returns: complete arguments with def | STRING |
| HIGH | newton/_src/actuators/drives/base.py | 0 | resolve user-provided arguments with defaults. args: args: user-provided arguments. returns: complete arguments with def | STRING |
| HIGH | newton/_src/actuators/clamping/base.py | 0 | resolve user-provided arguments with defaults. args: args: user-provided arguments. returns: complete arguments with def | STRING |
| HIGH | newton/_src/controllers/tool_selection.py | 0 | body index of each controlled robot's tool site, shape [controlled_robot_count]. | STRING |
| HIGH | …n/_src/controllers/impl/differential_ik/model_based.py | 0 | body index of each controlled robot's tool site, shape [controlled_robot_count]. | STRING |
| HIGH | …_src/controllers/impl/operational_space/model_based.py | 0 | body index of each controlled robot's tool site, shape [controlled_robot_count]. | STRING |
| HIGH | …n/_src/controllers/impl/differential_ik/model_based.py | 0 | current joint positions [m or rad], shape [model.joint_coord_count]. | STRING |
| HIGH | …n/_src/controllers/impl/joint_impedance/model_based.py | 0 | current joint positions [m or rad], shape [model.joint_coord_count]. | STRING |
| HIGH | …_src/controllers/impl/operational_space/model_based.py | 0 | current joint positions [m or rad], shape [model.joint_coord_count]. | STRING |
| HIGH | …n/_src/controllers/impl/differential_ik/model_based.py | 0 | current joint velocities [m/s or rad/s], shape [model.joint_dof_count]. | STRING |
| HIGH | …n/_src/controllers/impl/joint_impedance/model_based.py | 0 | current joint velocities [m/s or rad/s], shape [model.joint_dof_count]. | STRING |
| HIGH | …_src/controllers/impl/operational_space/model_based.py | 0 | current joint velocities [m/s or rad/s], shape [model.joint_dof_count]. | STRING |
| HIGH | …n/_src/controllers/impl/differential_ik/model_based.py | 0 | return, for each (controlled robot, padded slot), the dof's index within that robot. ``joint_selection.qd_start`` is in | STRING |
| HIGH | …n/_src/controllers/impl/joint_impedance/model_based.py | 0 | return, for each (controlled robot, padded slot), the dof's index within that robot. ``joint_selection.qd_start`` is in | STRING |
| HIGH | …_src/controllers/impl/operational_space/model_based.py | 0 | return, for each (controlled robot, padded slot), the dof's index within that robot. ``joint_selection.qd_start`` is in | STRING |
| HIGH | …n/_src/controllers/impl/differential_ik/model_based.py | 0 | number of articulations in ``model``, controlled or not. | STRING |
| HIGH | …n/_src/controllers/impl/joint_impedance/model_based.py | 0 | number of articulations in ``model``, controlled or not. | STRING |
| HIGH | …_src/controllers/impl/operational_space/model_based.py | 0 | number of articulations in ``model``, controlled or not. | STRING |
| HIGH | …n/_src/controllers/impl/differential_ik/model_based.py | 0 | largest controlled-dof count over the controlled robots. | STRING |
| HIGH | …n/_src/controllers/impl/joint_impedance/model_based.py | 0 | largest controlled-dof count over the controlled robots. | STRING |
| HIGH | …_src/controllers/impl/operational_space/model_based.py | 0 | largest controlled-dof count over the controlled robots. | STRING |
| HIGH | …n/_src/controllers/impl/differential_ik/model_based.py | 0 | total controlled-dof count across all robots, the length of every compact port. | STRING |
| HIGH | …on/_src/controllers/impl/differential_ik/model_free.py | 0 | total controlled-dof count across all robots, the length of every compact port. | STRING |
| HIGH | …n/_src/controllers/impl/joint_impedance/model_based.py | 0 | total controlled-dof count across all robots, the length of every compact port. | STRING |
| HIGH | …on/_src/controllers/impl/joint_impedance/model_free.py | 0 | total controlled-dof count across all robots, the length of every compact port. | STRING |
| HIGH | …_src/controllers/impl/operational_space/model_based.py | 0 | total controlled-dof count across all robots, the length of every compact port. | STRING |
| HIGH | …n/_src/controllers/impl/differential_ik/model_based.py | 0 | return a pre-allocated :class:`inputs` with zero-initialised arrays. | STRING |
| HIGH | …on/_src/controllers/impl/differential_ik/model_free.py | 0 | return a pre-allocated :class:`inputs` with zero-initialised arrays. | STRING |
| HIGH | …on/_src/controllers/impl/joint_impedance/model_free.py | 0 | return a pre-allocated :class:`inputs` with zero-initialised arrays. | STRING |
| HIGH | …_src/controllers/impl/operational_space/model_based.py | 0 | return a pre-allocated :class:`inputs` with zero-initialised arrays. | STRING |
| HIGH | …/_src/controllers/impl/operational_space/model_free.py | 0 | return a pre-allocated :class:`inputs` with zero-initialised arrays. | STRING |
| HIGH | …on/_src/controllers/impl/differential_ik/model_free.py | 0 | number of robots, i.e. the length of ``controlled_dofs_per_robot``. | STRING |
| HIGH | …on/_src/controllers/impl/joint_impedance/model_free.py | 0 | number of robots, i.e. the length of ``controlled_dofs_per_robot``. | STRING |
| HIGH | …/_src/controllers/impl/operational_space/model_free.py | 0 | number of robots, i.e. the length of ``controlled_dofs_per_robot``. | STRING |
| HIGH | …n/_src/controllers/impl/joint_impedance/model_based.py | 0 | joint torque command [n or n·m], compact, shape [total_controlled_dofs]. | STRING |
| HIGH | …on/_src/controllers/impl/joint_impedance/model_free.py | 0 | joint torque command [n or n·m], compact, shape [total_controlled_dofs]. | STRING |
| HIGH | …/_src/controllers/impl/operational_space/model_free.py | 0 | joint torque command [n or n·m], compact, shape [total_controlled_dofs]. | STRING |
| HIGH | …_src/controllers/impl/operational_space/model_based.py | 0 | joint torque command [n or n·m], compact, shape [total_controlled_dofs]. | STRING |
| HIGH | …n/_src/controllers/impl/joint_impedance/model_based.py | 0 | return a pre-allocated :class:`outputs` with a compact torque array. | STRING |
| HIGH | …on/_src/controllers/impl/joint_impedance/model_free.py | 0 | return a pre-allocated :class:`outputs` with a compact torque array. | STRING |
| HIGH | …_src/controllers/impl/operational_space/model_based.py | 0 | return a pre-allocated :class:`outputs` with a compact torque array. | STRING |
| HIGH | …/_src/controllers/impl/operational_space/model_free.py | 0 | return a pre-allocated :class:`outputs` with a compact torque array. | STRING |
| 63 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | asv/tests/test_benchmark_metrics.py | 220 | CODE | |
| LOW | asv/benchmarks/benchmark_mujoco.py | 571 | CODE | |
| LOW | asv/benchmarks/setup/bench_sdf.py | 70 | CODE | |
| LOW | asv/benchmarks/simulation/bench_teleop_mujoco.py | 314 | CODE | |
| LOW | asv/benchmarks/simulation/bench_sensor_tiled_camera.py | 169 | CODE | |
| LOW | asv/benchmarks/simulation/bench_contacts.py | 113 | CODE | |
| LOW | asv/benchmarks/simulation/bench_sensor_camera.py | 168 | CODE | |
| LOW | newton/_src/sensors/sensor_contact.py | 46 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/camera_utils.py | 108 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/camera_utils.py | 484 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/raytrace.py | 79 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/raytrace.py | 348 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/raytrace.py | 585 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/raytrace.py | 83 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/raytrace.py | 201 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/raytrace.py | 352 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/raytrace.py | 442 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/raytrace.py | 587 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/raytrace.py | 643 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/render_context.py | 485 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/gaussians.py | 126 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/gaussians.py | 128 | CODE | |
| LOW | newton/_src/sensors/sensor_camera_render/render.py | 82 | CODE | |
| LOW | newton/_src/sensors/sensor_camera_render/render.py | 210 | CODE | |
| LOW | newton/_src/sensors/sensor_camera_render/render.py | 459 | CODE | |
| LOW | …wton/_src/sensors/sensor_camera_render/camera_utils.py | 395 | CODE | |
| LOW | newton/_src/sensors/sensor_camera_render/raytrace.py | 80 | CODE | |
| LOW | newton/_src/sensors/sensor_camera_render/raytrace.py | 353 | CODE | |
| LOW | newton/_src/sensors/sensor_camera_render/raytrace.py | 592 | CODE | |
| LOW | newton/_src/sensors/sensor_camera_render/raytrace.py | 84 | CODE | |
| LOW | newton/_src/sensors/sensor_camera_render/raytrace.py | 202 | CODE | |
| LOW | newton/_src/sensors/sensor_camera_render/raytrace.py | 243 | CODE | |
| LOW | newton/_src/sensors/sensor_camera_render/raytrace.py | 357 | CODE | |
| LOW | newton/_src/sensors/sensor_camera_render/raytrace.py | 447 | CODE | |
| LOW | newton/_src/sensors/sensor_camera_render/raytrace.py | 594 | CODE | |
| LOW | newton/_src/sensors/sensor_camera_render/raytrace.py | 650 | CODE | |
