`warp.sim` Migration Guide¶

This guide is designed for users seeking to migrate their applications from warp.sim to Newton.

Solvers¶

warp.sim	Newton
`warp.sim.FeatherstoneIntegrator`	`newton.solvers.FeatherstoneSolver`
`warp.sim.SemiImplicitIntegrator`	`newton.solvers.SemiImplicitSolver`
`warp.sim.VBDIntegrator`	`newton.solvers.VBDSolver`
`warp.sim.XPBDIntegrator`	`newton.solvers.XPBDSolver`
`integrator.simulate(self.model, self.state0, self.state1, self.dt, None)`	`solver.step(self.model, self.state0, self.state1, self.control, None, self.dt)`

Importers¶

warp.sim	Newton
`warp.sim.parse_urdf()`	`newton.utils.parse_urdf()`
`warp.sim.parse_mjcf()`	`newton.utils.parse_mjcf()`
`warp.sim.parse_usd()`	`newton.utils.parse_usd()`
`warp.sim.resolve_usd_from_url()`	`newton.utils.import_usd.resolve_usd_from_url()`

`Model`¶

ModelShapeGeometry.is_solid now is of dtype bool instead of wp.uint8.

`ModelBuilder`¶

warp.sim	Newton
`ModelBuilder.add_body(origin=..., m=...)`	`ModelBuilder.add_body(xform=..., mass=...)`
`ModelBuilder._add_shape()`	`ModelBuilder.add_shape()`
`ModelBuilder.add_shape_*(pos=..., rot=...)`	`ModelBuilder.add_shape_*(xform=...)`

Renderers¶

warp.sim	Newton
`warp.sim.render.SimRenderer`	`newton.utils.SimRenderer`
`warp.sim.render.SimRendererUsd`	`newton.utils.SimRendererUsd`
`warp.sim.render.SimRendererOpenGL`	`newton.utils.SimRendererOpenGL`