Merge pull request #73 from andrewkaufman/releasePrep

Update for v0.4.0

Author: andrewkaufman

CHANGELOG.md

@@ -1,3 +1,15 @@
+# 0.4.0
+
+## Features
+
+- Added `newton:jointsAddMobility` attribute to `NewtonArticulationRootAPI`
+  - This attribute controls whether joints within this articulation add mobility or constrain it, which affects how engines should parse the articulation into their native formulation.
+  - When false (default), joints constrain degrees of freedom between otherwise-free bodies.
+  - When true, multiple single-DOF joints connecting the same body pair (stacked joints) add degrees of freedom to bodies that would otherwise be rigidly attached.
+- Added `NewtonJointAPI`, which applies on top of a `PhysicsJoint`, providing joint configuration for armature, passive dynamics, and limit spring response
+  - All attributes broadcast uniformly to every DOF of the joint.
+  - If per-DOF variance is required for a multi-DOF joint, it is recommended to "break apart" the joint into a stack of single-DOF joints (i.e. revolute or prismatic), and set `NewtonArticulationRootAPI.newton:jointsAddMobility = True`.
+
 # 0.3.1
 
 ## Fixes

newton_usd_schemas/_version.py

@@ -1,4 +1,4 @@
 # SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
 
-__version__ = "0.3.1"
+__version__ = "0.4.0"