newton-physics/newton
Jul 2025 – May 2026
10 Months active
Languages Used
C++Python
Technical Skills
C++C++ (via Python bindings)Control SystemsPhysics SimulationPyTorchPython
jvonmuralt
PROFILE
Jvonmuralt
Worked extensively on the newton-physics/newton repository, delivering advanced robotics and simulation features over ten months. Developed and optimized physics simulation components, including actuator subsystems, joint control, and inverse kinematics, using C++, Python, and CUDA programming. Enhanced simulation realism and flexibility by refactoring control systems, improving MuJoCo and Featherstone solver integration, and expanding USD/URDF/MJCF import capabilities. Addressed stability and maintainability through modular design, robust unit testing, and device-aware logic for CPU/CUDA. Improved developer productivity by streamlining asset management, documentation, and test reliability. The work demonstrated depth in 3D graphics, GPU programming, and reinforcement learning for robotics applications.
Overall Statistics
Feature vs Bugs
82%Features
Repository Contributions
49Total
Bugs
7
Commits
49
Features
31
Lines of code
17,837
Activity Months10
Your Network
1732 peopleSame Organization
@nvidia.com1684
Work History
May 2026
3 Commits • 2 Features
May 1, 2026May 2026 monthly summary for the Newton project. Focused on delivering flexible actuator parsing, CUDA-graph readiness, and test reliability improvements that directly enhance simulation performance, stability, and developer productivity.
3 Commits • 2 Features
May 1, 2026May 2026 monthly summary for the Newton project. Focused on delivering flexible actuator parsing, CUDA-graph readiness, and test reliability improvements that directly enhance simulation performance, stability, and developer productivity.
May 2026
April 2026
4 Commits • 3 Features
Apr 1, 2026April 2026 monthly summary for Newton physics work in the newton-physics/newton repository. Focused on delivering realism, modularity, and robustness in simulation components, with clear business value in improved accuracy, integration flexibility, and maintainability.
April 2026
4 Commits • 3 Features
Apr 1, 2026April 2026 monthly summary for Newton physics work in the newton-physics/newton repository. Focused on delivering realism, modularity, and robustness in simulation components, with clear business value in improved accuracy, integration flexibility, and maintainability.
March 2026
12 Commits • 8 Features
Mar 1, 2026March 2026: Delivered significant features and stability fixes for newton-physics/newton, with a strong emphasis on IK reliability, multi-world readiness, reproducibility, and developer experience. Key outcomes include a practical Franka Panda bricks demo using SDF-based collision and MuJoCo control, IK input handling refactor for improved performance, stability enhancements for IK custom examples, and extensive documentation and asset-management improvements that reduce friction for users and contributors.
12 Commits • 8 Features
Mar 1, 2026March 2026: Delivered significant features and stability fixes for newton-physics/newton, with a strong emphasis on IK reliability, multi-world readiness, reproducibility, and developer experience. Key outcomes include a practical Franka Panda bricks demo using SDF-based collision and MuJoCo control, IK input handling refactor for improved performance, stability enhancements for IK custom examples, and extensive documentation and asset-management improvements that reduce friction for users and contributors.
March 2026
February 2026
9 Commits • 6 Features
Feb 1, 2026February 2026 monthly summary for the newton-physics/newton repository highlights substantial progress in USD/URDF import tooling, actuator integration, and robustness testing, contributing to more reliable simulations and scalable control capabilities. The month focused on delivering key features that expand interoperability with external systems, improving model-building pipelines, and strengthening test coverage, while addressing reliability issues with entity naming and arrays.
February 2026
9 Commits • 6 Features
Feb 1, 2026February 2026 monthly summary for the newton-physics/newton repository highlights substantial progress in USD/URDF import tooling, actuator integration, and robustness testing, contributing to more reliable simulations and scalable control capabilities. The month focused on delivering key features that expand interoperability with external systems, improving model-building pipelines, and strengthening test coverage, while addressing reliability issues with entity naming and arrays.
January 2026
5 Commits • 3 Features
Jan 1, 2026January 2026 monthly summary for the newton-physics/newton repo focusing on feature delivery and performance improvements in the MuJoCo-based solver, visualization, and MJCF integration. Highlights include enhanced joint dynamics parsing, site-based constraints, COM visualization, world rendering cap for training efficiency, and actuator parsing support. Major bugs fixed: none reported in this period based on the provided data. Overall impact: improved simulation fidelity, operational efficiency during training, and expanded authoring capabilities for MJCF-driven scenarios. Technologies demonstrated include MuJoCo physics, MJCF parsing, Python/C++ integration, and visualization/logging pipelines.
5 Commits • 3 Features
Jan 1, 2026January 2026 monthly summary for the newton-physics/newton repo focusing on feature delivery and performance improvements in the MuJoCo-based solver, visualization, and MJCF integration. Highlights include enhanced joint dynamics parsing, site-based constraints, COM visualization, world rendering cap for training efficiency, and actuator parsing support. Major bugs fixed: none reported in this period based on the provided data. Overall impact: improved simulation fidelity, operational efficiency during training, and expanded authoring capabilities for MJCF-driven scenarios. Technologies demonstrated include MuJoCo physics, MJCF parsing, Python/C++ integration, and visualization/logging pipelines.
