Index

_

__init__() (newton.CollisionPipeline method) (newton.Contacts method) (newton.Control method) (newton.geometry.BroadPhaseAllPairs method) (newton.geometry.BroadPhaseExplicit method) (newton.geometry.BroadPhaseSAP method) (newton.ik.IKJointLimitObjective method) (newton.ik.IKPositionObjective method) (newton.ik.IKRotationObjective method) (newton.ik.IKSolver method) (newton.Mesh method) (newton.Model method) (newton.ModelBuilder method) (newton.ModelBuilder.JointDofConfig method) (newton.ModelBuilder.ShapeConfig method) (newton.SDF method) (newton.selection.ArticulationView method) (newton.sensors.ContactSensor method) (newton.solvers.SolverBase method) (newton.solvers.SolverFeatherstone method) (newton.solvers.SolverImplicitMPM method) (newton.solvers.SolverMuJoCo method) (newton.solvers.SolverSemiImplicit method) (newton.solvers.SolverStyle3D method) (newton.solvers.SolverVBD method) (newton.solvers.SolverXPBD method) (newton.State method) (newton.Style3DModel method) (newton.Style3DModelBuilder method) (newton.utils.BasicRecorder method) (newton.utils.ModelAndStateRecorder method) (newton.viewer.GizmoSystem method) (newton.viewer.RecorderImGuiManager method) (newton.viewer.RendererUsd method)

__version__ (in module newton)

A

add_aniso_cloth_grid() (newton.Style3DModelBuilder method) add_aniso_cloth_mesh() (newton.Style3DModelBuilder method) add_aniso_edges() (newton.Style3DModelBuilder method) add_aniso_triangles() (newton.Style3DModelBuilder method) add_attribute() (newton.Model method) add_body() (newton.ModelBuilder method) add_builder() (newton.ModelBuilder method) (newton.Style3DModelBuilder method) add_cloth_grid() (newton.ModelBuilder method) add_cloth_mesh() (newton.ModelBuilder method) add_edge() (newton.ModelBuilder method) add_edges() (newton.ModelBuilder method) add_equality_constraint() (newton.ModelBuilder method) add_equality_constraint_connect() (newton.ModelBuilder method) add_equality_constraint_joint() (newton.ModelBuilder method) add_equality_constraint_weld() (newton.ModelBuilder method) add_free_joints_to_floating_bodies() (newton.ModelBuilder method) add_ground_plane() (newton.ModelBuilder method) add_joint() (newton.ModelBuilder method) add_joint_ball() (newton.ModelBuilder method) add_joint_d6() (newton.ModelBuilder method) add_joint_distance() (newton.ModelBuilder method) add_joint_fixed() (newton.ModelBuilder method) add_joint_free() (newton.ModelBuilder method) add_joint_prismatic() (newton.ModelBuilder method) add_joint_revolute() (newton.ModelBuilder method) add_muscle() (newton.ModelBuilder method)

add_particle() (newton.ModelBuilder method) add_particles() (newton.ModelBuilder method) add_shape() (newton.ModelBuilder method) add_shape_box() (newton.ModelBuilder method) add_shape_capsule() (newton.ModelBuilder method) add_shape_cone() (newton.ModelBuilder method) add_shape_cylinder() (newton.ModelBuilder method) add_shape_mesh() (newton.ModelBuilder method) add_shape_plane() (newton.ModelBuilder method) add_shape_sdf() (newton.ModelBuilder method) add_shape_sphere() (newton.ModelBuilder method) add_soft_grid() (newton.ModelBuilder method) add_soft_mesh() (newton.ModelBuilder method) add_spring() (newton.ModelBuilder method) add_tetrahedron() (newton.ModelBuilder method) add_triangle() (newton.ModelBuilder method) add_triangles() (newton.ModelBuilder method) approximate_meshes() (newton.ModelBuilder method) armature (newton.ModelBuilder.JointDofConfig attribute) articulation_count (newton.Model attribute) articulation_key (newton.Model attribute) articulation_start (newton.Model attribute) ArticulationView (class in newton.selection) attribute_frequency (newton.Model attribute) Axis (class in newton) axis (newton.ModelBuilder.JointDofConfig attribute) AxisType (in module newton)

