GpuArticulationView

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

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

GPU articulation view. Implements getters via CUDA gather kernels with D2H staging, and setters via fused CUDA scatter kernels. Supports GC (GPU sim, CPU view tensors) by staging CPU index/source data into pre-allocated device buffers.

Public Functions

GpuArticulationView(

py::object newtonStage,

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

int deviceOrdinal,

)

Constructs a GpuArticulationView.

Parameters:

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

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

• deviceOrdinal – [in] Device ordinal.

~GpuArticulationView() override

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 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 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 getDofProjectedJointForces(

const TensorDesc *dstTensor,

) const override

Gets the DOF projected joint forces.

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 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 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 getLinkIncomingJointForce(

const TensorDesc *dstTensor,

) const override

Gets the link incoming joint force.

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 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 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

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.

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.

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.

py::object m_model

Newton model object backing the view.

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.

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_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<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.

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.

bool m_cacheValid = false

True after _cacheWarpPointers() succeeds.

int m_modelDeviceOrdinal = -1

Device of the Newton model’s Warp arrays.

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.

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).