| LOW | …on/_src/sensors/sensor_camera_render/render_context.py | 533 | CODE | |
| LOW | newton/_src/sensors/sensor_camera_render/gaussians.py | 126 | CODE | |
| LOW | newton/_src/sensors/sensor_camera_render/gaussians.py | 128 | CODE | |
| LOW | newton/_src/solvers/kamino/solver_kamino.py | 1041 | CODE | |
| LOW | newton/_src/solvers/kamino/solver_kamino.py | 1422 | CODE | |
| LOW | newton/_src/solvers/kamino/solver_kamino.py | 1488 | CODE | |
| LOW | newton/_src/solvers/kamino/solver_kamino.py | 418 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/solver_kamino_impl.py | 435 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/dynamics/dual.py | 1637 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/dynamics/wrenches.py | 612 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/core/shapes.py | 644 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/core/conversions.py | 1639 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/core/materials.py | 756 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/core/model.py | 777 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/core/joints.py | 659 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/core/joints.py | 685 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/core/joints.py | 711 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/core/joints.py | 737 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/core/joints.py | 763 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/core/joints.py | 789 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/core/joints.py | 815 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/core/joints.py | 841 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/core/joints.py | 866 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/core/joints.py | 929 | CODE | |
| 759 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| HIGH | asv/benchmarks/simulation/bench_contacts.py | 60 | Import and return the ``Example`` class from candidate modules. Args: module_names: Ordered module names to | STRING |
| HIGH | newton/_src/sensors/sensor_camera.py | 437 | Compute camera-space rays for one OpenCV pinhole camera. Inverts OpenCV's rational radial, tangential, and thin | STRING |
| HIGH | newton/_src/sensors/sensor_imu.py | 138 | Initialize SensorIMU. The legacy ``State.body_qdd`` allocation path remains the default during the depr | STRING |
| HIGH | newton/_src/sensors/warp_raytrace/utils.py | 703 | Compute camera-space ray directions for OpenCV pinhole cameras. Inverts OpenCV's rational radial, tangential, a | STRING |
| HIGH | newton/_src/core/types.py | 93 | Convert a string representation of an axis ("x", "y", or "z") to the corresponding Axis enum member. A | STRING |
| HIGH | newton/_src/core/types.py | 116 | Convert a value of various types to an Axis enum member. Args: value: The value to convert | STRING |
| HIGH | newton/_src/solvers/solver.py | 423 | Allocate reusable arrays for requested solver observables. A container is owned by the solver that allocates it | STRING |
| HIGH | newton/_src/solvers/observables.py | 78 | Declare an optional observable array on a dataclass container. Args: flag: Plain enum member identi | STRING |
| HIGH | newton/_src/solvers/observables.py | 178 | Return a reusable subset sharing this container's allocated arrays. The result has the same concrete type, solv | STRING |
| HIGH | newton/_src/solvers/kamino/_src/core/materials.py | 652 | Registers a new material with the manager. Args: material: The material descriptor to regi | STRING |
| HIGH | newton/_src/solvers/kamino/_src/core/materials.py | 757 | Retrieves a material descriptor by its index or name. Args: key: The name or index of the | STRING |
| HIGH | newton/_src/solvers/kamino/_src/core/materials.py | 788 | Retrieves the index of a material by its name or index. Args: key: The name or index of th | STRING |
| HIGH | newton/_src/solvers/kamino/_src/core/types.py | 119 | Check if a given UID string is valid. Args: uid: The UID string to validate. Retu | STRING |
| HIGH | newton/_src/solvers/kamino/_src/core/types.py | 180 | Convert ``data`` to a Warp ``int32`` array, asserting all values fit in ``int32``. Use this helper in place of ``wp | STRING |
| HIGH | newton/_src/solvers/kamino/_src/core/joints.py | 114 | Converts a `JointActuationType` to the corresponding `JointTargetMode`. Args: act_type: Th | STRING |
| HIGH | newton/_src/solvers/kamino/_src/core/joints.py | 143 | Converts a `JointTargetMode` to the corresponding `JointActuationType`. Args: target_mode: | STRING |
| HIGH | newton/_src/solvers/kamino/_src/core/joints.py | 896 | Converts a `JointDoFType` to the corresponding `JointType`. Args: dof_type: The joint DoF | STRING |
| HIGH | newton/_src/solvers/kamino/_src/core/joints.py | 938 | Converts a `JointType` to the corresponding `JointDoFType`. Args: type: The Newton joint t | STRING |
| HIGH | newton/_src/solvers/kamino/_src/linalg/utils/rand.py | 43 | Creates an array of eigen-values based on a specified distribution. Notes: - Default max/min/eps value | STRING |
| HIGH | newton/_src/solvers/kamino/_src/solvers/fk/solver.py | 2127 | Evaluates and returns the target relative transforms (an intermediary quantity needed for the kinematic | STRING |
| HIGH | newton/_src/solvers/kamino/_src/solvers/fk/solver.py | 2169 | Evaluates and returns the kinematic constraints vector given the body poses and the position control tr | STRING |
| HIGH | newton/_src/solvers/kamino/_src/solvers/fk/solver.py | 2203 | Evaluates and returns the kinematic constraints Jacobian (w.r.t. body poses) given the body poses and t | STRING |
| HIGH | newton/_src/solvers/kamino/_src/solvers/fk/solver.py | 2515 | Non-graph-capturable convenience wrapper around :meth:`run_fk_solve` adding verbosity and optional inte | STRING |
| HIGH | newton/_src/solvers/kamino/_src/solvers/padmm/math.py | 413 | Computes the NCP primal residual as: `r_p := || lambda - proj_C(lambda) ||_inf`, where: - `lambda` is the vecto | STRING |
| HIGH | newton/_src/solvers/kamino/_src/solvers/padmm/math.py | 505 | Computes the NCP dual residual as: `r_d := || v_aug - proj_K^*(v_aug) ||_inf`, where: - `v_aug` is the vector o | STRING |
| HIGH | newton/_src/solvers/kamino/_src/solvers/padmm/math.py | 686 | Computes the natural-map residual as: `r_natmap = || lambda - proj_C(lambda - (v + s)) ||_inf`, where `C` is th | STRING |
| HIGH | newton/_src/solvers/kamino/_src/utils/profiles.py | 67 | Compute performance profiles for a set of num_solvers solvers across a set of np problems. Given performance m | STRING |
| HIGH | newton/_src/solvers/kamino/_src/geometry/keying.py | 39 | Returns an all-ones mask for the requested number of bits. Examples: num_bits=20 -> 0x00000000000FFFFF | STRING |
| HIGH | newton/_src/solvers/style3d/cloth.py | 25 | Expand anisotropic bending values to a per-edge list. Args: edge_aniso_ke: Optional anisotropic stiffness. | STRING |
| HIGH | newton/_src/solvers/implicit_mpm/solver_implicit_mpm.py | 956 | Create a solver configuration from ``NewtonMPMSceneAPI``. Only authored USD values override :class:`Config` | STRING |
| HIGH | …src/solvers/implicit_mpm/particle_surface_colliders.py | 84 | Extrapolate a particle SDF into colliders and extract its surface. Args: surface: Particle surface containi | STRING |
| HIGH | newton/_src/solvers/mujoco/solver_mujoco.py | 3266 | Validate that all tendon attributes have consistent lengths. Args: model: The Newton model | STRING |
| HIGH | newton/_src/solvers/mujoco/equality.py | 268 | Append a row to the ``mujoco:equality_constraint`` custom-attribute frequency on ``builder``. Args: builder | STRING |
| HIGH | newton/_src/utils/import_mjcf.py | 101 | Default path resolver - joins base_dir with file_path. Args: base_dir: Base directory for resolving relativ | STRING |
| HIGH | newton/_src/utils/import_mjcf.py | 126 | Load MJCF source and recursively expand <include> elements. Args: source: File path or XML string p | STRING |
| HIGH | newton/_src/utils/selection.py | 438 | Find indices of elements in ``labels`` that match ``pattern``. See :ref:`label-matching` for the pattern syntax acc | STRING |
| HIGH | newton/_src/utils/import_utils.py | 33 | 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 |
| HIGH | newton/_src/utils/import_utils.py | 120 | Parse custom attributes from a dictionary. Args: dictlike: The dictionary (or XML element) to parse th | STRING |
| HIGH | newton/_src/viewer/viewer.py | 1091 | Retrieve the last rendered frame as RGB image data. Call after :meth:`end_frame`. Supported by :class:`ViewerGL | STRING |
| HIGH | newton/_src/viewer/viewer_file.py | 222 | Determine serialization format based on file extension. Args: file_path: Path to the file Returns | STRING |
| HIGH | newton/_src/viewer/viewer_file.py | 897 | Resolve a dtype string to a warp dtype, with backwards compatibility. Uses metadata from serialized_data when | STRING |
| HIGH | newton/_src/viewer/viewer_rtx.py | 2791 | Retrieve the last rendered frame as RGB image data. Like :meth:`ViewerGL.get_frame`, this returns a Warp array | STRING |
| HIGH | newton/_src/viewer/viewer_gl.py | 2096 | Retrieve the last rendered frame. This method uses OpenGL Pixel Buffer Objects (PBO). CUDA viewers use | STRING |
