Implement MR comment

Author: nvtw

newton/_src/solvers/kamino/_src/solvers/warmstart.py

@@ -977,15 +977,16 @@ class WarmstarterContacts:
     This class supports multiple warm-starting strategies, selectable via the `Method` enum:
     - `KEY_AND_POSITION`:
         Warm-starts contacts by matching geom-pair keys and contact-point positions.
-    - `KEY_AND_POSITION_WITH_TANGENT_NET_FORCE`:
-        Warm-starts matched normal reactions and balances tangential force per geom-pair.
+    - `KEY_AND_POSITION_WITH_TANGENTIAL_NET_FORCE`:
+        Warm-starts contacts by matching geom-pair keys and contact-point positions,
+        while distributing the cached net tangential force uniformly across the geom-pair.
     - `GEOM_PAIR_NET_FORCE`:
         Warm-starts contacts using the net body-CoM contact force per geom-pair.
     - `GEOM_PAIR_NET_WRENCH`:
         Warm-starts contacts using the net body-CoM contact wrench per geom-pair.
     - `KEY_AND_POSITION_WITH_NET_FORCE_BACKUP`:
         Warm-starts contacts by matching geom-pair keys and contact-point positions,
-    - with a backup strategy using the net body-CoM contact force per geom-pair.
+        with a backup strategy using the net body-CoM contact force per geom-pair.
     - `KEY_AND_POSITION_WITH_NET_WRENCH_BACKUP`:
         Warm-starts contacts by matching geom-pair keys and contact-point positions,
         with a backup strategy using the net body-CoM contact wrench per geom-pair.
@@ -1020,10 +1021,10 @@ class Method(IntEnum):
         with a backup strategy using the net body-CoM contact wrench per geom-pair.
         """
 
-        KEY_AND_POSITION_WITH_TANGENT_NET_FORCE = 5
+        KEY_AND_POSITION_WITH_TANGENTIAL_NET_FORCE = 5
         """
-        Warm-start matched normal reactions and distribute the pair's net
-        tangential force uniformly across its cached contact count.
+        Warm-start contacts by matching geom-pair keys and contact-point positions,
+        while distributing the cached net tangential force uniformly across the geom-pair.
         """
 
         @classmethod
@@ -1147,7 +1148,7 @@ def warmstart(self, model: ModelKamino, data: DataKamino, contacts: ContactsKami
                     pair_contact_counts=self._pair_contact_counts,
                 )
 
-            case WarmstarterContacts.Method.KEY_AND_POSITION_WITH_TANGENT_NET_FORCE:
+            case WarmstarterContacts.Method.KEY_AND_POSITION_WITH_TANGENTIAL_NET_FORCE:
                 warmstart_contacts_by_matched_geom_pair_key_and_position(
                     model=model,
                     data=data,
@@ -1197,7 +1198,7 @@ def warmstart(self, model: ModelKamino, data: DataKamino, contacts: ContactsKami
                     "  - GEOM_PAIR_NET_WRENCH (2),"
                     "  - KEY_AND_POSITION_WITH_NET_FORCE_BACKUP (3),"
                     "  - KEY_AND_POSITION_WITH_NET_WRENCH_BACKUP (4),"
-                    "  - KEY_AND_POSITION_WITH_TANGENT_NET_FORCE (5)."
+                    "  - KEY_AND_POSITION_WITH_TANGENTIAL_NET_FORCE (5)."
                 )
 
     def update(self, contacts: ContactsKamino | None = None):

newton/_src/solvers/kamino/config.py

@@ -854,12 +854,12 @@ class DVISolverConfig:
         "key_and_position",
         "geom_pair_net_force",
         "key_and_position_with_net_force_backup",
-        "key_and_position_with_tangent_net_force",
-    ] = "key_and_position_with_tangent_net_force"
+        "key_and_position_with_tangential_net_force",
+    ] = "key_and_position_with_tangential_net_force"
     """
     The contact warmstart method used when `warmstart_mode` is `containers`.
     See :class:`WarmstarterContacts.Method` for available options.
-    Defaults to `key_and_position_with_tangent_net_force`.
+    Defaults to `key_and_position_with_tangential_net_force`.
     """
 
     @override
@@ -929,7 +929,7 @@ def validate(self) -> None:
             "key_and_position",
             "geom_pair_net_force",
             "key_and_position_with_net_force_backup",
-            "key_and_position_with_tangent_net_force",
+            "key_and_position_with_tangential_net_force",
         }
         if self.contact_warmstart_method not in implemented_contact_warmstart_methods:
             raise ValueError(

newton/_src/solvers/kamino/tests/test_solvers_dvi.py

@@ -352,7 +352,7 @@ def test_00_config_selection(self):
         self.assertEqual(config.dvi.max_alternating_iterations, 32)
         self.assertEqual(config.dvi.inequality_sweeps_per_iteration, 2)
         self.assertEqual(config.dvi.bilateral_solve_interval, 1)
-        self.assertEqual(config.dvi.contact_warmstart_method, "key_and_position_with_tangent_net_force")
+        self.assertEqual(config.dvi.contact_warmstart_method, "key_and_position_with_tangential_net_force")
         self.assertFalse(config.dynamics.preconditioning)
 
         sparse_config = SolverKamino.Config(dynamics_solver="dvi", sparse_dynamics=True, sparse_jacobian=True)
@@ -386,7 +386,7 @@ def test_00_config_selection(self):
             "key_and_position",
             "geom_pair_net_force",
             "key_and_position_with_net_force_backup",
-            "key_and_position_with_tangent_net_force",
+            "key_and_position_with_tangential_net_force",
         ):
             self.assertEqual(
                 kamino_config.DVISolverConfig(contact_warmstart_method=method).contact_warmstart_method, method

newton/examples/kamino/example_kamino_robot_dr_legs.py

@@ -105,7 +105,7 @@ def __init__(self, viewer: newton.viewer.ViewerBase, args=None):
             self.config.dvi.max_alternating_iterations = 4
             self.config.dvi.inequality_sweeps_per_iteration = 3
             self.config.dvi.bilateral_solve_interval = 1
-            self.config.dvi.contact_warmstart_method = "key_and_position_with_tangent_net_force"
+            self.config.dvi.contact_warmstart_method = "key_and_position_with_tangential_net_force"
         self.solver = newton.solvers.SolverKamino(self.model, config=self.config)
 
         # Set joint armature and viscous damping for better