Remove deprecated MeshAdjacency dict-based edge API - #4110
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Remove the legacy dict-based edge API deprecated in 1.4.0 (newton-physics#3194): - the `edges` dict accessor and its `Edge` record class, - the `add_edge` incremental shim, - the `indices` constructor alias for `tri_indices`. The vectorized edge_indices / edge_tri_indices / tri_edge_indices arrays are the only representation now; all internal callers already use them. Rework the deprecation tests into assertions that the legacy surface is gone. Closes newton-physics#3514 Signed-off-by: AnkaChen <ankac@nvidia.com>
API reviewDetected 10 interface change(s): 0 added, 9 removed, 1 modified.
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ChangesMeshAdjacency API removal
Estimated code review effort: 2 (Simple) | ~10 minutes Merge Risk: ⚪ Minimal · up to This PR removes deprecated MeshAdjacency interfaces and updates coverage for the removal; no actionable merge-blocking risk remains beyond normal checks and review. Suggested reviewers: 🚥 Pre-merge checks | ✅ 4 | ❌ 1❌ Failed checks (1 warning)
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🧹 Nitpick comments (1)
newton/tests/test_model.py (1)
834-834: 📐 Maintainability & Code Quality | 🔵 Trivial | ⚡ Quick winRemove or test this comment claim.
The comment restates the construction call. It also claims that construction emits no warning, but this test does not assert that behavior. Delete the comment, or explicitly capture warnings if no-warning behavior is part of the contract.
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Nitpick comments:
In `@newton/tests/test_model.py`:
- Line 834: Update the test near the construction from triangle indices by
removing the comment, or explicitly capture and assert that construction emits
no warning if that behavior is part of the contract; keep any retained comment
focused on the non-obvious reason rather than restating the construction call.
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test_mesh_adjacency_public claimed construction from triangle indices
emits no warning, but nothing asserted it. Wrap the constructor call in
warnings.catch_warnings() with simplefilter("error") so the supported
path is guarded against a regression that reintroduces a
DeprecationWarning, and drop the comment that merely restated the call.
Addresses a CodeRabbit review nitpick.
Signed-off-by: AnkaChen <ankac@nvidia.com>
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ast-grep outline newton/tests/test_model.py --items all --type function --match 'test_mesh_adjacency_public|test_mesh_adjacency_legacy_api_removed'
printf '\n--- relevant test source ---\n'
nl -ba newton/tests/test_model.py | sed -n '810,870p'
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Thanks, Anka — this is a clean, well-scoped removal of the legacy dict path, with focused regression coverage and clear migration fragments.
Overall, I think the released deprecation cycle is satisfied for MeshAdjacency.edges, add_edge, and indices=: they warned beginning in 1.4, remained functional through 1.5/1.5.1, and are being removed on the 1.6 development branch. The removal fragments correctly use ‘Remove’ wording and point users to edge_indices / edge_tri_indices / tri_indices; the migration guidance looks appropriate.
I also refreshed IsaacLab develop at 8c3bc5e8e8dd4553fa160a11836e90922832c968 and found no tracked use of MeshAdjacency, MeshAdjacency.Edge, .edges, .add_edge(), or MeshAdjacency(indices=...). IsaacLab currently pins newton[sim]==1.5.1, so this confirms source-level non-reliance on these APIs rather than general Newton 1.6 qualification.
Focused host validation at this PR head passed: uv run --extra dev -m newton.tests -k mesh_adjacency (8/8). The hosted checks are green and there are no existing review threads. I left two inline comments: one question about possible independent construction of the nested Edge record, and one non-blocking test-docstring suggestion where the test name does not capture the specific behavior. I found no other correctness or project-fit concerns.
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| Remove the deprecated `MeshAdjacency.edges` dict accessor and the `MeshAdjacency.Edge` record class; read the `edge_indices` / `edge_tri_indices` arrays instead. | |||
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The .edges deprecation reasonably covers this record for normal accessor users, and the migration guidance here looks appropriate. Are you aware of any downstream users constructing MeshAdjacency.Edge(...) independently? Direct construction did not emit its own warning, so confirming there are no known users would help justify treating the record class as part of the accessor's 1.4 deprecation.
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| def test_mesh_adjacency_public_deprecated(self): | ||
| def test_mesh_adjacency_public(self): |
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Suggestion: could you add a short test docstring here? test_mesh_adjacency_public does not make the warning-free construction and eager vectorized-table behavior obvious from its name alone; an imperative one-line summary would make that contract clearer.
State the test's contract in a one-line docstring: public construction is warning-free and eagerly builds the vectorized edge tables. Remove the now-redundant inline comment that repeated the eager-tables point. Addresses a review suggestion from jcarius-nv. Signed-off-by: AnkaChen <ankac@nvidia.com>
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Description
Remove the dict-based legacy edge API of
newton.utils.MeshAdjacency, deprecated in 1.4.0 by #3194 when the class was unified on the vectorized representation:MeshAdjacency.edgesdict accessor and itsMeshAdjacency.Edgerecord class. Read theedge_indices([o0, o1, v0, v1]rows) andedge_tri_indicesarrays instead.MeshAdjacency.add_edgeincremental shim. Construct aMeshAdjacencywithedge_indicesinstead.indicesconstructor argument (alias fortri_indices), deprecated in the same batch. Passtri_indicesinstead.All internal code already uses the vectorized arrays, so no call sites needed migration. Accessing the removed attributes now raises
AttributeError, and passingindices=raisesTypeError, matching previous deprecated API removals (e.g. #3623).Closes #3514
Checklist
changelog fragment instructions
Test plan
test_mesh_adjacency_legacy_api_removedfails without this change and passes with it. The twotest_collision_pipelinefailures (TestFullSurfaceSoftContact.test_eval_shape_sdf_mirrored_mesh_scale_preserves_sign_cuda_0andtest_optimize_against_mesh_texture_sdf_cuda_0) reproduce on cleanmainat c82ed83 and are unrelated to this change.New feature / API change
Summary by CodeRabbit
MeshAdjacencydictionary access,Edgerecords, andadd_edgemethod.indicesconstructor argument.edge_indices,edge_tri_indices, andtri_indicesinstead.