CpuArticulationView

Fully qualified name: isaacsim::physics::newton::tensors::CpuArticulationView

class CpuArticulationView : public isaacsim::physics::newton::tensors::BaseArticulationView

CPU articulation view. Implements getters/setters using host-side gather/scatter loops. Reusable scratch vectors (m_scratchSourceOffset, m_scratchDestinationIndex) avoid per-call heap allocation.

Public Functions

CpuArticulationView(

py::object newtonStage,

const std::vector<pxr::SdfPath> &articulationPaths,

)

Constructs a CpuArticulationView.

Parameters:

• newtonStage – [in] Newton stage object backing the view.

• articulationPaths – [in] USD prim paths of the articulations.

~CpuArticulationView() override = default

bool getDofPositions(const TensorDesc *dstTensor) const override

Gets the DOF positions.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getDofVelocities(const TensorDesc *dstTensor) const override

Gets the DOF velocities.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool setDofPositions(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the DOF positions.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofVelocities(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the DOF velocities.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool getDofLimits(const TensorDesc *dstTensor) const override

Gets the DOF limits.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getDofStiffnesses(const TensorDesc *dstTensor) const override

Gets the DOF stiffnesses.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getDofDampings(const TensorDesc *dstTensor) const override

Gets the DOF dampings.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getDofArmatures(const TensorDesc *dstTensor) const override

Gets the DOF armatures.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getDofMaxForces(const TensorDesc *dstTensor) const override

Gets the DOF maximum forces.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getDofMaxVelocities(const TensorDesc *dstTensor) const override

Gets the DOF maximum velocities.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getDofPositionTargets(

const TensorDesc *dstTensor,

) const override

Gets the DOF position targets.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getDofVelocityTargets(

const TensorDesc *dstTensor,

) const override

Gets the DOF velocity targets.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getDofActuationForces(

const TensorDesc *dstTensor,

) const override

Gets the DOF actuation forces.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getDofTypes(const TensorDesc *dstTensor) const override

Gets the DOF types.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool setDofLimits(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the DOF limits.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofStiffnesses(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the DOF stiffnesses.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofDampings(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the DOF dampings.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofMaxForces(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the DOF maximum forces.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofMaxVelocities(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the DOF maximum velocities.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofArmatures(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the DOF armatures.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofActuationForces(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the DOF actuation forces.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofPositionTargets(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the DOF position targets.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofVelocityTargets(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the DOF velocity targets.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool getRootTransforms(const TensorDesc *dstTensor) const override

Gets the root transforms.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getRootVelocities(const TensorDesc *dstTensor) const override

Gets the root velocities.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool setRootTransforms(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the root transforms.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setRootVelocities(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the root velocities.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool getLinkTransforms(const TensorDesc *dstTensor) const override

Gets the link transforms.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getLinkVelocities(const TensorDesc *dstTensor) const override

Gets the link velocities.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getLinkIncomingJointForce(

const TensorDesc *dstTensor,

) const override

Gets incoming joint forces in each child joint frame.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getDofProjectedJointForces(

const TensorDesc *dstTensor,

) const override

Gets incoming joint wrenches projected onto each DOF motion direction.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getMasses(const TensorDesc *dstTensor) const override

Gets the masses.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getInvMasses(const TensorDesc *dstTensor) const override

Gets the inverse masses.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool setMasses(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the masses.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool getCOMs(const TensorDesc *dstTensor) const override

Gets the COMs.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool setCOMs(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the COMs.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool getInertias(const TensorDesc *dstTensor) const override

Gets the inertias.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getInvInertias(const TensorDesc *dstTensor) const override

Gets the inverse inertias.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool setInertias(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the inertias.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofFrictionProperties(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the DOF friction properties.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool getDofFrictionProperties(

const TensorDesc *dstTensor,

) const override

Gets the DOF friction properties.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool applyForcesAndTorquesAtPosition(

const TensorDesc *srcForceTensor,

const TensorDesc *srcTorqueTensor,

const TensorDesc *srcPositionTensor,

const TensorDesc *indexTensor,

bool isGlobal,

) override

Applies the forces and torques at position.

Parameters:

• srcForceTensor – [in] Source tensor of forces to apply.

• srcTorqueTensor – [in] Source tensor of torques to apply.

• srcPositionTensor – [in] Source tensor of positions at which the forces are applied.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

• isGlobal – [in] If true, the inputs are expressed in the world frame; otherwise in the local frame.

