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Refactor articulation actuator ownership #6839
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Merged
kellyguo11
merged 151 commits into
isaac-sim:develop
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AntoineRichard:antoiner/actuators-collection-split-6248
Aug 19, 2026
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55d30aa
Refactor articulation actuator ownership
AntoineRichard a798e0d
Document Newton neural checkpoint resolution
AntoineRichard 1128319
Plan Newton neural checkpoint resolution
AntoineRichard 2c5bf72
Fix remote Newton neural checkpoints
AntoineRichard c184cfd
Add actuator parameter comparison demo
AntoineRichard 0cd4941
Generate actuator parameter reference media
AntoineRichard 8643fae
Stabilize gain sweep rows and regenerate media
AntoineRichard e955b75
Polish actuator media aesthetics
AntoineRichard 9dd9fe2
Plot applied torque only in effort-limit curve
AntoineRichard a8edaa9
Double effort-limit sweep to span both regimes
AntoineRichard a96a6e9
Rewrite actuators concept page with visual parameter reference
AntoineRichard 7dd7e11
Correct backend submit semantics in actuators page
AntoineRichard 502cb6f
Document actuator collection migration and sweep stale actuator docs
AntoineRichard da10ff5
Teach collection setters in run_articulation tutorial
AntoineRichard d4930a8
Fix stale tutorial reference and migration table headers
AntoineRichard 60600f2
Fix effort-limit alt text and stability docstring
AntoineRichard 105cef4
Mark generated actuator SVGs as binary
AntoineRichard 7199fcc
Remove internal planning artifacts
AntoineRichard 8d8dc0e
Refine actuator command API
AntoineRichard d7ef58f
Document actuator execution aggregation
AntoineRichard 36fd7f5
Plan actuator execution aggregation
AntoineRichard ee96015
Build stateless actuator execution batches
AntoineRichard b352d4e
Execute stateless actuator groups together
AntoineRichard 66ff776
Synchronize aggregated actuator gains
AntoineRichard 73918a0
Preserve aliased actuator gain writes
AntoineRichard 0cd3d6a
Document actuator execution batching
AntoineRichard 340f4c6
Clarify native actuator execution path
AntoineRichard 75a1682
Remove internal planning artifacts
AntoineRichard 83f920b
Preserve singleton actuator selectors
AntoineRichard 458e059
Reuse randomized actuator gains
AntoineRichard 8d3157f
Preserve implicit gain subsets
AntoineRichard fe84d22
Optimize actuator execution batches
AntoineRichard c558223
Restore Newton actuator type imports
AntoineRichard ed480a6
Convert actuator diagrams to PNG
AntoineRichard ca9508c
Enforce fixed actuator membership
AntoineRichard 42d6943
Decouple native actuator gain storage
AntoineRichard 80fbd68
Remove centralized actuator gain buffers
AntoineRichard 37ba1fd
Privatize actuator compatibility projections
AntoineRichard 0c9b64c
Document actuator ownership contract
AntoineRichard 9711fcb
Sync actuator migration documentation
AntoineRichard bc9f792
Document automatic implicit actuator graph
AntoineRichard 821ceeb
Plan implicit actuator graph capture
AntoineRichard 2ac6f88
Capture implicit actuator execution
AntoineRichard 4e65e4b
Test collection-wide implicit graph capture
AntoineRichard 308da8c
Verify complete implicit graph capture
AntoineRichard b8010d5
Remove automatic implicit actuator graph
AntoineRichard bf26592
Harden actuator collection behavior
AntoineRichard f74e202
Clarify actuator runtime documentation
AntoineRichard 5bae64a
Clarify actuator documentation flow
AntoineRichard 1a89dd0
Correct native actuator pipeline labels
AntoineRichard 5cc8e39
Clarify native actuator execution stages
AntoineRichard af71960
Refine actuator limit and flow documentation
AntoineRichard 4e92e32
Refine actuator execution compatibility
AntoineRichard de60ee0
fix: Run benchmark steps in inference mode
AntoineRichard 414195a
Fix inactive wrench reset overhead
AntoineRichard 43d7b28
Restore singleton actuator direct views
AntoineRichard d3410e9
Fix CUDA LSTM weight packing
AntoineRichard 4b3c82f
Revert CUDA LSTM weight packing
AntoineRichard 5bd50f2
Clean up actuator collection API
AntoineRichard 8d1bc51
Deduplicate actuator data compatibility views
AntoineRichard d904745
Fuse explicit actuator output publication
AntoineRichard 2fc613f
Share backend target reordering launch
AntoineRichard d7bf326
Defer legacy command buffer allocation
AntoineRichard 88bc3fb
Consolidate actuator collection tests
AntoineRichard ddfc8f2
Remove redundant batch validation
AntoineRichard 7e8f459
Use real actuator collections in interface tests
AntoineRichard 725cf22
Reject overlapping actuator groups
AntoineRichard 4b6cbca
Document joint actuator property ownership
AntoineRichard b34354f
Plan joint actuator property ownership
AntoineRichard 3c7ca43
Deprecate simulation actuator limit names
AntoineRichard 02f7d70
Separate joint properties from actuators
AntoineRichard ae0faba
Fix actuator control property projections
AntoineRichard 9d64d25
Bind implicit actuators to joint state
AntoineRichard 6456542
Preserve implicit control compatibility
AntoineRichard e14b511
Preserve backend actuator ownership
AntoineRichard 1e5b8fb
Reject native actuator gain assignment
AntoineRichard 9e06884
Document joint actuator ownership
AntoineRichard 7be335c
Complete implicit joint limit migration
AntoineRichard 87dbf97
Polish actuator collection compatibility
AntoineRichard 9d18165
Fix OV package references after rebase
AntoineRichard e8011a5