| HIGH | newton/_src/viewer/viewer_gl.py | 2303 | Check if a key is currently pressed. Args: key: Either a string representing a character/k | STRING |
| HIGH | newton/_src/usd/utils.py | 611 | Get custom attribute values from a USD prim and a set of known custom attributes. Returns a dictionary mapping | STRING |
| HIGH | newton/_src/usd/utils.py | 828 | Expand primvar values using indices if provided. USD primvars can be stored in an indexed form where a compact | STRING |
| HIGH | newton/_src/usd/utils.py | 3569 | Load Gaussian splat data from a USD prim. Reads positions from attributes: `positions`, `orientations`, `scales`, ` | STRING |
| HIGH | newton/_src/usd/_asset_download.py | 64 | Download a USD file from a URL and resolves all references to other USD files to be downloaded to the given target folde | STRING |
| HIGH | newton/_src/geometry/broad_phase_common.py | 286 | Precompute an index map that groups shapes by world ID with shared shapes. This method creates an index mapping whe | STRING |
| HIGH | newton/_src/geometry/types.py | 871 | Build and attach an SDF for this mesh. Also simplifies the precomputed mesh edges used by the SDF-mesh | STRING |
| HIGH | newton/_src/geometry/types.py | 1924 | Infer :class:`~newton.Model.AttributeFrequency` from array length. Args: arr: The attribute array. | STRING |
| HIGH | newton/_src/geometry/types.py | 2895 | Load Gaussian splat data from a USD prim. Reads positions from attributes: `positions`, `orientations`, `scales | STRING |
| HIGH | newton/_src/geometry/_sdf_cache.py | 372 | Persist a cooked SDF dict to the cache. Args: cache_dir: Destination directory. Created if missing. | STRING |
| HIGH | newton/_src/geometry/terrain_generator.py | 599 | Convert a 2D heightfield array to a watertight triangle mesh. Creates a closed mesh with top surface (from heightfi | STRING |
| HIGH | newton/_src/geometry/remesh.py | 392 | Compute a bounding sphere for a set of vertices. Uses Ritter's algorithm for a reasonable approximation. Args: | STRING |
| HIGH | newton/_src/geometry/remesh.py | 425 | Create camera directions from subdivided icosahedron face centers. An icosahedron has 20 faces. Each face is subdiv | STRING |
| HIGH | newton/_src/geometry/remesh.py | 619 | Compute orthonormal camera basis vectors from a view direction. Args: direction: Unit direction vector the | STRING |
| HIGH | newton/_src/geometry/remesh.py | 988 | Extract point cloud from a triangle mesh. Performs multi-view orthographic raycasting with online voxel-based a | STRING |
| HIGH | newton/_src/geometry/utils.py | 697 | Compute the convex hull of a set of 3D points and return the vertices and faces of the convex hull mesh. Uses ``sci | STRING |
| HIGH | newton/_src/geometry/sdf_utils.py | 382 | Create an SDF from a mesh in local mesh coordinates. The SDF is built entirely via the texture-based sparse con | STRING |
| 59 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| HIGH | newton/_src/solvers/kamino/_src/utils/logger.py | 28 | except Exception: | CODE |
| HIGH | …_src/solvers/kamino/_src/utils/sim/viewer_recording.py | 172 | except OSError: | CODE |
| HIGH | …_src/solvers/kamino/_src/utils/sim/viewer_recording.py | 415 | except OSError: | CODE |
| HIGH | …n/_src/solvers/kamino/examples/rl/example_rl_drlegs.py | 555 | except KeyboardInterrupt: | CODE |
| HIGH | newton/_src/solvers/kamino/examples/rl/joystick.py | 330 | except Exception: | CODE |
| HIGH | newton/_src/solvers/kamino/examples/rl/utils.py | 276 | except RuntimeError: | CODE |
| HIGH | …/_src/solvers/kamino/examples/rl/example_rl_bipedal.py | 423 | except KeyboardInterrupt: | CODE |
| HIGH | newton/_src/solvers/mujoco/solver_mujoco.py | 714 | except Exception: | CODE |
| HIGH | newton/_src/solvers/mujoco/solver_mujoco.py | 2002 | except ValueError: | CODE |
| HIGH | newton/_src/solvers/mujoco/solver_mujoco.py | 2258 | except ValueError: | CODE |
| HIGH | newton/_src/solvers/mujoco/solver_mujoco.py | 2264 | except ValueError: | CODE |
| HIGH | newton/_src/solvers/mujoco/solver_mujoco.py | 10291 | except Exception: | CODE |
| HIGH | newton/_src/solvers/mujoco/solver_mujoco.py | 3770 | except ValueError: | CODE |
| HIGH | newton/_src/solvers/mujoco/solver_mujoco.py | 3775 | except ValueError: | CODE |
| HIGH | newton/_src/utils/mesh.py | 1086 | except Exception: | CODE |
| HIGH | newton/_src/utils/topology.py | 137 | except ValueError: | CODE |
| HIGH | newton/_src/utils/download_assets.py | 139 | except OSError: | CODE |
| HIGH | newton/_src/utils/download_assets.py | 270 | except OSError: | CODE |
| HIGH | newton/_src/utils/download_assets.py | 470 | except OSError: | CODE |
| HIGH | newton/_src/utils/download_assets.py | 268 | except OSError: | CODE |
| HIGH | newton/_src/utils/download_assets.py | 366 | except OSError: | CODE |
| HIGH | newton/_src/utils/download_assets.py | 379 | except OSError: | CODE |
| HIGH | newton/_src/utils/download_assets.py | 137 | except OSError: | CODE |
| HIGH | newton/_src/utils/download_assets.py | 337 | except OSError: | CODE |
| HIGH | newton/_src/utils/download_assets.py | 343 | except OSError: | CODE |
| HIGH | newton/_src/utils/selection.py | 1825 | except Exception: | CODE |
| HIGH | newton/_src/utils/selection.py | 1832 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_usd.py | 208 | except OSError: | CODE |
| HIGH | newton/_src/viewer/viewer.py | 3512 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_rerun.py | 603 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_rerun.py | 596 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_file.py | 518 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_file.py | 525 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_file.py | 710 | except (AttributeError, TypeError): | CODE |
| HIGH | newton/_src/viewer/viewer_file.py | 678 | except (AttributeError, TypeError): | CODE |
| HIGH | newton/_src/viewer/viewer_rtx.py | 1421 | except (TypeError, IndexError, KeyError): | CODE |
| HIGH | newton/_src/viewer/viewer_rtx.py | 565 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_rtx.py | 576 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_rtx.py | 3250 | except OSError: | CODE |
| HIGH | newton/_src/viewer/viewer_rtx.py | 939 | except OSError: | CODE |
| HIGH | newton/_src/viewer/viewer_rtx.py | 3242 | except Exception: | CODE |
| HIGH | newton/_src/viewer/plot_logger.py | 44 | except AttributeError: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 1215 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 1481 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 2581 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 556 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 578 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 584 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 647 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 886 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 892 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 960 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 977 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 1026 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 1054 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 1268 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 1916 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 1922 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 1996 | except Exception: | CODE |
| HIGH | newton/_src/viewer/viewer_viser.py | 116 | except Exception: | CODE |
| 39 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | asv/benchmarks/benchmark_inverse_dynamics.py | 40 | def set_default_pose(model: newton.Model, state: newton.State) -> None: | CODE |
| LOW | asv/benchmarks/simulation/bench_teleop_mujoco.py | 272 | def _setup_ik(self) -> None: | CODE |
| LOW | asv/benchmarks/simulation/bench_teleop_mujoco.py | 314 | def _update_command(self) -> None: | CODE |
| LOW | asv/benchmarks/simulation/bench_sensor_tiled_camera.py | 101 | def _set_joint_positions(builder: newton.ModelBuilder, joint_positions: dict[str, float]) -> None: | CODE |
| LOW | asv/benchmarks/simulation/bench_sensor_camera.py | 100 | def _set_joint_positions(builder: newton.ModelBuilder, joint_positions: dict[str, float]) -> None: | CODE |
| LOW | newton/usd.py | 34 | __all__ = [ | CODE |
| LOW | newton/viewer.py | 17 | __all__ = [ | CODE |
| LOW | newton/sensors.py | 28 | __all__ = [ | CODE |
| LOW | newton/controllers.py | 24 | __all__ = [ | CODE |
| LOW | newton/ik.py | 19 | __all__ = [ | CODE |
| LOW⚡ | newton/__init__.py | 39 | __all__ = [ | CODE |
| LOW | newton/solvers.py | 27 | __all__ = [*_solvers.__all__, "experimental"] # noqa: PLE0604 | CODE |
| LOW | newton/actuators.py | 42 | __all__ = [ | CODE |
| LOW⚡ | newton/utils.py | 12 | __all__ = [ | CODE |
| LOW | newton/geometry.py | 29 | __all__ = [ | CODE |
| LOW | newton/math.py | 29 | __all__ = [ | CODE |
| LOW | newton/selection.py | 6 | __all__ = [ | CODE |
| LOW | newton/_src/sensors/warp_raytrace/__init__.py | 30 | __all__ = [ | CODE |
| LOW | newton/_src/sensors/sensor_camera_render/__init__.py | 18 | __all__ = [ | CODE |