Returns:

True on success; false otherwise.

uint32_t getCount() const override

Returns the number of elements in the view.

Returns:

The requested value.

uint32_t getMaxLinks() const override

Returns the maximum link count across all articulations in the view.

Returns:

The requested value.

uint32_t getMaxDofs() const override

Returns the maximum DOF count across all articulations in the view.

Returns:

The requested value.

uint32_t getMaxShapes() const override

Returns the maximum shape count across all elements in the view.

Returns:

The requested value.

uint32_t getMaxFixedTendons() const override

Returns the maximum fixed-tendon count across all articulations in the view.

Returns:

The requested value.

uint32_t getMaxSpatialTendons() const override

Returns the maximum spatial-tendon count across all articulations in the view.

Returns:

The requested value.

bool isHomogeneous() const override

Returns whether all elements in the view share the same metatype.

Returns:

True on success; false otherwise.

const IArticulationMetatype *getSharedMetatype() const override

Returns the metatype shared by all elements when the view is homogeneous.

Returns:

Pointer to the requested object, or nullptr if unavailable.

const IArticulationMetatype *getMetatype(

uint32_t artiIdx,

) const override

Gets the metatype.

Parameters:

artiIdx – [in] Zero-based articulation index within the view.

Returns:

Pointer to the requested object, or nullptr if unavailable.

const char *getUsdPrimPath(uint32_t artiIdx) const override

Gets the USD prim path.

Parameters:

artiIdx – [in] Zero-based articulation index within the view.

Returns:

Pointer to the requested null-terminated string, or nullptr if unavailable.

const char *getUsdDofPath(

uint32_t artiIdx,

uint32_t dofIdx,

) const override

Gets the USD DOF path.

Parameters:

• artiIdx – [in] Zero-based articulation index within the view.

• dofIdx – [in] Zero-based DOF index within the articulation.

Returns:

Pointer to the requested null-terminated string, or nullptr if unavailable.

const char *getUsdLinkPath(

uint32_t artiIdx,

uint32_t linkIdx,

) const override

Gets the USD link path.

Parameters:

• artiIdx – [in] Zero-based articulation index within the view.

• linkIdx – [in] Zero-based link index within the articulation.

Returns:

Pointer to the requested null-terminated string, or nullptr if unavailable.

bool getLinkAccelerations(const TensorDesc *dstTensor) const override

Gets the link accelerations.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getDofMotions(const TensorDesc *dstTensor) const override

Gets the DOF motions.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getDriveTypes(const TensorDesc *dstTensor) const override

Gets the drive types.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getDofDriveModelProperties(

const TensorDesc *dstTensor,

) const override

Gets the DOF drive model properties.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getDofFrictionCoefficients(

const TensorDesc *dstTensor,

) const override

Gets the DOF friction coefficients.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getDisableGravities(const TensorDesc *dstTensor) const override

Gets the disable gravities.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool setDisableGravities(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the disable gravities.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDisableGravitiesMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the disable gravities for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool getArticulationMassCenter(

const TensorDesc *dstTensor,

bool localFrame,

) const override

Gets the articulation mass center.

Parameters:

• dstTensor – [out] Destination tensor that receives the requested values.

• localFrame – [in] If true, the result is expressed in the local frame; otherwise in the world frame.

Returns:

True on success; false otherwise.

bool getArticulationCentroidalMomentum(

const TensorDesc *dstTensor,

) const override

Gets the articulation centroidal momentum.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getJacobianShape(

uint32_t *numRows,

uint32_t *numCols,

) const override

Computes the row and column counts of the articulation Jacobians.

Parameters:

• numRows – [out] Receives the number of rows.

• numCols – [out] Receives the number of columns.

Returns:

True on success; false otherwise.

bool getJacobians(const TensorDesc *dstTensor) const override

Gets the jacobians.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getGeneralizedMassMatrixShape(

uint32_t *numRows,

uint32_t *numCols,

) const override

Computes the row and column counts of the generalized mass matrices.

Parameters:

• numRows – [out] Receives the number of rows.

• numCols – [out] Receives the number of columns.

