Use newton-usd-schemas 0.4.1

[andrewkaufman]

Description

Bump newton-usd-schemas to 0.4.1, released to PyPI today.

The 0.4.1 patch contains two changes:

• NewtonActuator base type corrected from a partially implemented UsdGeomImageable to UsdTyped. Actuators are not renderable, so nothing should have been treating them as imageable. A consequence worth knowing: actuators can no longer be rendered in Hydra-compatible viewers, so a viewer wanting actuator manipulators has to special-case them, or the content author has to parent a UsdGeomImageable beneath them.
• NewtonMimicAPI documentation clarified to state that the leader and follower must share a joint type; multi-DOF behaviour remains undefined and unsupported. This matches what the importer already assumes — see Read newton:mimicCoef0 as degrees for angular mimic followers #3728, which reads newton:mimicCoef0 as degrees based on the follower's joint type.

Newton identifies actuator prims by type name (prim.GetTypeName() != "NewtonActuator" in newton/_src/actuators/usd_parser.py), so parsing behaves identically against either version. The floor is raised anyway so that authored stages and the importer describe actuators the same way.

No CHANGELOG.md entry: no Newton-side behaviour changes, matching the precedent for standalone schema bumps (#2012). Happy to add one if you'd rather record it.

Checklist

• New or existing tests cover these changes
• The documentation is up to date with these changes
• CHANGELOG.md has been updated (if user-facing change)

Test plan

uv run --extra dev --extra importers -m unittest newton.tests.test_import_usd          # 298 tests, OK
uv run --extra dev --extra importers -m unittest newton.tests.test_actuators newton.tests.test_schema_resolver  # 88 tests, OK (15 skipped)
uvx pre-commit run -a                                                                  # all passed, incl. uv-lock

Confirmed the installed schema actually changed, rather than trusting the version string:

>>> import importlib.metadata as md; md.version("newton-usd-schemas")
'0.4.1'
>>> from pxr import Usd, UsdGeom
>>> prim = Usd.Stage.CreateInMemory().DefinePrim("/A", "NewtonActuator")
>>> prim.IsA(UsdGeom.Imageable)
False

Summary by CodeRabbit

• Chores
  • Updated the optional importer dependency to require version 0.4.1 or newer.

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📥 Commits

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📒 Files selected for processing (1)

• pyproject.toml

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📝 Walkthrough

Walkthrough

The importers optional dependency in pyproject.toml now requires newton-usd-schemas version 0.4.1 or newer.

Changes

Importer dependency

Layer / File(s)	Summary
Update importer dependency constraint pyproject.toml	The minimum newton-usd-schemas version for the importers extra changes from >=0.4.0 to >=0.4.1.

Estimated code review effort: 1 (Trivial) | ~2 minutes

Possibly related PRs

• newton-physics/newton#2800: Updates the same newton-usd-schemas importer dependency declaration.
• newton-physics/newton#3275: Adds USD schema/import functionality connected to the updated schemas package.

Suggested reviewers: adenzler-nvidia

🚥 Pre-merge checks | ✅ 5

✅ Passed checks (5 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly and concisely describes the dependency version bump in this changeset.
Docstring Coverage	✅ Passed	No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

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[andrewkaufman]

@jcarius-nv this isn't really necessary, as the schema patch has no runtime impact on Newton itself. Just keeping things up-to-date really, so it appears that Newton 1.5 "recommends" schemas 0.4.1

There may yet be a 0.5.0 schema release before code freeze, happy to wait for that if you'd prefer

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ All tests successful. No failed tests found.

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