newton.utils

Classes

RecorderBasic	A class to record and playback simulation body transforms.
RecorderModelAndState	A class to record and playback simulation model and state using JSON serialization.

Functions

boltzmann(a, b, alpha)	Compute the Boltzmann-weighted average of two values.
color_graph(num_nodes, graph_edge_indices[, ...])	A function that generates coloring for a graph, which is represented by the number of nodes and an array of edges.
create_box_mesh(extents)	Create a rectangular box (cuboid) mesh.
create_capsule_mesh(radius, half_height[, ...])	Create a capsule (pill-shaped) mesh with hemispherical ends.
create_cone_mesh(radius, half_height[, ...])	Create a cone mesh with circular base and pointed top.
create_cylinder_mesh(radius, half_height[, ...])	Create a cylinder or truncated cone mesh.
create_plane_mesh(width, length)	Create a rectangular plane mesh in the XY plane.
create_sphere_mesh([radius, num_latitudes, ...])	Create a sphere mesh with specified parameters.
download_asset(asset_folder[, cache_dir, ...])	Downloads a specific folder from the newton-assets GitHub repository into a local cache.
leaky_max(a, b)	Compute a numerically stable, differentiable approximation of max(a, b).
leaky_min(a, b)	Compute a numerically stable, differentiable approximation of min(a, b).
plot_graph(vertices, edges[, edge_labels])	Plots a graph using matplotlib and networkx.
quat_between_axes(*axes)	Compute the rotation between a sequence of axes.
quat_decompose(q)	Decompose a quaternion into extrinsic Euler angles.
quat_from_euler(e, i, j, k)	Convert Euler angles to a quaternion.
quat_to_euler(q, i, j, k)	Convert a quaternion into Euler angles.
quat_to_rpy(q)	Convert a quaternion into Euler angles (roll, pitch, yaw).
quat_twist(axis, q)	Return the twist around an axis.
quat_twist_angle(axis, q)	Return the angle of the twist around an axis.
smooth_max(a, b, eps)	Compute a smooth approximation of the maximum of two values.
smooth_min(a, b, eps)	Compute a smooth approximation of the minimum of two values.
transform_twist(t, x)	Transform a spatial twist between coordinate frames.
transform_wrench(t, x)	Transform a spatial wrench between coordinate frames.
vec_abs(a)	Compute the elementwise absolute value of a 3D vector.
vec_leaky_max(a, b)	Compute the elementwise "leaky" maximum of two 3D vectors.
vec_leaky_min(a, b)	Compute the elementwise "leaky" minimum of two 3D vectors.
vec_max(a, b)	Compute the elementwise maximum of two 3D vectors.
vec_min(a, b)	Compute the elementwise minimum of two 3D vectors.
velocity_at_point(qd, r)	Return the velocity of a point relative to the frame that owns the provided spatial velocity.