Resolve changelog merge semantics

Author: jcarius-nv

CHANGELOG.md

@@ -75,44 +75,16 @@
 - Deprecate local-only `SolverBase.reset()` world masks in favor of masks with shape `(world_count + 1,)`; append a final entry that selects global entities in world `-1`. (#3726; fixes #3374)
 - Deprecate and ignore `SolverVBD`'s `rigid_contact_stick_motion_eps`, `rigid_contact_stick_freeze_translation_eps`, and `rigid_contact_stick_freeze_angular_eps`; use collision-pipeline sticky matching for persistent geometry. The SolverVBD body deadzone was removed without replacement. (#3652)
 - Deprecate `Model.contacts()` and `Model.collide()` in favor of explicitly creating a `CollisionPipeline`, allocating with `pipeline.contacts()`, and detecting collisions with `pipeline.collide(state, contacts)`. (#3409)
+- Deprecate the legacy DOF-shaped `joint_target_q` layout (`newton.use_coord_layout_targets = False`) for models whose joint coordinate and DOF counts differ (free/ball/distance joints); `ModelBuilder.finalize()` now emits a `DeprecationWarning` for such models. Set `newton.use_coord_layout_targets = True` before building models and index targets via `Model.joint_target_q_start`. A future release will make the coordinate layout the only layout and remove the flag.
 
