Move modular design of newton-actuators to Newton repo

docs/guide/release.rst

@@ -64,7 +64,7 @@ Pre-release planning
      - Determine target version (``X.Y.Z``).
    * - ☐
      - Confirm dependency versions and availability: warp-lang, mujoco,
-       mujoco-warp, newton-usd-schemas, newton-actuators.
+       mujoco-warp, newton-usd-schemas.
    * - ☐
      - Set timeline: code freeze → RC1 → testing window → GA.
    * - ☐

newton/__init__.py

@@ -83,9 +83,10 @@
 # ==================================================================================
 # submodule APIs
 # ==================================================================================
-from . import geometry, ik, math, selection, sensors, solvers, usd, utils, viewer  # noqa: E402
+from . import actuators, geometry, ik, math, selection, sensors, solvers, usd, utils, viewer  # noqa: E402
 
 __all__ += [
+    "actuators",
     "geometry",
     "ik",
     "math",

newton/_src/actuators/__init__.py

@@ -0,0 +1,24 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
+# SPDX-License-Identifier: Apache-2.0
+
+from .actuator import Actuator
+from .clamping import Clamping, ClampingDCMotor, ClampingMaxForce, ClampingPositionBased
+from .controllers import Controller, ControllerNetLSTM, ControllerNetMLP, ControllerPD, ControllerPID
+from .delay import Delay
+from .usd_parser import ParsedActuator, parse_actuator_prim
+
+__all__ = [
+    "Actuator",
+    "Clamping",
+    "ClampingDCMotor",
+    "ClampingMaxForce",
+    "ClampingPositionBased",
+    "Controller",
+    "ControllerNetLSTM",
+    "ControllerNetMLP",
+    "ControllerPD",
+    "ControllerPID",
+    "Delay",
+    "ParsedActuator",
+    "parse_actuator_prim",
+]

