Add articulation ordering controls#6248
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Add optional joint and body ordering conventions for articulation public APIs, with shared mapping utilities and Warp reorder kernels. Wire the mapping through Newton, PhysX, and OVPhysX data read/write paths so policies can be trained and played across backend-specific orderings. Add major-tier changelog fragments and regression coverage for explicit orderings, symbolic PhysX/MJWarp resolution, and reorder kernels.
Cache identity and ordering maps for hot write paths, collapse fused state and target writes into single launches, and keep joint property buffers synchronized between user and backend orderings. Add focused CPU coverage for the ordering kernels and Newton joint-limit property writes.
Move ordering helpers to module-scope imports in BaseArticulation and let resolve_articulation_ordering_names resolve symbolic conventions directly from the articulation instance.
Move backend convention discovery helpers out of ordering.py into ordering_resolvers.py so ordering.py stays focused on the public ordering data model and map construction.
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Description
Adds major cross-backend articulation ordering support so public joint/body order can be kept independent from the active backend's native storage order.
This introduces optional
ArticulationCfg.joint_orderingandArticulationCfg.body_orderingcontrols, shared name-map utilities, and Warp reorder kernels. Newton, PhysX, and OVPhysX articulation data paths are wired to translate between public and backend order for reads and writes. Built-in symbolic conventions currently includephysxandmjwarp, with automatic cross-backend name resolution.Fixes # N/A
Type of change
.major.rst)Screenshots
N/A. Validation included local playback videos for Anymal-D and Franka policies under alternate ordering settings.
Checklist
pre-commitchecks with./isaaclab.sh --formatsource/<pkg>/changelog.d/for every touched package (do not editCHANGELOG.rstor bumpextension.toml— CI handles that)CONTRIBUTORS.mdor my name already exists thereTest Plan
./isaaclab.sh -p -m pytest source/isaaclab/test/assets/test_articulation_ordering.py source/isaaclab_newton/test/assets/test_articulation.py::test_mjwarp_ordering_resolver_matches_newton_backend_names -q-> 26 passed./isaaclab.sh -d-> documentation build succeeded; reported 6 warnings fromdocs/superpowers/plans/2026-06-23-articulation-ordering.md./isaaclab.sh -f-> all hooks passed