Address actuator collection review feedback
AntoineRichard a941864
Move actuator guide into Concepts
AntoineRichard 8853107
Simplify native actuator gain writes
AntoineRichard 6448a2f
Add OVPhysX native actuator execution
AntoineRichard b9af509
Fix host-native actuator submission
AntoineRichard 15b3bac
Document OVPhysX native actuators
AntoineRichard d28f9dc
Clarify host actuator capture error
AntoineRichard ff4f6d6
Polish host actuator integration
AntoineRichard b54e271
Remove dynamic gear ratio scatter
AntoineRichard 2404951
Clarify legacy gear ratio view
AntoineRichard 5ff45e1
Simplify actuator collection structure
AntoineRichard c2d3cd7
Clarify actuator collection sections
AntoineRichard 40a8aca
Use effort naming for actuator telemetry
AntoineRichard 8237f68
Forward deprecated torque telemetry
AntoineRichard 338c311
Simplify actuator collection construction
AntoineRichard 1efec8e
Separate actuator and joint effort limits
AntoineRichard 7f06de9
Consolidate actuator collection tests
AntoineRichard 9ee6296
Clarify actuator public types
AntoineRichard 3095839
Restrict actuator execution batching to implicit groups
AntoineRichard 397d328
Remove explicit actuator gather machinery
AntoineRichard 4b4a376
Move execution actuator builder onto ImplicitActuator
AntoineRichard 556bbb3
Revert explicit actuator compute to out-of-place form
AntoineRichard 7014cea
Document implicit-only actuator execution batching
AntoineRichard 6a84ee1
Consolidate actuator collection command and control tests
AntoineRichard 4214db5
Split execution batch construction by batch kind
AntoineRichard a4b1e19
Remove dead gear_ratio telemetry apparatus
AntoineRichard d1052e3
Resolve all deprecated limit aliases in one shared helper
AntoineRichard f22dc82
Move deprecated limit-alias helpers into a compat module
AntoineRichard 0caff13
Confine limit-value resolution to the compat module
AntoineRichard e1f6d79
Read the implicit flag instead of resolving actuator classes
AntoineRichard 0b9f829
Unify dense joint-value resolution in one string utility
AntoineRichard 8932448
Track documentation webp clips with Git LFS
AntoineRichard a7138ed
Enable native actuator execution for Go2 velocity tasks
AntoineRichard ce00e09
Fold friction writes into the packed articulation writer
AntoineRichard df1456a
Restore uv.lock to the branch base
AntoineRichard 4405f46
Expect real bool masks in the actuator command API
AntoineRichard 197fd03
Remove the dead Newton default-gain snapshot chain
AntoineRichard 44a6314
Restore USD-parsing type aliases lost in the snapshot removal
AntoineRichard c8d0dc2
Move the Newton actuator machinery into isaaclab core
AntoineRichard 7674195
Import the Newton actuator machinery eagerly in backend adapters
AntoineRichard f65a64a
Accept any controller parameter name in the native gain bridge
AntoineRichard 2ae0508
Rename the host actuator runtime to PhysxActuatorRuntime
AntoineRichard d31e245
Generalize the Newton actuator parameter read
AntoineRichard faf4ecf
Unify Newton actuator parameter writes across backends
AntoineRichard 9c7400b
Slim the Newton parameter access docstrings
AntoineRichard 0ba2d52
Route actuator parameter access through the group API
AntoineRichard 92abe6e
Fold the parameter functions into NewtonParameterAccess
AntoineRichard aca0561
Restore solver graph for neural actuators
AntoineRichard 4bdc886
Replace the parameter machinery with Newton's selection API
AntoineRichard f7e9ee8
Migrate stale-state actuator test to applied_effort
AntoineRichard d7a1351
WIP
AntoineRichard c3ee9ad
Complete implicit shadow-group execution
AntoineRichard b1cc22b
Restore the implicit-only actuator telemetry fast path
AntoineRichard 984efe3
Migrate in-tree configs and tests to actuator_velocity_limit
AntoineRichard 88a335f
Expose Newton actuator objects as native group entries
AntoineRichard f683c9f
Simplify implicit and remotized actuator property handling
AntoineRichard 151b315
Consolidate joint-parameter resolution and polish actuator internals
AntoineRichard fc7edca
Document the direct-ownership actuator collection model
AntoineRichard 3008976
Consolidate and slim the actuator test suites
AntoineRichard 90390c5
Move group-scoped Newton parameter access into the newton package
AntoineRichard 2eda8ac
Rename actuator command views to target and output commands
AntoineRichard 8f3fece
Remove local scratch directory from the Sphinx exclude list
AntoineRichard 1915438
Remove ActuatorBase._parse_joint_parameter delegation shim
AntoineRichard caafa05
Update actuator docs for renamed views and solver limits
AntoineRichard 1a4c29f
Expose resolve_joint_parameter and document the shim removal
AntoineRichard f99517d
Address review feedback on telemetry, events, and imports
AntoineRichard 77ab77f
Preserve None in actuator reset and fix validation fallout
AntoineRichard 3d17e43
Extend None-preserving actuator reset to the OV backend
AntoineRichard f4d038a
Merge branch 'develop' into antoiner/actuators-collection-split-6248
AntoineRichard 0df1bc4
Fix docs build and lint failures after the develop merge
AntoineRichard 3bc3ad8
Fix kitless factory import and docs cross-reference
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we've been trying to enforce keeping only .jpg media files in the repo itself to keep things lean. how strict do we want to be with that now? perhaps some of the larger files could still be hosted on s3?
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I have the same concern, something else could be github lfs