newton/_src/actuators/actuator.py

@@ -0,0 +1,318 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
+# SPDX-License-Identifier: Apache-2.0
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from typing import Any
+
+import numpy as np
+import warp as wp
+
+from .clamping.base import Clamping
+from .controllers.base import Controller
+from .delay import Delay
+
+
+# TODO: replace with a Transmission class that does J multiplication before accumulating into the output array.
+@wp.kernel
+def _scatter_add_kernel(
+    forces: wp.array[float],
+    indices: wp.array[wp.uint32],
+    output: wp.array[float],
+):
+    """Scatter-add forces into output at specified indices."""
+    i = wp.tid()
+    idx = indices[i]
+    output[idx] = output[idx] + forces[i]
+
+
+@wp.kernel
+def _scatter_add_dual_kernel(
+    applied_forces: wp.array[float],
+    computed_forces: wp.array[float],
+    indices: wp.array[wp.uint32],
+    applied_output: wp.array[float],
+    computed_output: wp.array[float],
+):
+    """Scatter-add both applied and computed forces in one pass."""
+    i = wp.tid()
+    idx = indices[i]
+    applied_output[idx] = applied_output[idx] + applied_forces[i]
+    computed_output[idx] = computed_output[idx] + computed_forces[i]
+
+
+class Actuator:
+    """Composed actuator: controller + optional delay + clamping.
+
+    An actuator reads from simulation state/control arrays, computes
+    forces via a controller, applies clamping (force limits, saturation, etc.),
+    and writes the result to the output array.
+
+    Delay is handled separately from clamping because it is the only
+    pre-controller modifier (it replaces targets with delayed versions).
+    All clamping is post-controller (it bounds forces).
+
+    Usage::
+
+        actuator = Actuator(
+            indices=indices,
+            controller=ControllerPD(kp=kp, kd=kd),
+            delay=Delay(delay=5),
+            clamping=[ClampingMaxForce(max_force=max_f)],
+        )
+
+        # Simulation loop
+        actuator.step(sim_state, sim_control, state_a, state_b, dt=0.01)
+
+    Args:
+        indices: DOF indices for reading state/targets and writing forces. Shape (N,).
+        controller: Controller that computes raw forces.
+        delay: Optional Delay instance for input delay.
+        clamping: List of Clamping objects (post-controller force bounds).
+        state_pos_attr: Attribute on sim_state for positions.
+        state_vel_attr: Attribute on sim_state for velocities.
+        control_target_pos_attr: Attribute on sim_control for target positions.
+        control_target_vel_attr: Attribute on sim_control for target velocities.
+        control_input_attr: Attribute on sim_control for control input. None to skip.
+        control_output_attr: Attribute on sim_control for clamped output forces.
+        control_computed_output_attr: Attribute on sim_control for raw (pre-clamp)
+            forces. None to skip writing computed forces.
+    """
+
+    @dataclass
+    class State:
+        """Composed state for an :class:`Actuator`.
+
+        Holds the controller state and, if a delay is present, the delay
+        state. Clamping objects are stateless.
+        """
+
+        controller_state: Controller.State | None = None
+        delay_state: Delay.State | None = None
+
+        def reset(self) -> None:
+            if self.controller_state is not None:
+                self.controller_state.reset()
+            if self.delay_state is not None:
+                self.delay_state.reset()
+
+    def __init__(
+        self,
+        indices: wp.array,
+        controller: Controller,
+        delay: Delay | None = None,
+        clamping: list[Clamping] | None = None,
+        state_pos_attr: str = "joint_q",
+        state_vel_attr: str = "joint_qd",
+        control_target_pos_attr: str = "joint_target_pos",
+        control_target_vel_attr: str = "joint_target_vel",
+        control_input_attr: str | None = "joint_act",
+        control_output_attr: str = "joint_f",
+        control_computed_output_attr: str | None = None,
+    ):
+        self.indices = indices
+        self.controller = controller
+        self.delay = delay
+        self.clamping = clamping or []
+        self.num_actuators = len(indices)
+
+        self.state_pos_attr = state_pos_attr
+        self.state_vel_attr = state_vel_attr
+        self.control_target_pos_attr = control_target_pos_attr
+        self.control_target_vel_attr = control_target_vel_attr
+        self.control_input_attr = control_input_attr
+        self.control_output_attr = control_output_attr
+        self.control_computed_output_attr = control_computed_output_attr
+
+        device = indices.device
+        self._sequential_indices = wp.array(np.arange(self.num_actuators, dtype=np.uint32), device=device)
+        self._computed_forces = wp.zeros(self.num_actuators, dtype=wp.float32, device=device)
+        self._applied_forces = wp.zeros(self.num_actuators, dtype=wp.float32, device=device)
+
+        controller.set_device(device)
+        controller.set_indices(indices, self._sequential_indices)
+        for clamp in self.clamping:
+            clamp.set_device(device)
+        if self.delay is not None:
+            self.delay.set_indices(self.num_actuators, self._sequential_indices)
+
+    def get_param(self, name: str) -> wp.array | None:
+        """Search for a named warp array parameter across controller and clamping.
+
+        Searches controller first, then each clamping object in order.
+
+        Args:
+            name: Parameter name (e.g. ``"kp"``, ``"max_force"``).
+
+        Returns:
+            The first matching :class:`warp.array`, or ``None`` if not found.
+        """
+        val = getattr(self.controller, name, None)
+        if val is not None and isinstance(val, wp.array):
+            return val
+        for clamp in self.clamping:
+            val = getattr(clamp, name, None)
+            if val is not None and isinstance(val, wp.array):
+                return val
+        return None
+
+    @property
+    def SHARED_PARAMS(self) -> set[str]:
+        params: set[str] = set()
+        params |= self.controller.SHARED_PARAMS
+        if self.delay is not None:
+            params |= self.delay.SHARED_PARAMS
+        for c in self.clamping:
+            params |= c.SHARED_PARAMS
+        return params
+
+    def is_stateful(self) -> bool:
+        """Return True if controller or delay maintains internal state."""