B

balance_inertia (newton.ModelBuilder attribute) BasicRecorder (class in newton.utils) body_com (newton.Model attribute) body_count (newton.Model attribute) (newton.State property) body_f (newton.State attribute) body_inertia (newton.Model attribute) body_inv_inertia (newton.Model attribute) body_inv_mass (newton.Model attribute) body_key (newton.Model attribute) body_mass (newton.Model attribute)

body_q (newton.Model attribute) (newton.State attribute) body_qd (newton.Model attribute) (newton.State attribute) body_shapes (newton.Model attribute) boltzmann() (in module newton.utils) bound_inertia (newton.ModelBuilder attribute) bound_mass (newton.ModelBuilder attribute) BroadPhaseAllPairs (class in newton.geometry) BroadPhaseExplicit (class in newton.geometry) BroadPhaseSAP (class in newton.geometry)

C

clear() (newton.Contacts method) (newton.Control method) clear_forces() (newton.State method) collapse_fixed_joints() (newton.ModelBuilder method) collect_collider_impulses() (newton.solvers.SolverImplicitMPM method) collide() (newton.Model method) collision_filter_parent (newton.ModelBuilder.ShapeConfig attribute) collision_group (newton.ModelBuilder.ShapeConfig attribute) CollisionPipeline (class in newton) color() (newton.ModelBuilder method) color_collision_shapes() (newton.solvers.SolverMuJoCo static method) color_graph() (in module newton.utils) com (newton.Mesh attribute) (newton.SDF attribute) compute_convex_hull() (newton.Mesh method) compute_jacobian_analytic() (newton.ik.IKJointLimitObjective method) (newton.ik.IKPositionObjective method) (newton.ik.IKRotationObjective method)

compute_jacobian_autodiff() (newton.ik.IKJointLimitObjective method) (newton.ik.IKPositionObjective method) (newton.ik.IKRotationObjective method) compute_residuals() (newton.ik.IKJointLimitObjective method) (newton.ik.IKPositionObjective method) (newton.ik.IKRotationObjective method) Contacts (class in newton) ContactSensor (class in newton.sensors) Control (class in newton) control() (newton.Model method) convert_to_mjc() (newton.solvers.SolverMuJoCo method) convex_hull (newton.Mesh attribute) count_rigid_contact_points() (in module newton) create_target() (newton.viewer.GizmoSystem method) create_unlimited() (newton.ModelBuilder.JointDofConfig class method)

D

density (newton.ModelBuilder.ShapeConfig attribute) device (newton.Model attribute) (newton.solvers.SolverBase property)

download_asset() (in module newton.utils) draw_ui() (newton.viewer.RecorderImGuiManager method)

E

edge_bending_cot (newton.Style3DModel attribute) edge_bending_properties (newton.Model attribute) edge_constraint_lambdas (newton.Model attribute) edge_count (newton.Model attribute) edge_indices (newton.Model attribute) edge_rest_angle (newton.Model attribute) edge_rest_area (newton.Style3DModel attribute) edge_rest_length (newton.Model attribute) effort_limit (newton.ModelBuilder.JointDofConfig attribute) enrich_state() (newton.solvers.SolverImplicitMPM static method) EqType (class in newton) equality_constraint_anchor (newton.Model attribute) equality_constraint_body1 (newton.Model attribute)

equality_constraint_body2 (newton.Model attribute) equality_constraint_count (newton.Model attribute) equality_constraint_enabled (newton.Model attribute) equality_constraint_joint1 (newton.Model attribute) equality_constraint_joint2 (newton.Model attribute) equality_constraint_key (newton.Model attribute) equality_constraint_polycoef (newton.Model attribute) equality_constraint_relpose (newton.Model attribute) equality_constraint_torquescale (newton.Model attribute) equality_constraint_type (newton.Model attribute) eval_fk() (in module newton) (newton.selection.ArticulationView method) eval_ik() (in module newton)

F

finalize() (newton.Mesh method) (newton.ModelBuilder method) (newton.SDF method) (newton.Style3DModelBuilder method) (newton.viewer.GizmoSystem method)

flags (newton.ModelBuilder.ShapeConfig property) friction (newton.ModelBuilder.JointDofConfig attribute)

