Versions and features
Steel reaches users through three builds. New Steel work lands first on skild-ai/newton main, the integration branch, and moves to Newton through upstream pull requests. Newton releases then ship it.
| Feature | Newton 1.8.0 | Newton main | skild-ai/newton main |
|---|---|---|---|
| Serial and colored sweeps, immediate and propagation responses | yes | yes | yes |
| Friction patches, contact torsion, compliance, restitution | yes | yes | yes |
| Loop closures (BALL, REVOLUTE, FIXED), mimic joints | yes | yes | yes |
| Joint friction with load coefficient, drive rows | yes | yes | yes |
Sleeping, RUN_ determinism, body_, contact_ |
yes | yes | yes |
Passive joint springs (joint_) |
no | yes | yes |
nesterov_ |
no | yes | yes |
Speed-aware default for joint_ |
no (inf) |
no (inf) |
yes (None) |
Free-body rolling and spin friction (steel:, free_) |
no | in review | yes |
Contact adhesion (steel:) |
no | no | yes |
friction_, restitution_ |
no | no | yes |
propagation_, body-frame contact matching |
no | no | yes |
| One-launch colored solve for few large worlds (automatic) | no | no | yes |
| MuJoCo-style tendons | no | no | in review |
The configuration reference marks every option that is not in Newton 1.8.0. The integration branch accepts every option Newton 1.8.0 accepts, with the same names. Its only changed default is joint_limit_activation_gap.
Steel docs and tutorials are licensed under Apache-2.0. Third-party notices. "Skild", "Skild AI" and the Skild logo are trademarks of Skild AI and are not licensed under Apache-2.0.