feat(usd): import NewtonJointAPI broadcast limit/damping/velocity attributes - #3
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There should also be rst docs changes. See https://github.com/newton-physics/newton/pull/3005/files for an example
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Add importer support for the NewtonJointAPI schema, resolving its six per-joint attributes (armature, damping, friction, limitStiffness, limitDamping, velocityLimit) and broadcasting them uniformly across all DOFs of revolute, prismatic, and D6 joints. Sentinel semantics: - limitStiffness = inf → hard limit (limit_ke = 1e8) - limitStiffness = -inf → use builder default - limitDamping = -inf → use builder default - limitDamping ignored when limitStiffness = inf - velocityLimit = inf → use builder default Schema resolver additions: - Six new Newton JOINT keys with priority over PhysX/MuJoCo equivalents for armature, velocity_limit, and friction - Deprecation warnings for 10 legacy newton:* per-DOF state attrs Closes newton-physics#3271
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Summary
Import the six
NewtonJointAPIschema attributes and broadcast them uniformly across all DOFs of revolute, prismatic, and D6 joints.newton:armaturearmaturenewton:dampingdampingnewton:frictionfrictionnewton:limitStiffnesslimit_keinf= hard limit (1e8),-inf= builder defaultnewton:limitDampinglimit_kdlimitStiffness = inf;-inf= builder defaultnewton:velocityLimitvelocity_limitinf= builder default; overrides PhysX if authoredChanges
newton/_src/usd/schemas.pyNewtonJointAPIattrs in the Newton schema resolver (JOINT prim type)_newton_legacy_joint_state_attr()deprecation getter for 10 legacy per-DOF state attrsnewton/_src/utils/import_usd.pylimit_ke/limit_kd/velocity_limitfrom the resolver_resolve_newton_limit_ke()and_resolve_newton_limit_kd()helpers for sentinel handlingdocs/concepts/usd_parsing.rstTests
test_import_usd.py: 5 new tests — basic revolute, prismatic, D6 mixed, hard-limit, velocity_limit=inftest_schema_resolver.py: comprehensive cross-resolver ordering tests (all 6 permutations of Newton/PhysX/MuJoCo), deprecation warning testsCloses
Closes newton-physics#3271