G

GeoType (class in newton) get_attribute() (newton.selection.ArticulationView method) get_attribute_frequency() (newton.Model method) get_joint_dof_count() (in module newton)

get_model_articulation_mask() (newton.selection.ArticulationView method) get_root_transforms() (newton.selection.ArticulationView method) get_root_velocities() (newton.selection.ArticulationView method) GizmoSystem (class in newton.viewer) gravity (newton.Model attribute)

H

has_particle_collision (newton.ModelBuilder.ShapeConfig attribute)

has_shape_collision (newton.ModelBuilder.ShapeConfig attribute)

I

I (newton.Mesh attribute) (newton.SDF attribute) IKJacobianMode (class in newton.ik) IKJointLimitObjective (class in newton.ik) IKObjective (class in newton.ik) IKPositionObjective (class in newton.ik) IKRotationObjective (class in newton.ik) IKSolver (class in newton.ik)

indices (newton.Mesh attribute) init_buffers() (newton.ik.IKJointLimitObjective method) (newton.ik.IKPositionObjective method) (newton.ik.IKRotationObjective method) integrate_bodies() (newton.solvers.SolverBase method) integrate_particles() (newton.solvers.SolverBase method) is_solid (newton.ModelBuilder.ShapeConfig attribute) is_visible (newton.ModelBuilder.ShapeConfig attribute)

J

joint_ancestor (newton.Model attribute) joint_armature (newton.Model attribute) joint_axis (newton.Model attribute) joint_child (newton.Model attribute) joint_coord_count (newton.Model attribute) (newton.State property) joint_count (newton.Model attribute) joint_dof_count (newton.Model attribute) (newton.State property) joint_dof_dim (newton.Model attribute) joint_dof_mode (newton.Model attribute) joint_effort_limit (newton.Model attribute) joint_enabled (newton.Model attribute) joint_f (newton.Control attribute) (newton.Model attribute) joint_friction (newton.Model attribute) joint_key (newton.Model attribute) joint_limit_kd (newton.Model attribute) joint_limit_ke (newton.Model attribute) joint_limit_lower (newton.Model attribute)

joint_limit_upper (newton.Model attribute) joint_parent (newton.Model attribute) joint_q (newton.Model attribute) (newton.State attribute) joint_q_start (newton.Model attribute) joint_qd (newton.Model attribute) (newton.State attribute) joint_qd_start (newton.Model attribute) joint_target (newton.Control attribute) (newton.Model attribute) joint_target_kd (newton.Model attribute) joint_target_ke (newton.Model attribute) joint_twist_lower (newton.Model attribute) joint_twist_upper (newton.Model attribute) joint_type (newton.Model attribute) joint_velocity_limit (newton.Model attribute) joint_X_c (newton.Model attribute) joint_X_p (newton.Model attribute) JointMode (class in newton) JointType (class in newton)

K

ka (newton.ModelBuilder.ShapeConfig attribute) kd (newton.ModelBuilder.ShapeConfig attribute)

ke (newton.ModelBuilder.ShapeConfig attribute) kf (newton.ModelBuilder.ShapeConfig attribute)

L

launch() (newton.geometry.BroadPhaseAllPairs method) (newton.geometry.BroadPhaseExplicit method) (newton.geometry.BroadPhaseSAP method) leaky_max() (in module newton.utils) leaky_min() (in module newton.utils)

limit_kd (newton.ModelBuilder.JointDofConfig attribute) limit_ke (newton.ModelBuilder.JointDofConfig attribute) limit_lower (newton.ModelBuilder.JointDofConfig attribute) limit_upper (newton.ModelBuilder.JointDofConfig attribute) load_from_file() (newton.utils.BasicRecorder method) (newton.utils.ModelAndStateRecorder method)

M

mass (newton.Mesh attribute) (newton.SDF attribute) maxhullvert (newton.Mesh attribute) Mesh (class in newton) mode (newton.ModelBuilder.JointDofConfig attribute) Model (class in newton) ModelAndStateRecorder (class in newton.utils) ModelBuilder (class in newton) ModelBuilder.JointDofConfig (class in newton)

ModelBuilder.ShapeConfig (class in newton) mu (newton.ModelBuilder.ShapeConfig attribute) muscle_activations (newton.Control attribute) (newton.Model attribute) muscle_bodies (newton.Model attribute) muscle_count (newton.Model attribute) muscle_params (newton.Model attribute) muscle_points (newton.Model attribute) muscle_start (newton.Model attribute)