Returns:

True on success; false otherwise.

bool getGeneralizedMassMatrices(

const TensorDesc *dstTensor,

) const override

Gets the generalized mass matrices.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getCoriolisAndCentrifugalCompensationForces(

const TensorDesc *dstTensor,

) const override

Gets the coriolis and centrifugal compensation forces.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getGravityCompensationForces(

const TensorDesc *dstTensor,

) const override

Gets the gravity compensation forces.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool setDofDriveModelProperties(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the DOF drive model properties.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofFrictionCoefficients(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) override

Sets the DOF friction coefficients.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofLimitsMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the DOF limits for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofStiffnessesMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the DOF stiffnesses for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofDampingsMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the DOF dampings for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofMaxForcesMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the DOF maximum forces for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofDriveModelPropertiesMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the DOF drive model properties for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofFrictionCoefficientsMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the DOF friction coefficients for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofFrictionPropertiesMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the DOF friction properties for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofMaxVelocitiesMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the DOF maximum velocities for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofArmaturesMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the DOF armatures for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofPositionsMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the DOF positions for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofVelocitiesMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the DOF velocities for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofActuationForcesMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the DOF actuation forces for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofPositionTargetsMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the DOF position targets for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setDofVelocityTargetsMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the DOF velocity targets for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setMassesMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the masses for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setCOMsMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the COMs for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setInertiasMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the inertias for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setRootTransformsMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the root transforms for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setRootVelocitiesMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) override

Sets the root velocities for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool applyForcesAndTorquesAtPositionMasked(

const TensorDesc *srcForceTensor,

const TensorDesc *srcTorqueTensor,

const TensorDesc *srcPositionTensor,

const TensorDesc *maskTensor,

bool isGlobal,

) override

Applies the forces and torques at position for the elements selected by a boolean mask.

Parameters:

• srcForceTensor – [in] Source tensor of forces to apply.

• srcTorqueTensor – [in] Source tensor of torques to apply.

• srcPositionTensor – [in] Source tensor of positions at which the forces are applied.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

• isGlobal – [in] If true, the inputs are expressed in the world frame; otherwise in the local frame.

Returns:

True on success; false otherwise.

bool getMaterialProperties(

const TensorDesc *dstTensor,

) const override

Gets the material properties.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getCompliantMaterialProperties(

const TensorDesc *dstTensor,

const TensorDesc *dstCombineModeTensor,

) const override

Gets the compliant material properties.

Parameters:

• dstTensor – [out] Destination tensor that receives the requested values.

• dstCombineModeTensor – [out] Destination tensor that receives the material combine modes.

Returns:

True on success; false otherwise.

bool getRestOffsets(const TensorDesc *dstTensor) const override

Gets the rest offsets.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getContactOffsets(const TensorDesc *dstTensor) const override

Gets the contact offsets.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool setMaterialProperties(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) const override

Sets the material properties.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setCompliantMaterialProperties(

const TensorDesc *srcTensor,

const TensorDesc *srcCombineTensor,

const TensorDesc *indexTensor,

) const override

Sets the compliant material properties.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• srcCombineTensor – [in] Source tensor of material combine modes.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setRestOffsets(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) const override

Sets the rest offsets.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setContactOffsets(

const TensorDesc *srcTensor,

const TensorDesc *indexTensor,

) const override

Sets the contact offsets.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setMaterialPropertiesMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) const override

Sets the material properties for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setCompliantMaterialPropertiesMasked(

const TensorDesc *srcTensor,

const TensorDesc *srcCombineTensor,

const TensorDesc *maskTensor,

) const override

Sets the compliant material properties for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• srcCombineTensor – [in] Source tensor of material combine modes.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setRestOffsetsMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) const override

Sets the rest offsets for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setContactOffsetsMasked(

const TensorDesc *srcTensor,

const TensorDesc *maskTensor,

) const override

Sets the contact offsets for the elements selected by a boolean mask.

Parameters:

• srcTensor – [in] Source tensor providing the values to write.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool getFixedTendonStiffnesses(

const TensorDesc *dstTensor,

) const override

Gets the fixed tendon stiffnesses.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getFixedTendonDampings(

const TensorDesc *dstTensor,

) const override

Gets the fixed tendon dampings.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getFixedTendonLimitStiffnesses(

const TensorDesc *dstTensor,

) const override

Gets the fixed tendon limit stiffnesses.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getFixedTendonLimits(const TensorDesc *dstTensor) const override

Gets the fixed tendon limits.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getFixedTendonfixedSpringRestLengths(

const TensorDesc *dstTensor,

) const override

Gets the fixed tendonfixed spring rest lengths.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getFixedTendonOffsets(

const TensorDesc *dstTensor,

) const override

Gets the fixed tendon offsets.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getSpatialTendonStiffnesses(

const TensorDesc *dstTensor,

) const override

Gets the spatial tendon stiffnesses.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getSpatialTendonDampings(

const TensorDesc *dstTensor,

) const override

Gets the spatial tendon dampings.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getSpatialTendonLimitStiffnesses(

const TensorDesc *dstTensor,

) const override

Gets the spatial tendon limit stiffnesses.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool getSpatialTendonOffsets(

const TensorDesc *dstTensor,

) const override

Gets the spatial tendon offsets.