| LOW | …on/_src/sensors/sensor_camera_render/render_context.py | 497 | def _set_triangle_points(self, triangle_points: wp.array[wp.vec3f]) -> None: | CODE |
| LOW | …on/_src/sensors/sensor_camera_render/render_context.py | 502 | def _set_triangle_indices(self, triangle_indices: wp.array[wp.int32]) -> None: | CODE |
| LOW | newton/_src/core/__init__.py | 13 | __all__ = [ | CODE |
| LOW | newton/_src/core/types.py | 201 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/solver.py | 549 | def _set_module_options(self, options: dict[str, Any], module: Any) -> None: | CODE |
| LOW | newton/_src/solvers/solver.py | 792 | def update_contacts(self, contacts: Contacts, state: State | None = None) -> None: | CODE |
| LOW | newton/_src/solvers/__init__.py | 20 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/config.py | 23 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/solver_kamino.py | 59 | __all__ = ["SolverKamino"] | CODE |
| LOW | newton/_src/solvers/kamino/solver_kamino.py | 1271 | def update_contacts(self, contacts: Contacts, state: State | None = None) -> None: | CODE |
| LOW | newton/_src/solvers/kamino/solver_kamino.py | 1676 | def _update_actuation_types(self) -> None: | CODE |
| LOW | newton/_src/solvers/kamino/solver_kamino.py | 1712 | def _update_materials(self) -> None: | CODE |
| LOW | newton/_src/solvers/kamino/__init__.py | 15 | __all__ = ["SolverKamino"] | CODE |
| LOW | newton/_src/solvers/kamino/_src/__init__.py | 42 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/solver_kamino_impl.py | 72 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/solver_kamino_impl.py | 784 | def update_contacts(self, contacts: Contacts, state: State | None = None) -> None: | CODE |
| LOW | newton/_src/solvers/kamino/_src/dynamics/__init__.py | 14 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/dynamics/dual.py | 78 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/dynamics/delassus.py | 89 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/dynamics/wrenches.py | 24 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/core/time.py | 19 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/core/shapes.py | 22 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/core/conversions.py | 49 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/core/materials.py | 41 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/core/bodies.py | 18 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/core/__init__.py | 18 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/core/size.py | 16 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/core/model.py | 41 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/core/gravity.py | 15 | __all__ = ["GRAVITY_DEFAULT", "GravityModel"] | CODE |
| LOW | newton/_src/solvers/kamino/_src/core/joints.py | 31 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/core/geometry.py | 22 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/core/data.py | 27 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/core/state.py | 20 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/linalg/sparse_matrix.py | 31 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/linalg/linear.py | 38 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/linalg/linear.py | 444 | def _update_sparse_bsm(self) -> None: | CODE |
| LOW | …ton/_src/solvers/kamino/_src/linalg/sparse_operator.py | 29 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/linalg/__init__.py | 53 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/linalg/core.py | 27 | __all__ = [ | CODE |
| LOW | newton/_src/solvers/kamino/_src/linalg/types.py | 21 | __all__ = [ | CODE |
| LOW | …ton/_src/solvers/kamino/_src/linalg/conjugate_fused.py | 31 | __all__ = [ | CODE |
| 203 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | newton/_src/sensors/sensor_contact.py | 517 | # Assign rows to sensing objects | COMMENT |
| LOW | newton/_src/sensors/sensor_contact.py | 522 | # Assign columns to counterparts: first global, then local | COMMENT |
| LOW | newton/_src/solvers/kamino/config.py | 211 | # Check if optional arguments are specified and override with defaults if not | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/solver_kamino_impl.py | 606 | # Set base_q to provided value | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/solver_kamino_impl.py | 640 | # Set base_u to provided value | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/dynamics/delassus.py | 420 | # Check if block index is valid for this matrix. | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/dynamics/delassus.py | 479 | # Check if block index is valid for this matrix. | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/dynamics/delassus.py | 774 | # Check if block index is valid for this matrix. | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/core/conversions.py | 2203 | # Check if material with these parameters already exists | COMMENT |
| LOW⚡ | newton/_src/solvers/kamino/_src/core/materials.py | 770 | # Check if the key is an integer | COMMENT |
| LOW⚡ | newton/_src/solvers/kamino/_src/core/materials.py | 772 | # Check if the key is within the range of materials | COMMENT |
| LOW⚡ | newton/_src/solvers/kamino/_src/core/materials.py | 778 | # Check if the key is a string | COMMENT |
| LOW⚡ | newton/_src/solvers/kamino/_src/core/materials.py | 780 | # Check if the key is a valid material name | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/core/materials.py | 667 | # Check if the material already exists | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/core/materials.py | 801 | # Check if the name exists in the materials list | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/core/materials.py | 857 | # Check if the material pair properties exist | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/core/materials.py | 907 | # Check if the material pair properties exist | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/core/materials.py | 957 | # Check if the material pair properties exist | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/core/math.py | 160 | # Check if the norm of the imaginary part is infinitesimal | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/core/math.py | 220 | # Check if the norm of the imaginary part is infinitesimal | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/linalg/sparse_matrix.py | 628 | # Check if any element in this block is non-zero | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/linalg/blas.py | 218 | # Check if block index is valid for this matrix. | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/linalg/blas.py | 279 | # Check if block index is valid for this matrix. | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/linalg/blas.py | 343 | # Check if block index is valid for this matrix. | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/linalg/blas.py | 402 | # Check if block index is valid for this matrix. | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/linalg/blas.py | 538 | # Check if block index is valid for this matrix. | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/linalg/blas.py | 601 | # Check if block index is valid for this matrix. | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/linalg/blas.py | 667 | # Check if block index is valid for this matrix. | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/linalg/blas.py | 728 | # Check if block index is valid for this matrix. | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/linalg/blas.py | 851 | # Check if block index is valid for this matrix. | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/linalg/blas.py | 903 | # Check if block index is valid for this matrix. | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/linalg/utils/matrix.py | 167 | # Check if the matrix is valid type and dimensions | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/linalg/utils/matrix.py | 312 | # Check if the matrix is valid type and dimensions | COMMENT |
| LOW | …amino/_src/linalg/factorize/llt_blocked_semi_sparse.py | 220 | # Check if this diagonal tile is nonzero | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/solvers/warmstart.py | 942 | # Check if the limits container has allocations and skip cache allocations if not | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/solvers/warmstart.py | 1155 | # Check if the contacts container has allocations and skip cache allocations if not | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/solvers/padmm/solver.py | 248 | # Check if any world uses adaptive penalty updates (requiring per-step regularization updates) | COMMENT |
| LOW | …wton/_src/solvers/kamino/_src/solvers/padmm/kernels.py | 385 | # Set regularization to 0.0 if the solver has already converged | COMMENT |
| LOW | …wton/_src/solvers/kamino/_src/solvers/padmm/kernels.py | 653 | # Check if the thread should handle a bound | COMMENT |
| LOW | …wton/_src/solvers/kamino/_src/solvers/padmm/kernels.py | 668 | # Check if the thread should handle a limit | COMMENT |
| LOW | …wton/_src/solvers/kamino/_src/solvers/padmm/kernels.py | 677 | # Check if the thread should handle a contact | COMMENT |