N

notify_model_changed() (newton.solvers.SolverBase method) (newton.solvers.SolverMuJoCo method)

num_envs (newton.Model attribute)

O

on_mouse_drag() (newton.viewer.GizmoSystem method) on_mouse_press() (newton.viewer.GizmoSystem method)

on_mouse_release() (newton.viewer.GizmoSystem method) Options (newton.solvers.SolverImplicitMPM attribute)

P

parse_mjcf() (in module newton.utils) parse_urdf() (in module newton.utils) parse_usd() (in module newton.utils) particle_adhesion (newton.Model attribute) particle_cohesion (newton.Model attribute) particle_color_groups (newton.Model attribute) particle_colors (newton.Model attribute) particle_count (newton.Model attribute) (newton.State property) particle_f (newton.State attribute) particle_flags (newton.Model attribute) particle_grid (newton.Model attribute) particle_inv_mass (newton.Model attribute) particle_kd (newton.Model attribute) particle_ke (newton.Model attribute) particle_kf (newton.Model attribute)

particle_mass (newton.Model attribute) particle_max_radius (newton.Model attribute) particle_max_velocity (newton.Model attribute) particle_mu (newton.Model attribute) particle_q (newton.Model attribute) (newton.State attribute) particle_qd (newton.Model attribute) (newton.State attribute) particle_radius (newton.Model attribute) ParticleFlags (class in newton) playback() (newton.utils.BasicRecorder method) (newton.utils.ModelAndStateRecorder method) playback_model() (newton.utils.ModelAndStateRecorder method) plot_articulation() (newton.ModelBuilder method) plot_graph() (in module newton.utils) populate_contacts() (in module newton.sensors) project_outside() (newton.solvers.SolverImplicitMPM method)

Q

quat_between_axes() (in module newton.utils) quat_decompose() (in module newton.utils) quat_from_euler() (in module newton.utils)

quat_to_euler() (in module newton.utils) quat_to_rpy() (in module newton.utils) quat_twist() (in module newton.utils) quat_twist_angle() (in module newton.utils)

R

rebuild_bvh() (newton.solvers.SolverVBD method) record() (newton.utils.BasicRecorder method) (newton.utils.ModelAndStateRecorder method) record_model() (newton.utils.ModelAndStateRecorder method) RecorderImGuiManager (class in newton.viewer) remesh_mesh() (in module newton.geometry) RendererOpenGL (class in newton.viewer) RendererUsd (class in newton.viewer)

requires_grad (newton.Model attribute) (newton.State property) residual_dim() (newton.ik.IKJointLimitObjective method) (newton.ik.IKPositionObjective method) (newton.ik.IKRotationObjective method) restitution (newton.ModelBuilder.ShapeConfig attribute) rigid_contact_max (newton.Model attribute) rigid_contact_rolling_friction (newton.Model attribute) rigid_contact_torsional_friction (newton.Model attribute)

S

sample_render_grains() (newton.solvers.SolverImplicitMPM method) save_to_file() (newton.utils.BasicRecorder method) (newton.utils.ModelAndStateRecorder method) SDF (class in newton) set_attribute() (newton.selection.ArticulationView method) set_callbacks() (newton.viewer.GizmoSystem method) set_coloring() (newton.ModelBuilder method) set_root_transforms() (newton.selection.ArticulationView method) set_root_velocities() (newton.selection.ArticulationView method) setup_collider() (newton.solvers.SolverImplicitMPM method) sew_close_vertices() (newton.Style3DModelBuilder method) shape_body (newton.Model attribute) shape_collision_filter_pairs (newton.Model attribute) shape_collision_group (newton.Model attribute) shape_collision_group_map (newton.Model attribute) shape_collision_radius (newton.Model attribute) shape_contact_pair_count (newton.Model attribute) shape_contact_pairs (newton.Model attribute) shape_count (newton.Model attribute) shape_filter (newton.Model attribute) shape_flags (newton.Model attribute) shape_is_solid (newton.Model attribute) shape_key (newton.Model attribute) shape_material_ka (newton.Model attribute) shape_material_kd (newton.Model attribute) shape_material_ke (newton.Model attribute) shape_material_kf (newton.Model attribute) shape_material_mu (newton.Model attribute) shape_material_restitution (newton.Model attribute) shape_scale (newton.Model attribute) shape_source (newton.Model attribute) shape_source_ptr (newton.Model attribute) shape_thickness (newton.Model attribute) shape_transform (newton.Model attribute) shape_type (newton.Model attribute) ShapeFlags (class in newton) smooth_max() (in module newton.utils)