Parameters:

dstTensor – [out] Destination tensor that receives the requested values.

Returns:

True on success; false otherwise.

bool setFixedTendonProperties(

const TensorDesc *stiffnesses,

const TensorDesc *dampings,

const TensorDesc *limitStiffnesses,

const TensorDesc *limits,

const TensorDesc *restLengths,

const TensorDesc *offsets,

const TensorDesc *indexTensor,

) const override

Sets the fixed tendon properties.

Parameters:

• stiffnesses – [in] Tensor of tendon stiffness values.

• dampings – [in] Tensor of tendon damping values.

• limitStiffnesses – [in] Tensor of tendon limit stiffness values.

• limits – [in] Tensor of tendon limit values.

• restLengths – [in] Tensor of tendon rest-length values.

• offsets – [in] Tensor of tendon offset values.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setSpatialTendonProperties(

const TensorDesc *stiffnesses,

const TensorDesc *dampings,

const TensorDesc *limitStiffnesses,

const TensorDesc *offsets,

const TensorDesc *indexTensor,

) const override

Sets the spatial tendon properties.

Parameters:

• stiffnesses – [in] Tensor of tendon stiffness values.

• dampings – [in] Tensor of tendon damping values.

• limitStiffnesses – [in] Tensor of tendon limit stiffness values.

• offsets – [in] Tensor of tendon offset values.

• indexTensor – [in] Tensor of view indices selecting which elements to write.

Returns:

True on success; false otherwise.

bool setFixedTendonPropertiesMasked(

const TensorDesc *stiffnesses,

const TensorDesc *dampings,

const TensorDesc *limitStiffnesses,

const TensorDesc *limits,

const TensorDesc *restLengths,

const TensorDesc *offsets,

const TensorDesc *maskTensor,

) const override

Sets the fixed tendon properties for the elements selected by a boolean mask.

Parameters:

• stiffnesses – [in] Tensor of tendon stiffness values.

• dampings – [in] Tensor of tendon damping values.

• limitStiffnesses – [in] Tensor of tendon limit stiffness values.

• limits – [in] Tensor of tendon limit values.

• restLengths – [in] Tensor of tendon rest-length values.

• offsets – [in] Tensor of tendon offset values.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool setSpatialTendonPropertiesMasked(

const TensorDesc *stiffnesses,

const TensorDesc *dampings,

const TensorDesc *limitStiffnesses,

const TensorDesc *offsets,

const TensorDesc *maskTensor,

) const override

Sets the spatial tendon properties for the elements selected by a boolean mask.

Parameters:

• stiffnesses – [in] Tensor of tendon stiffness values.

• dampings – [in] Tensor of tendon damping values.

• limitStiffnesses – [in] Tensor of tendon limit stiffness values.

• offsets – [in] Tensor of tendon offset values.

• maskTensor – [in] Boolean mask tensor selecting which elements to write.

Returns:

True on success; false otherwise.

bool check() const override

Checks whether the view and its backing data are still valid.

Returns:

True on success; false otherwise.

void release() override

Releases the view and frees its associated resources.

Protected Functions

inline virtual int *_getDeviceIndexScratch() const

Returns preallocated device storage for mask-to-index conversion, or null for CPU views.

void _notifyJointDofPropertiesChanged()

Notifies the Newton model that joint DOF properties have been modified externally.

void _syncCtrlDirectActuatorGains()

Syncs CTRL_DIRECT actuator gains from the cached stiffness/damping arrays.

void _syncCtrlDirectPositionTargets()

Syncs CTRL_DIRECT position targets from the cached target array.

void _evalForwardKinematics()

Runs Newton forward kinematics to propagate joint_q changes to body_q.

void _evalInverseKinematics()

Runs Newton inverse kinematics to propagate body_q/body_qd changes back to joint_q/joint_qd.

void _updateInverseMasses()

Recomputes inverse mass array from the forward mass array.

void _updateInverseInertias()

Recomputes inverse inertia array from the forward inertia array.

bool _hasJointForceOutput() const

Return whether incoming joint force data was enabled before state creation.

bool _evaluateMotionSubspaces() const

Evaluate and cache the motion-subspace columns used to project joint wrenches.

inline const std::vector<uint32_t> &_resolveIndices(

const TensorDesc *indexTensor,

) const

Resolves an index tensor to a list of articulation indices, writing into the pre-allocated m_scratchViewIndices member to avoid per-call allocation.

inline isaacsim::physics::newton::tensors::GpuIndexGuard _resolveGpuIndices(

const TensorDesc *indexTensor,

int *devScratch = nullptr,

) const

Resolves the GPU indices.

