Fix actuator fixture warnings (#4079)

Author: jcarius-nv

newton/tests/test_actuators.py

@@ -201,6 +201,11 @@ def _build_lstm_onnx(
 # ---------------------------------------------------------------------------
 
 
+# Regularize the fixtures' idealized point masses without changing their
+# effective dynamics from the inertia that validation previously synthesized.
+_POINT_MASS_INERTIA = wp.mat33(1.0e-6, 0.0, 0.0, 0.0, 1.0e-6, 0.0, 0.0, 0.0, 1.0e-6)
+
+
 def _write_dof_values(
     model: newton.Model,
     array: wp.array[float],
@@ -222,8 +227,7 @@ def _build_pendulum(device: wp.Device, worlds: int = 1) -> newton.Model:
         worlds: Number of identical worlds to replicate the pendulum into.
     """
     template = newton.ModelBuilder(gravity=(0.0, 0.0, 0.0))
-    body = template.add_link(mass=1.0)
-    template.body_com[body] = wp.vec3(0.5, 0.0, 0.0)
+    body = template.add_link(com=wp.vec3(0.5, 0.0, 0.0), inertia=_POINT_MASS_INERTIA, mass=1.0)
     joint = template.add_joint_revolute(parent=-1, child=body, axis=newton.Axis.Z)
     template.add_articulation([joint])
     if worlds == 1:
@@ -244,11 +248,10 @@ def _two_link_builder(armature: float = 0.0, dummy_body: bool = False) -> newton
     """
     builder = newton.ModelBuilder(gravity=(0.0, 0.0, 0.0))
     if dummy_body:
-        builder.add_joint_revolute(parent=-1, child=builder.add_link(mass=1.0), axis=newton.Axis.Z)
-    base = builder.add_link(mass=2.0)
-    tip = builder.add_link(mass=1.0)
-    builder.body_com[base] = wp.vec3(0.3, 0.0, 0.0)
-    builder.body_com[tip] = wp.vec3(0.25, 0.0, 0.0)
+        dummy = builder.add_link(inertia=_POINT_MASS_INERTIA, mass=1.0)
+        builder.add_joint_revolute(parent=-1, child=dummy, axis=newton.Axis.Z)
+    base = builder.add_link(com=wp.vec3(0.3, 0.0, 0.0), inertia=_POINT_MASS_INERTIA, mass=2.0)
+    tip = builder.add_link(com=wp.vec3(0.25, 0.0, 0.0), inertia=_POINT_MASS_INERTIA, mass=1.0)
     j0 = builder.add_joint_revolute(parent=-1, child=base, axis=newton.Axis.Z, armature=armature)
     j1 = builder.add_joint_revolute(
         parent=base,

newton/tests/thirdparty/unittest_parallel.py

@@ -43,15 +43,21 @@
 # The following variables are NVIDIA Modifications
 START_DIRECTORY = os.path.dirname(__file__)  # The directory to start test discovery
 
+# Add warning-clean test modules incrementally. Eventually this should cover
+# the entire test_* surface and be replaced by a single test_.* filter.
+_STRICT_WARNING_TEST_MODULES = ("test_actuators",)
+
 
 def _enable_strict_warnings():
-    """Escalate DeprecationWarnings and any newton.* warning to errors.
+    """Escalate actionable and caller-attributed cleaned-test warnings to errors.
 
     Installed before discovery and in each worker initializer so import-time
     warnings from test modules are escalated too, not just runtime ones.
     """
     warnings.filterwarnings("error", category=DeprecationWarning)
     warnings.filterwarnings("error", module=r"newton(\.|$)")
+    for module in _STRICT_WARNING_TEST_MODULES:
+        warnings.filterwarnings("error", module=rf"{module}$")
 
 
 def _use_coord_layout_targets():