smooth_min() (in module newton.utils) soft_contact_kd (newton.Model attribute) soft_contact_ke (newton.Model attribute) soft_contact_kf (newton.Model attribute) soft_contact_mu (newton.Model attribute) soft_contact_restitution (newton.Model attribute) solve() (newton.ik.IKSolver method) SolverBase (class in newton.solvers) SolverFeatherstone (class in newton.solvers) SolverImplicitMPM (class in newton.solvers) SolverMuJoCo (class in newton.solvers) SolverNotifyFlags (class in newton.solvers) SolverSemiImplicit (class in newton.solvers) SolverStyle3D (class in newton.solvers) SolverVBD (class in newton.solvers) SolverXPBD (class in newton.solvers) spring_constraint_lambdas (newton.Model attribute) spring_control (newton.Model attribute) spring_count (newton.Model attribute) spring_damping (newton.Model attribute) spring_indices (newton.Model attribute) spring_rest_length (newton.Model attribute) spring_stiffness (newton.Model attribute) State (class in newton) state() (newton.Model method) step() (newton.solvers.SolverBase method) (newton.solvers.SolverFeatherstone method) (newton.solvers.SolverImplicitMPM method) (newton.solvers.SolverMuJoCo method) (newton.solvers.SolverSemiImplicit method) (newton.solvers.SolverStyle3D method) (newton.solvers.SolverVBD method) (newton.solvers.SolverXPBD method) Style3DModel (class in newton) Style3DModelBuilder (class in newton) supports_analytic() (newton.ik.IKJointLimitObjective method) (newton.ik.IKPositionObjective method) (newton.ik.IKRotationObjective method)

T

target (newton.ModelBuilder.JointDofConfig attribute) target_kd (newton.ModelBuilder.JointDofConfig attribute) target_ke (newton.ModelBuilder.JointDofConfig attribute) tet_activations (newton.Control attribute) (newton.Model attribute) tet_count (newton.Model attribute) tet_indices (newton.Model attribute) tet_materials (newton.Model attribute) tet_poses (newton.Model attribute) thickness (newton.ModelBuilder.ShapeConfig attribute)

transform_inertia() (in module newton.utils) transform_twist() (in module newton.utils) transform_wrench() (in module newton.utils) tri_activations (newton.Control attribute) (newton.Model attribute) tri_aniso_ke (newton.Style3DModel attribute) tri_areas (newton.Model attribute) tri_count (newton.Model attribute) tri_indices (newton.Model attribute) tri_materials (newton.Model attribute) tri_poses (newton.Model attribute)

U

up_axis (newton.Model attribute) up_vector (newton.Model attribute) (newton.ModelBuilder property) update_contacts() (newton.solvers.SolverBase method) (newton.solvers.SolverMuJoCo method) update_drag_info() (newton.solvers.SolverStyle3D method)

update_geom_properties() (newton.solvers.SolverMuJoCo method) update_joint_properties() (newton.solvers.SolverMuJoCo method) update_particle_frames() (newton.solvers.SolverImplicitMPM method) update_render_grains() (newton.solvers.SolverImplicitMPM method) update_target_position() (newton.viewer.GizmoSystem method) update_target_rotation() (newton.viewer.GizmoSystem method)

V

validate_inertia_detailed (newton.ModelBuilder attribute) vec_abs() (in module newton.utils) vec_leaky_max() (in module newton.utils) vec_leaky_min() (in module newton.utils) vec_max() (in module newton.utils)

vec_min() (in module newton.utils) velocity_at_point() (in module newton.utils) velocity_limit (newton.ModelBuilder.JointDofConfig attribute) vertices (newton.Mesh attribute) volume (newton.SDF attribute)

X

X (newton.Axis attribute)

Y

Y (newton.Axis attribute)

Z

Z (newton.Axis attribute)