Parameters:

• indexTensor – [in] Tensor of view indices selecting which elements to write.

• devScratch – [in] Optional device scratch buffer; allocated internally when null.

Returns:

The requested value.

void _buildDofScatterMappings(

const std::vector<uint32_t> &artiIndices,

const std::vector<int> &dofIndices,

std::vector<int> &srcOffsets,

std::vector<int> &dstIndices,

) const

Builds the DOF scatter mappings.

Parameters:

• artiIndices – [in] Articulation indices selected by the operation.

• dofIndices – [in] DOF indices selected by the operation.

• srcOffsets – [out] Receives the source offset for each scattered element.

• dstIndices – [out] Receives the destination index for each scattered element.

void _buildLinkScatterMappings(

const std::vector<uint32_t> &artiIndices,

int elemSize,

std::vector<int> &srcOffsets,

std::vector<int> &dstIndices,

) const

Builds the link scatter mappings.

Parameters:

• artiIndices – [in] Articulation indices selected by the operation.

• elemSize – [in] Number of floats per element.

• srcOffsets – [out] Receives the source offset for each scattered element.

• dstIndices – [out] Receives the destination index for each scattered element.

void _buildRootScatterMappings(

const std::vector<uint32_t> &artiIndices,

int elemSize,

std::vector<int> &srcOffsets,

std::vector<int> &dstIndices,

) const

Builds the root scatter mappings.

Parameters:

• artiIndices – [in] Articulation indices selected by the operation.

• elemSize – [in] Number of floats per element.

• srcOffsets – [out] Receives the source offset for each scattered element.

• dstIndices – [out] Receives the destination index for each scattered element.

bool _checkBinding() const

Checks that the cached Warp pointers still address the Newton stage’s current model and state.

The Newton stage rebuilds model, control and state_0 whenever it re-initializes (for example after a USD change). The view is bound to the objects it was created against; once the stage holds different ones the view is invalidated for good and has to be recreated.

Returns:

True while the view is bound to the stage’s current model and state.

bool _getCompensationForces(

const TensorDesc *dstTensor,

bool gravity,

) const

Computes generalized compensation forces, including the floating-root wrench when present.

void _cacheWarpPointers()

Extracts and caches raw float*/int* pointers from all relevant Warp arrays in the Newton model and state. Called lazily before the first getter/setter access.

Protected Attributes

py::object m_newtonStage

Newton stage object backing the view.

mutable py::object m_model

Newton model object the view is bound to; released once invalidated.

mutable py::object m_boundState

Newton state_0 object the view is bound to; released once invalidated.

uint32_t m_count

Number of articulations in the view.

uint32_t m_maxLinks

Maximum link count across all articulations.

uint32_t m_maxDofs

Maximum DOF count across all articulations.

uint32_t m_maxShapes

Maximum shape count across all elements in the view.

std::vector<int> m_articulationIndices

Root body index for each articulation.

py::object m_articulationIndicesWarp

warp version of m_articulationIndices

std::vector<int> m_dofPosIndices

[count * maxDofs] → model.joint_q index, -1 = padding.

std::vector<int> m_dofVelIndices

[count * maxDofs] → model.joint_qd index, -1 = padding.

std::vector<int> m_dofAxisIndices

[count * maxDofs] → model.joint_axis index, -1 = padding.

std::vector<int> m_dofBodyIndices

[count * maxDofs] → child body index, -1 = padding.

std::vector<int> m_rootBodyIndices

[count] → model body index for each root body.

std::vector<int> m_rootJointIndices

[count] → model joint index for each root joint.

std::vector<int> m_rootJointQStartIndices

[count] → joint_q_start offset for root joint.

std::vector<int> m_fixedRootJointMapping

[count] → rootJointIdx for fixed roots, -1 for free.

std::vector<std::vector<int>> m_linkIndicesPerArticulation

Model body indices for each link, grouped per articulation.

std::vector<int> m_linkFlatIndices

[count * maxLinks] → model body index, -1 = padding.

std::vector<int> m_linkJointFlatIndices

[count * maxLinks] → inbound model joint index, -1 = root/padding.