+        return self.controller.is_stateful() or self.delay is not None
+
+    def is_graphable(self) -> bool:
+        """Return True if all components can be captured in a CUDA graph."""
+        return self.controller.is_graphable() and all(c.is_graphable() for c in self.clamping)
+
+    def state(self) -> Actuator.State | None:
+        """Return a new composed state, or None if fully stateless."""
+        if not self.is_stateful():
+            return None
+        device = self.indices.device
+        return Actuator.State(
+            controller_state=(
+                self.controller.state(self.num_actuators, device) if self.controller.is_stateful() else None
+            ),
+            delay_state=(self.delay.state(self.num_actuators, device) if self.delay is not None else None),
+        )
+
+    def step(
+        self,
+        sim_state: Any,
+        sim_control: Any,
+        current_act_state: Actuator.State | None = None,
+        next_act_state: Actuator.State | None = None,
+        dt: float | None = None,
+    ) -> None:
+        """Execute one control step.
+
+        1. **Delay** — read delayed targets from buffer.
+        2. **Controller** — compute raw forces into ``_computed_forces``.
+        3. **Clamping** — bound forces from computed → ``_applied_forces``.
+        4. **Scatter** — add applied (and optionally computed) forces to output.
+        5. **State updates** — update delay buffer and controller state.
+
+        If the delay buffer is still filling, steps 2-3 are skipped
+        (no forces produced) but the buffer keeps accumulating.
+
+        Args:
+            sim_state: Simulation state with position/velocity arrays.
+            sim_control: Control structure with target/output arrays.
+            current_act_state: Current composed state (None if stateless).
+            next_act_state: Next composed state (None if stateless).
+            dt: Timestep in seconds.
+        """
+        has_states = current_act_state is not None and next_act_state is not None
+
+        positions = getattr(sim_state, self.state_pos_attr)
+        velocities = getattr(sim_state, self.state_vel_attr)
+
+        orig_target_pos = getattr(sim_control, self.control_target_pos_attr)
+        orig_target_vel = getattr(sim_control, self.control_target_vel_attr)
+        orig_act_input = None
+        if self.control_input_attr is not None:
+            orig_act_input = getattr(sim_control, self.control_input_attr, None)
+
+        target_pos = orig_target_pos
+        target_vel = orig_target_vel
+        act_input = orig_act_input
+        target_indices = self.indices
+
+        # --- 1. Delay: read delayed targets ---
+        skip_compute = False
+        if self.delay is not None:
+            delay_state = current_act_state.delay_state if current_act_state else None
+
+            if self.delay.is_ready(delay_state):
+                target_pos, target_vel, act_input, target_indices = self.delay.get_delayed_targets(
+                    act_input, delay_state
+                )
+            else:
+                skip_compute = True
+
+        if not skip_compute:
+            # --- 2. Controller: compute raw forces ---
+            ctrl_state = current_act_state.controller_state if current_act_state else None
+            self.controller.compute(
+                positions,
+                velocities,
+                target_pos,
+                target_vel,
+                act_input,
+                self.indices,
+                target_indices,
+                self._computed_forces,
+                self._sequential_indices,
+                self.num_actuators,
+                ctrl_state,
+                dt,
+            )
+
+            # --- 3. Clamping: computed → applied (fused copy+clamp) ---
+            if self.clamping:
+                src = self._computed_forces
+                for clamp in self.clamping:
+                    clamp.modify_forces(
+                        src,
+                        self._applied_forces,
+                        positions,
+                        velocities,
+                        self.indices,
+                        self.num_actuators,
+                    )
+                    src = self._applied_forces
+            else:
+                wp.copy(self._applied_forces, self._computed_forces)
+
+            # --- 4. Scatter-add applied (+ optionally computed) to output ---
+            applied_output = getattr(sim_control, self.control_output_attr)
+            if self.control_computed_output_attr is not None:
+                computed_output = getattr(sim_control, self.control_computed_output_attr)
+                wp.launch(
+                    kernel=_scatter_add_dual_kernel,
+                    dim=self.num_actuators,
+                    inputs=[
+                        self._applied_forces,
+                        self._computed_forces,
+                        self.indices,
+                    ],
+                    outputs=[applied_output, computed_output],
+                )
+            else:
+                wp.launch(
+                    kernel=_scatter_add_kernel,
+                    dim=self.num_actuators,
+                    inputs=[self._applied_forces, self.indices],
+                    outputs=[applied_output],
+                )
+
+        # --- 5. State updates ---
+        if has_states:
+            if self.controller.is_stateful() and not skip_compute:
+                self.controller.update_state(
+                    current_act_state.controller_state,
+                    next_act_state.controller_state,
+                )
+
+            if self.delay is not None:
+                self.delay.update_state(
+                    orig_target_pos,
+                    orig_target_vel,
+                    orig_act_input,
+                    self.indices,
+                    self.num_actuators,
+                    current_act_state.delay_state,
+                    next_act_state.delay_state,
+                    dt,
+                )

newton/_src/actuators/clamping/__init__.py

@@ -0,0 +1,14 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
+# SPDX-License-Identifier: Apache-2.0
+
+from .base import Clamping
+from .clamping_dc_motor import ClampingDCMotor
+from .clamping_max_force import ClampingMaxForce
+from .clamping_position_based import ClampingPositionBased
+
+__all__ = [
+    "Clamping",
+    "ClampingDCMotor",
+    "ClampingMaxForce",
+    "ClampingPositionBased",
+]