| LOW | …wton/_src/solvers/kamino/_src/solvers/padmm/kernels.py | 1149 | # Check if the thread should handle a bounded-multiplier constraint. | COMMENT |
| LOW | …wton/_src/solvers/kamino/_src/solvers/padmm/kernels.py | 1164 | # Check if the thread should handle a limit | COMMENT |
| LOW | …wton/_src/solvers/kamino/_src/solvers/padmm/kernels.py | 1173 | # Check if the thread should handle a contact | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/utils/sparse.py | 47 | # Check if the input is a 2D NumPy array | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/utils/sim/datalog.py | 59 | # Check if the simulation and controller instances are valid | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/utils/sim/datalog.py | 219 | # Check if there are any logged frames | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/utils/sim/datalog.py | 322 | # Check if there are any logged frames | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/utils/sim/datalog.py | 394 | # Check if there are any logged frames | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/utils/control/pid.py | 397 | # Check if there are any actuated DoFs | COMMENT |
| LOW | …on/_src/solvers/kamino/_src/utils/control/animation.py | 167 | # Check if we need to advance the animation frame | COMMENT |
| LOW | …on/_src/solvers/kamino/_src/utils/control/animation.py | 477 | # Check if there are any actuated DoFs | COMMENT |
| LOW | …on/_src/solvers/kamino/_src/utils/control/animation.py | 610 | # Check if a single value or list is provided and set the loop flags accordingly | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/utils/control/rand.py | 363 | # Check if the interval argument is specified, and validate it accordingly | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/utils/control/rand.py | 382 | # Check if the scale argument is specified, and validate it accordingly | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/utils/control/rand.py | 398 | # Check if the seed argument is specified, and set it accordingly | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/kinematics/resets.py | 367 | # Set lambdas to zero | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/geometry/aggregation.py | 311 | # Check if this contact matches the target pair (in either order) | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/geometry/unified.py | 356 | # Check if this is an infinite plane or mesh - use bounding sphere fallback | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/geometry/unified.py | 589 | # Check if contacts is allocated on the same device | COMMENT |
| 86 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW⚡ | …solvers/kamino/_src/linalg/factorize/_tile_builtins.py | 24 | except Exception: | CODE |
| LOW⚡ | …solvers/kamino/_src/linalg/factorize/_tile_builtins.py | 39 | except Exception: | CODE |
| LOW | newton/_src/solvers/kamino/_src/solvers/fk/solver.py | 181 | except Exception as e: | CODE |
| LOW | newton/_src/solvers/kamino/_src/utils/logger.py | 28 | except Exception: | CODE |
| LOW | newton/_src/solvers/kamino/_src/utils/sparse.py | 43 | except Exception as exc: # pragma: no cover - optional dependency | CODE |
| LOW | newton/_src/solvers/kamino/_src/utils/profiles.py | 417 | except Exception as exc: # pragma: no cover - optional dependency | CODE |
| LOW | …_src/solvers/kamino/_src/utils/sim/viewer_recording.py | 421 | except Exception as e: | CODE |
| LOW | newton/_src/solvers/kamino/examples/rl/simulation.py | 819 | except Exception as e: | CODE |
| LOW | newton/_src/solvers/kamino/examples/rl/joystick.py | 197 | except Exception: | CODE |
| LOW | newton/_src/solvers/kamino/examples/rl/joystick.py | 330 | except Exception: | CODE |
| LOW | …c/solvers/kamino/examples/rl/test_multi_env_dr_legs.py | 74 | except Exception as e: | CODE |
| LOW | newton/_src/solvers/mujoco/solver_mujoco.py | 714 | except Exception: | CODE |
| LOW | newton/_src/solvers/mujoco/solver_mujoco.py | 10291 | except Exception: | CODE |
| LOW | newton/_src/utils/mesh.py | 1086 | except Exception: | CODE |
| LOW | newton/_src/utils/mesh.py | 1174 | except Exception: | CODE |
| LOW⚡ | newton/_src/utils/texture.py | 73 | except Exception as exc: | CODE |
| LOW⚡ | newton/_src/utils/texture.py | 86 | except Exception as exc: | CODE |
| LOW | newton/_src/utils/texture.py | 125 | except Exception as exc: | CODE |
| LOW | newton/_src/utils/download_assets.py | 198 | except Exception: | CODE |
| LOW | newton/_src/utils/download_assets.py | 464 | except Exception as e: | CODE |
| LOW⚡ | newton/_src/utils/selection.py | 1825 | except Exception: | CODE |
| LOW⚡ | newton/_src/utils/selection.py | 1832 | except Exception: | CODE |
| LOW | newton/_src/utils/selection.py | 1801 | except Exception as error: | CODE |
| LOW | newton/_src/utils/import_utils.py | 66 | except Exception as e: | CODE |
| LOW | newton/_src/utils/import_usd.py | 516 | except Exception as e: | CODE |
| LOW | newton/_src/utils/import_usd.py | 523 | except Exception as e: | CODE |
| LOW | newton/_src/utils/import_usd.py | 2861 | except Exception as e: | CODE |
| LOW | newton/_src/utils/import_usd.py | 2871 | except Exception as e: | CODE |
| LOW | newton/_src/utils/import_usd.py | 3039 | except Exception: | CODE |
| LOW | newton/_src/viewer/viewer_usd.py | 435 | except Exception as exc: | CODE |
| LOW | newton/_src/viewer/viewer.py | 3512 | except Exception: | CODE |
| LOW | newton/_src/viewer/viewer_rerun.py | 75 | except Exception: | CODE |
| LOW | newton/_src/viewer/viewer_rerun.py | 80 | except Exception: | CODE |
| LOW | newton/_src/viewer/viewer_rerun.py | 182 | except Exception: | CODE |
| LOW | newton/_src/viewer/viewer_rerun.py | 596 | except Exception: | CODE |
| LOW | newton/_src/viewer/viewer_rerun.py | 603 | except Exception: | CODE |
| MEDIUM | newton/_src/viewer/viewer_file.py | 1222 | print(f"Error saving recording: {e}") | CODE |
| MEDIUM | newton/_src/viewer/viewer_file.py | 265 | def _warp_key(x) -> int: | CODE |
| LOW⚡ | newton/_src/viewer/viewer_file.py | 518 | except Exception: | CODE |
| LOW⚡ | newton/_src/viewer/viewer_file.py | 525 | except Exception: | CODE |
| LOW | newton/_src/viewer/viewer_file.py | 268 | except Exception: | CODE |
| LOW | newton/_src/viewer/viewer_file.py | 1024 | except Exception as e: | CODE |
| LOW | newton/_src/viewer/viewer_file.py | 1079 | except Exception as e: | CODE |
| LOW | newton/_src/viewer/viewer_file.py | 1220 | except Exception as e: | CODE |
| LOW | newton/_src/viewer/viewer_rtx.py | 565 | except Exception: | CODE |
| LOW | newton/_src/viewer/viewer_rtx.py | 576 | except Exception: | CODE |
| LOW | newton/_src/viewer/viewer_rtx.py | 931 | except Exception as e: | CODE |
| LOW | newton/_src/viewer/viewer_rtx.py | 951 | except Exception as e: | CODE |
| LOW | newton/_src/viewer/viewer_rtx.py | 1377 | except Exception as exc: | CODE |
| LOW | newton/_src/viewer/viewer_rtx.py | 1776 | except Exception as exc: | CODE |
| LOW | newton/_src/viewer/viewer_rtx.py | 3242 | except Exception: | CODE |
| LOW | newton/_src/viewer/image_logger.py | 663 | except Exception: | CODE |
| LOW | newton/_src/viewer/image_logger.py | 772 | except Exception as exc: | CODE |
| LOW | newton/_src/viewer/viewer_viser.py | 116 | except Exception: | CODE |
| LOW | newton/_src/viewer/viewer_viser.py | 131 | except Exception: | CODE |
| LOW | newton/_src/viewer/viewer_viser.py | 556 | except Exception: | CODE |
| LOW | newton/_src/viewer/viewer_viser.py | 578 | except Exception: | CODE |
| LOW | newton/_src/viewer/viewer_viser.py | 584 | except Exception: | CODE |
| LOW | newton/_src/viewer/viewer_viser.py | 647 | except Exception: | CODE |
| LOW | newton/_src/viewer/viewer_viser.py | 886 | except Exception: | CODE |
| 132 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | asv/tests/__init__.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 The Newton Developers | COMMENT |
| LOW | asv/benchmarks/benchmark_inverse_dynamics.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 The Newton Developers | COMMENT |
| LOW | newton/_src/sensors/__init__.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers | COMMENT |
| LOW | newton/_src/sensors/warp_raytrace/__init__.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/dynamics/dual.py | 781 | COMMENT | |
| LOW | newton/_src/solvers/kamino/_src/dynamics/delassus.py | 1341 | COMMENT | |
| LOW | …rc/solvers/kamino/_src/linalg/factorize/llt_blocked.py | 41 | ### | COMMENT |
| LOW | …rc/solvers/kamino/_src/linalg/factorize/llt_blocked.py | 61 | # num_tile_elements = block_size * block_size | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/solvers/padmm/types.py | 81 | COMMENT | |
| LOW | …solvers/kamino/examples/reset/example_reset_dr_legs.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers | COMMENT |
| LOW | newton/_src/solvers/kamino/examples/rl/simulation.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers | COMMENT |
| LOW | …n/_src/solvers/kamino/examples/rl/example_rl_drlegs.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers | COMMENT |
| LOW | …/_src/solvers/kamino/examples/rl/example_rl_bipedal.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers | COMMENT |
