newton.utils.topological_sort

newton.utils.topological_sort(joints, use_dfs=True)

Topological sort of a list of joints connecting rigid bodies.

Parameters:

• joints (List[Tuple[int, int]]) – A list of joint pairs (parent, child).

• use_dfs (bool) – If True, use depth-first search for topological sorting. If False, use Kahn’s algorithm. Default is True.

Returns:

A list of joint indices in topological order.

Return type:

List[int]