std::vector<std::string> m_articulationPrimPaths

USD prim path of each articulation.

std::vector<std::vector<std::string>> m_articulationPaths

USD prim paths associated with each articulation.

py::object m_articulationMask

warp array that is used to mask only the selected articulations for newton computation

std::vector<ArticulationMetatype*> m_metatypes

Per-element articulation metatype objects owned by the view.

std::vector<uint8_t> m_hostDofTypes

Host-side cache of the DOF type for each DOF.

std::vector<int> m_rootJointTypes

[count] → joint type for root joint of each articulation.

std::vector<float> m_cachedComOrientation

[count * maxLinks * 4] cached COM quaternion (xyzw), write-through from setCOMs.

std::vector<std::vector<std::string>> m_dofPaths

[count][maxDofs] → USD prim path for each DOF.

mutable std::vector<uint32_t> m_scratchViewIndices

Scratch buffer reused to resolve view indices without per-call allocation.

std::vector<uint32_t> m_scratchMaskIndices

Scratch buffer reused to resolve masks to view indices.

mutable bool m_cacheValid = false

True after _cacheWarpPointers() succeeds, until the view is invalidated.

int m_modelDeviceOrdinal = -1

Device of the Newton model’s Warp arrays.

std::string m_modelDeviceString

Canonical Warp device string for the Newton model.

size_t m_totalBodyCount = 0

Total body count in the Newton model.

mutable float *m_cachedJointQ = nullptr

Cached pointer to the joint q data.

mutable float *m_cachedJointQd = nullptr

Cached pointer to the joint qd data.

mutable float *m_cachedBodyQ = nullptr

Cached pointer to the body q data.

mutable float *m_cachedBodyQd = nullptr

Cached pointer to the body qd data.

mutable float *m_cachedBodyF = nullptr

Cached pointer to the body f data.

mutable float *m_cachedBodyParentForce = nullptr

Nullable pointer to optional incoming joint wrenches.

mutable float *m_cachedMotionSubspaces = nullptr

Cached motion-subspace columns indexed by model DOF.

float *m_cachedJointTargetKe = nullptr

Cached pointer to the joint target ke data.

float *m_cachedJointTargetKd = nullptr

Cached pointer to the joint target kd data.

float *m_cachedJointEffortLimit = nullptr

Cached pointer to the joint effort limit data.

float *m_cachedJointVelocityLimit = nullptr

Cached pointer to the joint velocity limit data.

float *m_cachedJointArmature = nullptr

Cached pointer to the joint armature data.

float *m_cachedJointLimitLower = nullptr

Cached pointer to the joint limit lower data.

float *m_cachedJointLimitUpper = nullptr

Cached pointer to the joint limit upper data.

mutable float *m_cachedCtrlTargetPos = nullptr

Cached pointer to the ctrl target pos data.

mutable float *m_cachedCtrlTargetVel = nullptr

Cached pointer to the ctrl target vel data.

mutable float *m_cachedJointTorques = nullptr

Cached pointer to the joint torques data.

float *m_cachedBodyMass = nullptr

Cached pointer to the body mass data.

float *m_cachedBodyInverseMass = nullptr

Cached pointer to the body inverse mass data.

float *m_cachedBodyInertia = nullptr

Cached pointer to the body inertia data.

float *m_cachedBodyInverseInertia = nullptr

Cached pointer to the body inverse inertia data.

float *m_cachedBodyCenterOfMass = nullptr

Cached pointer to the body center of mass data.

float *m_cachedJointXp = nullptr

model.joint_X_p — parent transform per joint (7 floats each).

float *m_cachedJointXc = nullptr

model.joint_X_c — child transform per joint (7 floats each).

float *m_cachedJointFriction = nullptr

model.joint_friction — dry friction effort per joint.

mutable py::object m_compensationBuffer = py::none()

Owns inverse-dynamics scratch state and output arrays.

mutable py::object m_jacobianBuffer = py::none()

python buffers, cached for performance

mutable py::object m_jacobianWarp = py::none()

Warp array that exposes the cached Jacobian buffer.

mutable py::object m_jacobianTensor = py::none()

Tensor wrapper that exposes the cached Jacobian buffer.

mutable py::object m_massMatricesBuffer = py::none()

Python object that owns the cached mass-matrix buffer.

mutable py::object m_massMatricesWarp = py::none()

Warp array that exposes the cached mass-matrix buffer.

mutable py::object m_massMatricesTensor = py::none()

Tensor wrapper that exposes the cached mass-matrix buffer.