| LOW | …n/_src/solvers/implicit_mpm/rheology_solver_kernels.py | 461 | # (1.0 - gamma * alpha) |(D + alpha I)^{-1} b_t| = yield_stress | COMMENT |
| LOW | newton/_src/solvers/mujoco/solver_mujoco.py | 4401 | # during conversion) may call _invalidate_contact_fast_path. | COMMENT |
| LOW | newton/_src/solvers/mujoco/solver_mujoco.py | 7381 | dof_ref_value = float(joint_ref[ai]) if joint_ref is not None else 0.0 | COMMENT |
| LOW | newton/_src/solvers/mujoco/solver_mujoco.py | 8441 | self._allocate_notify_model_changed_scratch() | COMMENT |
| LOW | newton/_src/solvers/mujoco/solver_mujoco.py | 8461 | # — subsequent edits to those Newton gains would no longer | COMMENT |
| LOW | newton/_src/solvers/mujoco/kernels.py | 681 | contact_worldid_out=contact_worldid_out, | COMMENT |
| LOW | newton/_src/solvers/semi_implicit/kernels_particle.py | 321 | f2 = wp.vec3(H[0, 1], H[1, 1], H[2, 1]) | COMMENT |
| LOW | newton/_src/solvers/semi_implicit/kernels_particle.py | 341 | # grad1 = vec3(dCdx[0,0], dCdx[1,0], dCdx[2,0]) | COMMENT |
| LOW | newton/_src/solvers/semi_implicit/kernels_particle.py | 361 | # grad2 = vec3(dCdx[0,1], dCdx[1,1], dCdx[2,1]) | COMMENT |
| LOW | newton/_src/solvers/semi_implicit/kernels_particle.py | 381 | COMMENT | |
| LOW | newton/_src/solvers/xpbd/kernels.py | 501 | # ModelBuilder stores rest_matrix as inv(Dm), where | COMMENT |
| LOW | newton/_src/solvers/xpbd/kernels.py | 621 | dlambda = -1.0 * (C + gamma * grad_dot_v) / ((1.0 + gamma) * w + alpha) | COMMENT |
| LOW | newton/_src/solvers/xpbd/kernels.py | 641 | # C = r_s*r_s - 3.0 | COMMENT |
| LOW | newton/_src/solvers/xpbd/kernels.py | 661 | # J = wp.determinant(F) | COMMENT |
| LOW | newton/_src/solvers/xpbd/kernels.py | 761 | # C_Neo | COMMENT |
| LOW | newton/_src/solvers/xpbd/kernels.py | 1521 | COMMENT | |
| LOW | newton/_src/solvers/featherstone/kernels.py | 1661 | # n: int, | COMMENT |
| LOW | newton/_src/solvers/coupled/admm_utils.py | 721 | COMMENT | |
| LOW | newton/_src/solvers/coupled/admm_utils.py | 961 | world_pt_a = wp.transform_point(xform_a, point_a_local[i]) | COMMENT |
| LOW | newton/_src/solvers/vbd/rigid_vbd_kernels.py | 7481 | # ===================================================================================== | COMMENT |
| LOW | newton/_src/utils/selection.py | 61 | COMMENT | |
| LOW | newton/_src/utils/selection.py | 101 | ): | COMMENT |
| LOW | newton/_src/utils/import_usd.py | 2901 | COMMENT | |
| LOW | newton/_src/viewer/viewer_rtx.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 The Newton Developers | COMMENT |
| LOW | newton/_src/viewer/viewer_gui.py | 1 | # SPDX-FileCopyrightText: Copyright (c) 2026 The Newton Developers | COMMENT |
| LOW | newton/_src/viewer/gl/gui.py | 61 | self.impl._attach_callbacks(self.window) | COMMENT |
| LOW | newton/_src/usd/_colliders.py | 441 | thickness=inertia_margin, | COMMENT |
| LOW | newton/_src/usd/_joints.py | 221 | d6_initial_velocities = {} | COMMENT |
| LOW | newton/_src/usd/_articulations.py | 201 | # We have an articulation without joints, i.e. only free rigid bodies | COMMENT |
| LOW | newton/_src/usd/_articulations.py | 361 | else: | COMMENT |
| LOW | newton/_src/usd/_mass_properties.py | 101 | from pxr import Gf | COMMENT |
| LOW | newton/_src/geometry/contact_reduction_hydroelastic.py | 81 | # associative, so in deterministic mode every per-bin aggregate is accumulated | COMMENT |
| LOW | newton/_src/geometry/contact_reduction_hydroelastic.py | 1201 | # Compute shared stiffness so the K reduced contacts reproduce | COMMENT |
| LOW | newton/_src/geometry/sdf_contact.py | 21 | export_and_reduce_predictive_contact, | COMMENT |
| LOW | newton/_src/geometry/sdf_contact.py | 41 | # Search-radius slack over the narrow-band culling threshold for midpoint SDF | COMMENT |
| LOW | newton/_src/geometry/sdf_contact.py | 1261 | COMMENT | |
| LOW | newton/_src/geometry/sdf_contact.py | 1521 | COMMENT | |
| LOW | newton/_src/geometry/narrow_phase.py | 2541 | # Dense mesh queries benefit from wider cooperative result batches; | COMMENT |
| LOW | newton/_src/geometry/narrow_phase.py | 2841 | self.num_tile_blocks = num_blocks | COMMENT |
| LOW | newton/_src/geometry/sdf_texture.py | 81 | raise ValueError("shape_scale components must be finite") | COMMENT |
| LOW | newton/_src/geometry/sdf_texture.py | 101 | # ``"hardware"`` path. One ``wp.texture_sample`` for the value, six | COMMENT |
| LOW | newton/_src/geometry/inertia.py | 21 | COMMENT | |
| LOW | newton/_src/geometry/contact_reduction.py | 61 | # "icosahedron" -> 20 bins (default, finer normal resolution) | COMMENT |
| LOW | newton/_src/geometry/_sdf_cache.py | 421 | # each other's in-flight ``*.tmp.npz``. ``os.replace`` is atomic on | COMMENT |
| LOW | newton/_src/geometry/contact_reduction_global.py | 361 | # ``make_contact_value`` and ``unpack_contact_id`` select the variant | COMMENT |
| LOW | newton/_src/geometry/contact_reduction_global.py | 721 | contact_pressure: wp.array[wp.float32] | COMMENT |
| LOW | newton/_src/geometry/contact_sort.py | 21 | # Sentinel key for unused contact slots. ``radix_sort_pairs`` treats | COMMENT |
| 148 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | asv/benchmarks/benchmark_mujoco.py | 373 | CODE | |
| LOW | asv/benchmarks/benchmark_mujoco.py | 627 | CODE | |
| LOW | newton/_src/sensors/sensor_camera.py | 266 | CODE | |
| LOW | newton/_src/sensors/sensor_camera.py | 411 | CODE | |
| LOW | newton/_src/sensors/sensor_camera.py | 530 | CODE | |
| LOW | newton/_src/sensors/sensor_camera.py | 615 | CODE | |
| LOW | newton/_src/sensors/sensor_camera.py | 698 | CODE | |
| LOW | newton/_src/sensors/sensor_camera.py | 871 | CODE | |
| LOW | newton/_src/sensors/sensor_tiled_camera.py | 186 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/utils.py | 415 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/utils.py | 551 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/utils.py | 677 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/utils.py | 795 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/utils.py | 879 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/utils.py | 965 | CODE | |
| LOW | newton/_src/sensors/warp_raytrace/render_context.py | 175 | CODE | |
| LOW | …on/_src/sensors/sensor_camera_render/render_context.py | 238 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/dynamics/dual.py | 1205 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/core/shapes.py | 433 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/linalg/linear.py | 274 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/linalg/linear.py | 581 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/linalg/conjugate.py | 548 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/linalg/utils/rand.py | 27 | CODE | |
| LOW | …kamino/_src/linalg/factorize/llt_blocked_rcm_solver.py | 150 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/solvers/fk/solver.py | 2502 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/solvers/dvi/solver.py | 89 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/solvers/dvi/solver.py | 180 | CODE | |
| LOW | newton/_src/solvers/kamino/_src/utils/profiles.py | 379 | CODE | |
| LOW | …on/_src/solvers/kamino/_src/utils/control/animation.py | 237 | CODE | |
| LOW | newton/_src/solvers/kamino/examples/rl/simulation.py | 244 | CODE | |
| LOW | newton/_src/solvers/style3d/cloth.py | 180 | CODE | |
| LOW | newton/_src/solvers/style3d/cloth.py | 396 | CODE | |
| LOW | newton/_src/solvers/implicit_mpm/solver_implicit_mpm.py | 1532 | CODE | |
| LOW | …rc/solvers/implicit_mpm/implicit_mpm_solver_kernels.py | 1009 | CODE | |
| LOW | …rc/solvers/implicit_mpm/implicit_mpm_solver_kernels.py | 1085 | CODE | |
| LOW | newton/_src/solvers/implicit_mpm/implicit_mpm_model.py | 433 | CODE | |
| LOW | newton/_src/solvers/mujoco/solver_mujoco.py | 4047 | CODE | |
| LOW | newton/_src/solvers/mujoco/solver_mujoco.py | 6003 | CODE | |
| LOW | newton/_src/solvers/mujoco/equality.py | 253 | CODE | |
| LOW | …ton/_src/solvers/semi_implicit/solver_semi_implicit.py | 77 | CODE | |
| LOW | newton/_src/solvers/xpbd/solver_xpbd.py | 129 | CODE | |
| LOW | newton/_src/solvers/vbd/solver_vbd.py | 350 | CODE | |
| LOW | newton/_src/utils/import_mjcf.py | 227 | CODE | |
| LOW | newton/_src/utils/mesh.py | 986 | CODE | |
| LOW | newton/_src/utils/import_urdf.py | 64 | CODE | |
| LOW | newton/_src/utils/selection.py | 777 | CODE | |
| LOW | newton/_src/utils/import_usd.py | 149 | CODE | |
| LOW | newton/_src/viewer/viewer_usd.py | 291 | CODE | |
| LOW | newton/_src/viewer/viewer.py | 1880 | CODE | |
| LOW | newton/_src/viewer/viewer_rerun.py | 111 | CODE | |
| LOW | newton/_src/viewer/viewer_rerun.py | 246 | CODE | |
| LOW | newton/_src/viewer/viewer_file.py | 1336 | CODE | |
| LOW | newton/_src/viewer/viewer_rtx.py | 197 | CODE | |
| LOW | newton/_src/viewer/viewer_rtx.py | 1875 | CODE | |
| LOW | newton/_src/viewer/viewer_viser.py | 1807 | CODE | |
| LOW | newton/_src/viewer/viewer_null.py | 60 | CODE | |
| LOW | newton/_src/viewer/viewer_gl.py | 242 | CODE | |
| LOW | newton/_src/viewer/viewer_gl.py | 917 | CODE | |
| LOW | newton/_src/viewer/gl/shaders.py | 680 | CODE | |
| LOW | newton/_src/usd/utils.py | 1325 | CODE | |
