Fix Jacobian column offset for Newton floating-base#2
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hujc7 merged 2 commits intoMay 2, 2026
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…s for fixed and floating-base assets Signed-off-by: aravind s kumar <aravikumar@nvidia.com>
SIM_CFGs is module-level, so without a copy those mutations persisted across parametrize cases Signed-off-by: aravind s kumar <aravikumar@nvidia.com>
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The +6 Jacobian column offset in IK/OSC/RMPFlow was a PhysX-ism that broke Newton floating-base — replaced with a num_jacobi_joints property. Also: Newton's sim fixture mutated module-level SIM_CFGs