January 2026
December 2025
6 Commits • 3 Features
Dec 1, 2025December 2025: Delivered features that increase realism and robustness (MuJoCo joint physics enhancements; Featherstone COM convention alignment; URDF URI resolution support), fixed critical issues impacting stability and control (XPBD velocity target control; equality-constraints merge safety), and expanded test coverage to prevent regressions. These changes improve simulation fidelity, reliability of URDF imports, and overall developer productivity with a more predictable physics pipeline.
December 2025
6 Commits • 3 Features
Dec 1, 2025December 2025: Delivered features that increase realism and robustness (MuJoCo joint physics enhancements; Featherstone COM convention alignment; URDF URI resolution support), fixed critical issues impacting stability and control (XPBD velocity target control; equality-constraints merge safety), and expanded test coverage to prevent regressions. These changes improve simulation fidelity, reliability of URDF imports, and overall developer productivity with a more predictable physics pipeline.
November 2025
1 Commits • 1 Features
Nov 1, 20252025-11 Monthly Summary: Focused feature delivery in the Newton physics project with a major refactor of the Joint Control System to support independent position and velocity targets, significantly improving simulation flexibility and control. No major bugs reported this month. Impact: more realistic joint dynamics, easier tuning, and stronger maintainability for future enhancements. Key commit reference: 9233b833656e7ab78c0c733d58f2d6e50146716f (Replace JointMode with separate position and velocity targets, #1034). Technologies/skills demonstrated: refactoring, modular design, API simplification, Git collaboration, and simulation control.
1 Commits • 1 Features
Nov 1, 20252025-11 Monthly Summary: Focused feature delivery in the Newton physics project with a major refactor of the Joint Control System to support independent position and velocity targets, significantly improving simulation flexibility and control. No major bugs reported this month. Impact: more realistic joint dynamics, easier tuning, and stronger maintainability for future enhancements. Key commit reference: 9233b833656e7ab78c0c733d58f2d6e50146716f (Replace JointMode with separate position and velocity targets, #1034). Technologies/skills demonstrated: refactoring, modular design, API simplification, Git collaboration, and simulation control.
November 2025
September 2025
2 Commits • 1 Features
Sep 1, 2025September 2025 delivered two key enhancements to the Newton physics engine, strengthening correctness, stability, and maintainability. Implemented Spatial Vector Representation Standardization to align how linear and angular components are stored and processed across spatial vectors (twists and wrenches), improving correctness and reducing edge-case bugs. Fixed jitter in the XPBD solver by introducing a relaxation parameter into contact delta calculations, replacing a hardcoded value to stabilize and smooth simulations. These changes deliver clearer traceability through commits and pave the way for faster future feature delivery and easier maintenance.
September 2025
2 Commits • 1 Features
Sep 1, 2025September 2025 delivered two key enhancements to the Newton physics engine, strengthening correctness, stability, and maintainability. Implemented Spatial Vector Representation Standardization to align how linear and angular components are stored and processed across spatial vectors (twists and wrenches), improving correctness and reducing edge-case bugs. Fixed jitter in the XPBD solver by introducing a relaxation parameter into contact delta calculations, replacing a hardcoded value to stabilize and smooth simulations. These changes deliver clearer traceability through commits and pave the way for faster future feature delivery and easier maintenance.
August 2025
3 Commits • 2 Features
Aug 1, 2025In August 2025, delivered enhancements to Newton that strengthen USD-based workflow validation and test reliability. Key outputs include USD-based simulation demonstration scripts with integrated Anymal D and H1 robot models, and a robust Anymal reset testing framework across multiple contact types. The initiatives improve model validation speed, cross-device testing (CPU/CUDA), and code maintainability, enabling faster onboarding of new robots and USD workflows into Newton.
3 Commits • 2 Features
Aug 1, 2025In August 2025, delivered enhancements to Newton that strengthen USD-based workflow validation and test reliability. Key outputs include USD-based simulation demonstration scripts with integrated Anymal D and H1 robot models, and a robust Anymal reset testing framework across multiple contact types. The initiatives improve model validation speed, cross-device testing (CPU/CUDA), and code maintainability, enabling faster onboarding of new robots and USD workflows into Newton.
August 2025
July 2025
4 Commits • 2 Features
Jul 1, 2025July 2025 (Month: 2025-07) focus: advancing Anymal walking policy in the Newton physics stack through PD control optimization, MuJoCo solver tuning, and a validation/demonstration suite. The work improved control responsiveness, realism of contact physics, and provided a robust pipeline for validation and demonstration, enabling faster iteration and clearer demonstration of capabilities to stakeholders.
July 2025
4 Commits • 2 Features
Jul 1, 2025July 2025 (Month: 2025-07) focus: advancing Anymal walking policy in the Newton physics stack through PD control optimization, MuJoCo solver tuning, and a validation/demonstration suite. The work improved control responsiveness, realism of contact physics, and provided a robust pipeline for validation and demonstration, enabling faster iteration and clearer demonstration of capabilities to stakeholders.
Activity
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Quality Metrics
Correctness94.0%
Maintainability85.0%
Architecture89.0%
Performance83.2%
AI Usage34.2%
Skills & Technologies
Programming Languages
C++Python
Technical Skills
3D Graphics3D modelingAPI DevelopmentC++C++ (via Python bindings)CUDA programmingCode RefactoringControl SystemsDependency ManagementGPU ProgrammingGPU programmingGame DevelopmentGitGraphics ProgrammingInverse Kinematics
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