| 102 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| HIGH | newton/_src/viewer/kernels.py | 446 | When ``contact_force`` is provided (non-null), the disk is colored by an | STRING |
| HIGH | newton/_src/viewer/kernels.py | 454 | When ``contact_force`` is null, every active contact uses ``color_open``. | STRING |
| HIGH | newton/_src/viewer/gl/shaders.py | 212 | if (abs(gl_FragCoord.w) < 1.0e-8 || abs(denominator) < 1.0e-8) | CODE |
| HIGH | newton/_src/viewer/gl/shaders.py | 919 | if (s.w <= 0.0 || e.w <= 0.0) return; | CODE |
| HIGH | newton/_src/viewer/gl/shaders.py | 1027 | if (s.w <= 0.0 || e.w <= 0.0) return; | CODE |
| HIGH | newton/_src/geometry/soft_contacts_sdf.py | 125 | # conservative lower bound for the cull/search. wp.length() / wp.min(wp.abs()) keep a mirrored | COMMENT |
| HIGH⚡ | newton/_src/sim/builder.py | 1259 | """Transformer function that converts a USD attribute value to a valid Warp dtype. If undefined, the generic con | STRING |
| HIGH⚡ | newton/_src/sim/builder.py | 1264 | """Transformer function that converts a MJCF attribute value string to a valid Warp dtype. If undefined, the gen | STRING |
| HIGH⚡ | newton/_src/sim/builder.py | 1267 | """Transformer function that converts a URDF attribute value string to a valid Warp dtype. If undefined, the gen | STRING |
| HIGH⚡ | newton/tests/test_download_assets.py | 59 | self.work.git.push("--set-upstream", "origin", "main") | CODE |
| HIGH⚡ | newton/tests/test_download_assets.py | 178 | self.work.git.push("origin", "v1.0") | CODE |
| HIGH⚡ | newton/tests/test_download_assets.py | 551 | self.work.git.push("--set-upstream", "origin", "main") | CODE |
| HIGH⚡ | newton/tests/test_download_assets.py | 568 | self.work.git.push("origin", "v1.0") | CODE |
| HIGH⚡ | newton/tests/test_download_assets.py | 574 | self.work.git.push("origin", "v2.0") | CODE |
| HIGH | newton/tests/test_download_assets.py | 86 | self.work.git.push("origin", "main") | CODE |
| HIGH | newton/tests/test_sdf_compute.py | 1870 | undefined, so this test only verifies that the override runs the parity | STRING |
| HIGH | newton/examples/__init__.py | 661 | help="Viewer to use (gl, usd, rtx, rerun, null, or viser).", | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW⚡ | newton/_src/solvers/implicit_mpm/solve_rheology.py | 1104 | # Step 1: strain → batch mapping | COMMENT |
| LOW⚡ | newton/_src/solvers/implicit_mpm/solve_rheology.py | 1135 | # Step 3: compute Delassus diagonal with per-batch mass splitting | COMMENT |
| LOW⚡ | newton/_src/solvers/implicit_mpm/solve_rheology.py | 1211 | # Step 2: per-row exclusive prefix scan (local offsets per batch; fully written) | COMMENT |
| LOW⚡ | newton/_src/solvers/implicit_mpm/solve_rheology.py | 1218 | # Step 3: compute per-batch base offsets (single-threaded kernel; fully written) | COMMENT |
| LOW⚡ | newton/_src/solvers/implicit_mpm/solve_rheology.py | 1228 | # Step 4: globalize local offsets → _batch_global_offsets[n_batches, n_vel+1] | COMMENT |
| LOW | newton/_src/solvers/implicit_mpm/solve_rheology.py | 1115 | # Step 2: per-velocity-node per-batch sharing counts (accumulator: must be zero) | COMMENT |
| LOW | newton/_src/solvers/implicit_mpm/solve_rheology.py | 1198 | # Step 1: count entries per (batch, velocity-node) (accumulator: must be zero) | COMMENT |
| LOW | newton/_src/solvers/implicit_mpm/solve_rheology.py | 1240 | # Step 5: allocate flat arrays and fill all SCs in one pass | COMMENT |
| LOW⚡ | newton/_src/geometry/sdf_contact.py | 1064 | # Step 3: exclusive scan of block counts → block_offsets | COMMENT |
| LOW | newton/_src/geometry/sdf_contact.py | 1031 | # Step 1: compute per-pair edge counts in parallel | COMMENT |
| LOW | newton/_src/geometry/sdf_contact.py | 1048 | # Step 2: compute per-pair block counts using the scalar total. | COMMENT |
| LOW⚡ | newton/_src/geometry/narrow_phase.py | 1949 | # Step 3: exclusive scan of block counts → block_offsets | COMMENT |
| LOW | newton/_src/geometry/narrow_phase.py | 1918 | # Step 1: compute per-pair vertex counts in parallel | COMMENT |
| LOW | newton/_src/geometry/narrow_phase.py | 1933 | # Step 2: compute per-pair block counts using the scalar total. | COMMENT |
| LOW | newton/_src/geometry/remesh.py | 44 | # Step 1: Extract point cloud with reliable normals | STRING |
| LOW | newton/_src/geometry/remesh.py | 55 | # Step 2: Reconstruct clean mesh using Poisson reconstruction | STRING |
| LOW⚡ | newton/_src/geometry/utils.py | 303 | # Step 1: Compute convex hull | COMMENT |
| LOW⚡ | newton/_src/geometry/utils.py | 307 | # Step 2: Compute mesh inertia | COMMENT |
| LOW | newton/_src/geometry/utils.py | 340 | # Step 3: Warp kernel search | COMMENT |
| LOW⚡ | newton/tests/test_remesh.py | 327 | # Step 1: Extract point cloud | COMMENT |
| LOW⚡ | newton/tests/test_remesh.py | 334 | # Step 2: Reconstruct mesh | COMMENT |
| LOW | newton/tests/test_remesh.py | 348 | # Step 3: Validate reconstructed mesh is close to original cube | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1738 | # Step 3: Create solver (it will read the updated values now) | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1741 | # Step 4: Verify jnt_solimp is properly expanded for multi-world | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1745 | # Step 5: Verify initial values were converted correctly | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1805 | # Step 7: Notify solver of changes | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1808 | # Step 8: Verify updated values were converted correctly | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1835 | # Step 1: Create a template builder and register SolverMuJoCo custom attributes | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1889 | # Step 2: Replicate to multiple worlds | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1895 | # Step 3: Initialize solver | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1945 | # Step 6: Notify solver | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1948 | # Step 7: Verify updates - iterate over MuJoCo joints | COMMENT |
| LOW | newton/tests/test_mujoco_solver.py | 1640 | # Step 1: Create a template builder and register SolverMuJoCo custom attributes | COMMENT |
| LOW | newton/tests/test_mujoco_solver.py | 1698 | # Step 2: Set initial solimplimit values | COMMENT |
| LOW | newton/tests/test_mujoco_solver.py | 1773 | # Step 6: Update solimplimit values with different patterns | COMMENT |
| LOW | newton/tests/test_mujoco_solver.py | 1908 | # Step 4: Verify initial values - iterate over MuJoCo joints | COMMENT |
| LOW | newton/tests/test_mujoco_solver.py | 1924 | # Step 5: Update limit_margin values at runtime | COMMENT |
| LOW⚡ | newton/tests/test_collision_primitives.py | 1901 | # Step 1: Initially separated by 0.1 | COMMENT |
| LOW⚡ | newton/tests/test_collision_primitives.py | 1907 | # Step 2: Just touching (gap = 0) | COMMENT |
| LOW⚡ | newton/tests/test_collision_primitives.py | 1913 | # Step 3: Penetration of 0.1 | COMMENT |
| LOW⚡ | newton/tests/test_collision_primitives.py | 1920 | # Step 4: Penetration of 0.2 | COMMENT |
| LOW⚡ | newton/tests/test_collision_primitives.py | 1927 | # Step 5: Penetration of 0.3 | COMMENT |
| LOW⚡ | newton/tests/test_runtime_gravity.py | 76 | # Step 1: Simulate with default gravity | COMMENT |
| LOW⚡ | newton/tests/test_runtime_gravity.py | 85 | # Step 2: Change gravity to zero at runtime | COMMENT |
| LOW⚡ | newton/tests/test_runtime_gravity.py | 132 | # Step 1: Simulate with default gravity | COMMENT |
| LOW⚡ | newton/tests/test_runtime_gravity.py | 141 | # Step 2: Change gravity to horizontal | COMMENT |
| LOW | newton/tests/test_runtime_gravity.py | 99 | # Step 3: Change gravity to positive (upward) | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW⚡ | newton/_src/solvers/implicit_mpm/solve_rheology.py | 1104 | # Step 1: strain → batch mapping | COMMENT |
| LOW⚡ | newton/_src/solvers/implicit_mpm/solve_rheology.py | 1135 | # Step 3: compute Delassus diagonal with per-batch mass splitting | COMMENT |
| LOW⚡ | newton/_src/solvers/implicit_mpm/solve_rheology.py | 1211 | # Step 2: per-row exclusive prefix scan (local offsets per batch; fully written) | COMMENT |
| LOW⚡ | newton/_src/solvers/implicit_mpm/solve_rheology.py | 1218 | # Step 3: compute per-batch base offsets (single-threaded kernel; fully written) | COMMENT |
| LOW⚡ | newton/_src/solvers/implicit_mpm/solve_rheology.py | 1228 | # Step 4: globalize local offsets → _batch_global_offsets[n_batches, n_vel+1] | COMMENT |
| LOW | newton/_src/solvers/implicit_mpm/solve_rheology.py | 1115 | # Step 2: per-velocity-node per-batch sharing counts (accumulator: must be zero) | COMMENT |
| LOW | newton/_src/solvers/implicit_mpm/solve_rheology.py | 1198 | # Step 1: count entries per (batch, velocity-node) (accumulator: must be zero) | COMMENT |
| LOW | newton/_src/solvers/implicit_mpm/solve_rheology.py | 1240 | # Step 5: allocate flat arrays and fill all SCs in one pass | COMMENT |
| LOW⚡ | newton/_src/geometry/sdf_contact.py | 1064 | # Step 3: exclusive scan of block counts → block_offsets | COMMENT |
| LOW | newton/_src/geometry/sdf_contact.py | 1031 | # Step 1: compute per-pair edge counts in parallel | COMMENT |