 ### Removed
 
+- Remove the deprecated `joint_target_pos` / `joint_target_vel` aliases from `Model`, `Control`, and `ModelBuilder` (deprecated in 1.3.0); use `joint_target_q` / `joint_target_qd` instead. Reading or assigning the removed names raises `AttributeError` naming the replacement, so a stale `control.joint_target_pos = targets` fails loudly instead of being silently ignored. `Actuator` now always defaults `control_target_pos_attr` / `control_target_vel_attr` to the canonical `joint_target_q` / `joint_target_qd` names; passing `None` explicitly selects the same defaults.
 - Remove the deprecated SDF compatibility attributes `Model.shape_sdf_index`, `Model.texture_sdf_data`, `Model.texture_sdf_coarse_textures`, `Model.texture_sdf_subgrid_textures`, `Model.texture_sdf_subgrid_start_slots`, `Model.sdf_block_coords`, `Model.sdf_index2blocks`, and `SDF.texture_block_coords` (deprecated in 1.3.0); the hydroelastic broadphase derives block coordinates arithmetically and the remaining storage is internal. (#3622)
 - Remove the deprecated `newton.geometry.build_bvh_shape()`, `refit_bvh_shape()`, `build_bvh_particle()`, and `refit_bvh_particle()` helpers (deprecated in 1.3.0); use `Model.bvh_build_shapes()`, `Model.bvh_refit_shapes()`, `Model.bvh_build_particles()`, and `Model.bvh_refit_particles()` instead. (#3619)
 - Remove the deprecated `Model.has_heightfields` property (deprecated in 1.3.0); use `Model.heightfield_count`, or `model.heightfield_count > 0` for boolean checks, instead. (#3619)
 - Remove the deprecated `SolverNotifyFlags` enum (deprecated in 1.3.0); use `ModelFlags` instead. (#3619)
 - Remove the deprecated `ls_parallel` parameter of `SolverMuJoCo` (deprecated in 1.3.0); parallel line search was removed from `mujoco_warp` and the option had no effect. (#3619)
-- Deprecate scalar `ModelBuilder.gravity`; pass a three-component gravity vector instead.
-- Deprecate local-only `SolverBase.reset()` world masks in favor of masks with shape `(world_count + 1,)`; append a final entry that selects global entities in world `-1`. (#3374)
-- Deprecate and ignore `SolverVBD`'s `rigid_contact_stick_motion_eps`, `rigid_contact_stick_freeze_translation_eps`, and `rigid_contact_stick_freeze_angular_eps`; use collision-pipeline sticky matching for persistent geometry. The SolverVBD body deadzone was removed without replacement.
-- Deprecate per-DOF `newton:{axis}:limitStiffness` and `newton:{axis}:limitDamping` attributes (where `{axis}` is `linear`, `angular`, `rotX`, `rotY`, or `rotZ`). Use the broadcast `newton:limitStiffness` and `newton:limitDamping` attributes from `NewtonJointAPI` instead; the broadcast value applies uniformly to all DOFs on the joint. For joints requiring per-DOF variance, split into separate 1-DOF (revolute / prismatic) joints.
-- Deprecate passing solver constructor options positionally after stable positional inputs such as `model` and explicit solver configs; migrate calls such as `SolverVBD(model, 10)` to `SolverVBD(model, iterations=10)`.
-- Deprecate `Model.contacts()` and `Model.collide()` in favor of explicitly creating a `CollisionPipeline`, allocating with `pipeline.contacts()`, and detecting collisions with `pipeline.collide(state, contacts)`.
-- Deprecate `ModelBuilder.find_shape_contact_pairs()`; shape contact pairs are generated automatically by `ModelBuilder.finalize()`, so configure collision filters before finalization instead of rebuilding contact pairs manually.
-- Deprecate `newton.EqType` in favor of `newton.solvers.SolverMuJoCo.EqType`; migrate equality-constraint type references to the MuJoCo-scoped enum.
-- Deprecate `newton.geometry.MATCH_BROKEN` and `newton.geometry.MATCH_NOT_FOUND` without replacement; do not rely on or import these values.
-- Deprecate unsorted integer indices for `ArticulationView.include_joints` and `ArticulationView.include_links`, and reject out-of-range indices; sort indices in ascending order and ensure they are within the articulation's joint or link range.
-- Deprecate `State.body_q_prev` without replacement because solvers now manage previous body transforms internally; applications that need pose history should clone `State.body_q` explicitly.
-- Deprecate passing option-heavy helper API parameters positionally, including `ModelBuilder.ShapeConfig`, `ModelBuilder.JointDofConfig`, `Contacts`, `ArticulationView`, and selected `ModelBuilder` body, joint, shape, rod, cloth, soft-body, and FEM helpers. Keep stable identifiers such as `body`, `parent`/`child`, capacity counts, and topology indices positional; migrate calls such as `add_shape_box(body, xform, hx=...)` to `add_shape_box(body, xform=xform, hx=...)`.
-- Deprecate loading TorchScript (`torch.jit.save`) and dict (`torch.save`) neural-network checkpoints in `ControllerNeuralMLP` and `ControllerNeuralLSTM` in favor of pt2 archives saved via `torch.export.save`.
-- Deprecate omitting `body_frame_origin` in `ModelBuilder.add_rod()` and `ModelBuilder.add_rod_graph()`; the implicit behavior still uses the existing start-node body-frame convention during the deprecation window, but the implicit default will change to `body_frame_origin="com"` in a future release. Pass `body_frame_origin="start"` to preserve the legacy frame or `body_frame_origin="com"` to opt into the future COM-centered frame.
-- Deprecate mutating `Model.shape_collision_filter_pairs`; modify `ModelBuilder.shape_collision_filter_pairs` before calling `finalize()` and rebuild the model instead, because mutating finalized collision filters does not rebuild `Model.shape_contact_pairs`.
-- Deprecate reading legacy vendor-namespaced deformable material attributes (`omniphysics:`, `physxDeformableBody:`) off any bound material in `newton.usd.get_tetmesh()`, `newton.TetMesh.create_from_usd()`, and `ModelBuilder.add_usd()`. They are still read during the deprecation window, with a `DeprecationWarning`; a future release will read only canonical `physics:` attributes from a material applying `PhysicsVolumeDeformableMaterialAPI`. Migrate by authoring the canonical attributes, or keep the old behavior without the warning via `compat_namespaces=newton.usd.DEFORMABLE_LEGACY_NAMESPACES` (`get_tetmesh` / `create_from_usd`) or `schema_resolvers=[..., SchemaResolverPhysx()]` (`add_usd`). `compat_namespaces` is now keyword-only; pass `()` to opt into the canonical-only behavior today.
-- Deprecate implicit render-config updates in `SensorTiledCamera.utils.create_default_light()` and `SensorTiledCamera.utils.assign_checkerboard_material()`; set `sensor.default_render_config.enable_shadows` or `sensor.default_render_config.enable_textures` explicitly instead.
-- Deprecate `SensorTiledCamera(..., config=...)` in favor of `SensorTiledCamera(..., default_render_config=...)`; migrate constructor calls that pass a render config to the new keyword.
-- Deprecate `SensorTiledCamera.render_config` in favor of `SensorTiledCamera.default_render_config`; migrate `sensor.render_config.enable_shadows = True` to `sensor.default_render_config.enable_shadows = True`.
-- Deprecate `SensorTiledCamera.utils.compute_pinhole_camera_rays()` in favor of `SensorTiledCamera.utils.compute_camera_rays_pinhole()`.
-- Deprecate the legacy DOF-shaped `joint_target_q` layout (`newton.use_coord_layout_targets = False`) for models whose joint coordinate and DOF counts differ (free/ball/distance joints); `ModelBuilder.finalize()` now emits a `DeprecationWarning` for such models. Set `newton.use_coord_layout_targets = True` before building models and index targets via `Model.joint_target_q_start`. A future release will make the coordinate layout the only layout and remove the flag.
-
-### Removed
-
-- Remove the deprecated `joint_target_pos` / `joint_target_vel` aliases from `Model`, `Control`, and `ModelBuilder` (deprecated in 1.3.0); use `joint_target_q` / `joint_target_qd` instead. Reading or assigning the removed names raises `AttributeError` naming the replacement, so a stale `control.joint_target_pos = targets` fails loudly instead of being silently ignored. `Actuator` now always defaults `control_target_pos_attr` / `control_target_vel_attr` to the canonical `joint_target_q` / `joint_target_qd` names; passing `None` explicitly selects the same defaults.
-- Remove the deprecated SDF compatibility attributes `Model.shape_sdf_index`, `Model.texture_sdf_data`, `Model.texture_sdf_coarse_textures`, `Model.texture_sdf_subgrid_textures`, `Model.texture_sdf_subgrid_start_slots`, `Model.sdf_block_coords`, `Model.sdf_index2blocks`, and `SDF.texture_block_coords` (deprecated in 1.3.0); the hydroelastic broadphase derives block coordinates arithmetically and the remaining storage is internal.
-- Remove the deprecated `newton.geometry.build_bvh_shape()`, `refit_bvh_shape()`, `build_bvh_particle()`, and `refit_bvh_particle()` helpers (deprecated in 1.3.0); use `Model.bvh_build_shapes()`, `Model.bvh_refit_shapes()`, `Model.bvh_build_particles()`, and `Model.bvh_refit_particles()` instead.
-- Remove the deprecated `Model.has_heightfields` property (deprecated in 1.3.0); use `Model.heightfield_count`, or `model.heightfield_count > 0` for boolean checks, instead.
-- Remove the deprecated `SolverNotifyFlags` enum (deprecated in 1.3.0); use `ModelFlags` instead.
-- Remove the deprecated `ls_parallel` parameter of `SolverMuJoCo` (deprecated in 1.3.0); parallel line search was removed from `mujoco_warp` and the option had no effect.
 
 ### Fixed