| LOW | newton/_src/geometry/sdf_contact.py | 1048 | # Step 2: compute per-pair block counts using the scalar total. | COMMENT |
| LOW⚡ | newton/_src/geometry/narrow_phase.py | 1949 | # Step 3: exclusive scan of block counts → block_offsets | COMMENT |
| LOW | newton/_src/geometry/narrow_phase.py | 1918 | # Step 1: compute per-pair vertex counts in parallel | COMMENT |
| LOW | newton/_src/geometry/narrow_phase.py | 1933 | # Step 2: compute per-pair block counts using the scalar total. | COMMENT |
| LOW | newton/_src/geometry/remesh.py | 44 | # Step 1: Extract point cloud with reliable normals | STRING |
| LOW | newton/_src/geometry/remesh.py | 55 | # Step 2: Reconstruct clean mesh using Poisson reconstruction | STRING |
| LOW⚡ | newton/_src/geometry/utils.py | 303 | # Step 1: Compute convex hull | COMMENT |
| LOW⚡ | newton/_src/geometry/utils.py | 307 | # Step 2: Compute mesh inertia | COMMENT |
| LOW | newton/_src/geometry/utils.py | 340 | # Step 3: Warp kernel search | COMMENT |
| LOW⚡ | newton/tests/test_remesh.py | 327 | # Step 1: Extract point cloud | COMMENT |
| LOW⚡ | newton/tests/test_remesh.py | 334 | # Step 2: Reconstruct mesh | COMMENT |
| LOW | newton/tests/test_remesh.py | 348 | # Step 3: Validate reconstructed mesh is close to original cube | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1738 | # Step 3: Create solver (it will read the updated values now) | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1741 | # Step 4: Verify jnt_solimp is properly expanded for multi-world | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1745 | # Step 5: Verify initial values were converted correctly | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1805 | # Step 7: Notify solver of changes | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1808 | # Step 8: Verify updated values were converted correctly | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1835 | # Step 1: Create a template builder and register SolverMuJoCo custom attributes | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1889 | # Step 2: Replicate to multiple worlds | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1895 | # Step 3: Initialize solver | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1945 | # Step 6: Notify solver | COMMENT |
| LOW⚡ | newton/tests/test_mujoco_solver.py | 1948 | # Step 7: Verify updates - iterate over MuJoCo joints | COMMENT |
| LOW | newton/tests/test_mujoco_solver.py | 1640 | # Step 1: Create a template builder and register SolverMuJoCo custom attributes | COMMENT |
| LOW | newton/tests/test_mujoco_solver.py | 1698 | # Step 2: Set initial solimplimit values | COMMENT |
| LOW | newton/tests/test_mujoco_solver.py | 1773 | # Step 6: Update solimplimit values with different patterns | COMMENT |
| LOW | newton/tests/test_mujoco_solver.py | 1908 | # Step 4: Verify initial values - iterate over MuJoCo joints | COMMENT |
| LOW | newton/tests/test_mujoco_solver.py | 1924 | # Step 5: Update limit_margin values at runtime | COMMENT |
| LOW⚡ | newton/tests/test_collision_primitives.py | 1901 | # Step 1: Initially separated by 0.1 | COMMENT |
| LOW⚡ | newton/tests/test_collision_primitives.py | 1907 | # Step 2: Just touching (gap = 0) | COMMENT |
| LOW⚡ | newton/tests/test_collision_primitives.py | 1913 | # Step 3: Penetration of 0.1 | COMMENT |
| LOW⚡ | newton/tests/test_collision_primitives.py | 1920 | # Step 4: Penetration of 0.2 | COMMENT |
| LOW⚡ | newton/tests/test_collision_primitives.py | 1927 | # Step 5: Penetration of 0.3 | COMMENT |
| LOW⚡ | newton/tests/test_runtime_gravity.py | 76 | # Step 1: Simulate with default gravity | COMMENT |
| LOW⚡ | newton/tests/test_runtime_gravity.py | 85 | # Step 2: Change gravity to zero at runtime | COMMENT |
| LOW⚡ | newton/tests/test_runtime_gravity.py | 132 | # Step 1: Simulate with default gravity | COMMENT |
| LOW⚡ | newton/tests/test_runtime_gravity.py | 141 | # Step 2: Change gravity to horizontal | COMMENT |
| LOW | newton/tests/test_runtime_gravity.py | 99 | # Step 3: Change gravity to positive (upward) | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM | newton/_src/solvers/kamino/_src/solvers/warmstart.py | 644 | # First sort the keys of cached limits to facilitate binary search | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/solvers/warmstart.py | 699 | # First sort the keys of cached contacts to facilitate binary search | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/solvers/warmstart.py | 773 | # First sort the keys of cached contacts to facilitate binary search | COMMENT |
| MEDIUM | newton/_src/solvers/kamino/_src/solvers/warmstart.py | 840 | # First sort the keys of cached contacts to facilitate binary search | COMMENT |
| MEDIUM | …on/_src/solvers/kamino/_src/utils/control/animation.py | 393 | # TODO: Try this instead (it might be more robust): | COMMENT |
| LOW | newton/_src/solvers/kamino/_src/kinematics/jacobians.py | 103 | # 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.py | 35 | """Small angle threshold to use more robust and faster path for angular velocity calculations""" | STRING |
| MEDIUM | newton/_src/solvers/mujoco/solver_mujoco.py | 6394 | # this robust for models assembled without the standard custom-attribute pipeline. | COMMENT |
| MEDIUM | newton/_src/solvers/featherstone/solver_featherstone.py | 372 | # allocate mass, Jacobian matrices, and other auxiliary variables pertaining to the model | COMMENT |
| LOW | newton/_src/utils/import_mjcf.py | 863 | # to pad against, so just return the parsed vector as-is. | COMMENT |
| MEDIUM | newton/_src/utils/mesh.py | 1732 | # Side vertices first (contiguous layout for robust indexing). | COMMENT |
| MEDIUM | newton/_src/utils/import_urdf.py | 37 | # Optional dependency for robust URI resolution | COMMENT |
| MEDIUM | newton/_src/viewer/viewer_usd.py | 1140 | # Convert the string to an Sdf.Path object for robust manipulation | COMMENT |
| MEDIUM | newton/_src/viewer/viewer_rtx.py | 270 | # OVRTX 0.3+ ships with namespaced USD builds that should be safe to use in conjunction with | COMMENT |
| MEDIUM | newton/_src/geometry/flags.py | 52 | """Angle-weighted closest-face pseudo-normal; robust for open surfaces.""" | STRING |
| MEDIUM | newton/_src/geometry/simplex_solver.py | 442 | # Track last search direction for robust normal fallback | COMMENT |
| LOW | newton/_src/geometry/remesh.py | 504 | # No subdivision needed - just return face centers | COMMENT |
| MEDIUM | newton/_src/geometry/collision_primitive.py | 1206 | # sphere center inside box (use robust epsilon for numerical stability across platforms) | COMMENT |
| MEDIUM | newton/_src/controllers/impl/differential_ik/_common.py | 713 | # Golub & Van Loan's robust symmetric Jacobi rotation, | COMMENT |
| MEDIUM | newton/_src/controllers/impl/differential_ik/_common.py | 449 | """Maciejewski-Klein singularity-robust damping, ``λ²(sigma_min)``. | STRING |
| MEDIUM | newton/tests/test_recorder.py | 484 | # This comprehensive list covers all dtypes used in Newton Model/State/Control/Contacts | COMMENT |
| MEDIUM | newton/tests/test_schema_resolver.py | 891 | # Map joint keys to expected values for more robust testing | COMMENT |
| MEDIUM | newton/tests/test_joint_limits.py | 204 | # Test robust comparisons | COMMENT |
| MEDIUM | newton/tests/test_import_usd_articulation.py | 1062 | # Find joints by their keys to make test robust to ordering changes | COMMENT |
| MEDIUM | newton/examples/contacts/example_brick_stacking.py | 656 | # approximate the brick geometry to make brick-brick contacts more robust, | COMMENT |
| MEDIUM | newton/examples/cloth/example_cloth_h1.py | 10 | # Demonstrates how to leverage interpolated robot kinematics within the | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | newton/_src/solvers/xpbd/kernels.py | 1176 | # Eq. 2-3 (make sure to project into the frame of the body) | COMMENT |
| LOW | newton/_src/solvers/xpbd/kernels.py | 2363 | # Eq. 2-3 (make sure to project into the frame of the body) | COMMENT |
| LOW | newton/_src/solvers/xpbd/kernels.py | 2403 | # Eq. 2-3 (make sure to project into the frame of the body) | COMMENT |
| LOW | newton/_src/solvers/xpbd/kernels.py | 2440 | # Eq. 2-3 (make sure to project into the frame of the body) | COMMENT |
| LOW | newton/_src/solvers/vbd/particle_vbd_kernels.py | 2190 | # Don't forget to do the final truncation based on the maximum displacement allowance! | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | …n/_src/solvers/kamino/examples/rl/example_rl_drlegs.py | 11 | # Usage: | COMMENT |
| LOW | …/_src/solvers/kamino/examples/rl/example_rl_bipedal.py | 12 | # Usage: | COMMENT |
| LOW | …c/solvers/kamino/examples/rl/test_multi_env_dr_legs.py | 7 | # Usage: | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | …tests/kamino/test_kamino_solvers_forward_kinematics.py | 340 | def test_function(model: ModelKamino): | CODE |
| LOW | …tests/kamino/test_kamino_solvers_forward_kinematics.py | 380 | def test_function(model: ModelKamino): | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | newton/_src/solvers/kamino/_src/linalg/conjugate.py | 370 | # TODO: consider using a spinlock for fusing kernels | COMMENT |