[Newton] Bump Newton pin to v1.2.0rc3 by hujc7 · Pull Request #5614 · isaac-sim/IsaacLab

hujc7 · 2026-05-14T15:22:00Z

Summary

Bumps the Newton pin to v1.2.0rc3, keeping the canonical newton[sim] @ git+... form across all five pin sites.

Restores the bump that was briefly active on develop between isaac-sim/IsaacLab#5024 and isaac-sim/IsaacLab#5566 — isaac-sim/IsaacLab#5024 silently moved the pin to newton==1.2.0rc3 (PyPI form, dropping the [sim] extra), and isaac-sim/IsaacLab#5566 reverted it back to newton[sim] @ git+...@v1.2.0rc2. This PR brings rc3 back, this time with the proper [sim] extra preserved everywhere.

What's new in Newton v1.2.0rc3 vs v1.2.0rc2

Notable upstream fixes:

newton-physics/newton#2651 — MPR/GJK no longer assumes convex hulls are centered around the origin (affects rigid-body contact computation for off-center hulls).
newton-physics/newton#2703 — Kamino FK solver performance improvements.
newton-physics/newton#2721 — HDR color output for tiled camera sensors.
SolverMuJoCo fixes: planar meshes, contact-anchor computation, distance conversion.
Per-mesh color and PBR overrides in log_mesh (newton-physics/newton#2628) — rerun viewer.

Required dep bumps

None on the IsaacLab side. Since isaac-sim/IsaacLab#5566 dropped IsaacLab's explicit mujoco / mujoco-warp pins, the mjwarp 3.8.0.1 → 3.8.0.2 bump in rc3 flows in transitively through newton[sim] with no IsaacLab-side change.

warp-lang stays at 1.13.0 (set by isaac-sim/IsaacLab#5523).

Pins updated

File	Change
`source/isaaclab_newton/setup.py`	`v1.2.0rc2` → `v1.2.0rc3`
`source/isaaclab_physx/setup.py`	`v1.2.0rc2` → `v1.2.0rc3`
`source/isaaclab_visualizers/setup.py`	3× `v1.2.0rc2` → `v1.2.0rc3`
`tools/wheel_builder/res/python_packages.toml`	`v1.2.0rc2` → `v1.2.0rc3`

Test plan

Pre-commit clean.
CI smoke verifies clean install picks up newton 1.2.0rc3 and downstream mjwarp 3.8.0.2.

Caveat

This is a version-string-only bump — no IsaacLab-side code adapts were needed. If any rc3 behavioral change (MPR/GJK convex-hull fix, SolverMuJoCo contact-anchor fix) surfaces a regression in scenes with off-center convex meshes or planar collision, those would need follow-up tracking.

Alternative: isaac-sim/IsaacLab#5616 bumps directly to v1.2.0rc4 — pick whichever target based on CI signal.

greptile-apps · 2026-05-14T15:24:02Z

Greptile Summary

This PR bumps the Newton dependency pin from v1.2.0rc2 to v1.2.0rc3 across all five pin sites in the repository, preserving the newton[sim] @ git+... form that ensures the MuJoCo/mujoco-warp extras are correctly resolved at install time.

Five pin sites updated consistently: isaaclab_newton/setup.py, isaaclab_physx/setup.py, isaaclab_visualizers/setup.py (three extras), and tools/wheel_builder/res/python_packages.toml — all now reference v1.2.0rc3.
Changelog entries added for isaaclab, isaaclab_newton, isaaclab_physx, and isaaclab_visualizers, documenting the upstream fixes included in rc3 (MPR/GJK convex-hull fix, Kamino FK performance, HDR tiled camera, SolverMuJoCo fixes, and the transitive mjwarp 3.8.0.1 → 3.8.0.2 bump).

Confidence Score: 5/5

Safe to merge — all five Newton pin sites are updated consistently to v1.2.0rc3 using the correct newton[sim] git-URL form.

The change is purely mechanical version-string replacements across five files, with no IsaacLab-side code changes. All pin sites use the same git-URL and [sim] extra, changelog entries are present and accurate, and the PR description thoroughly explains the history and motivation.

No files require special attention. The wheel_builder TOML and all three setup.py files are in sync.

Important Files Changed

Filename	Overview
source/isaaclab_newton/setup.py	Single-line version bump from v1.2.0rc2 to v1.2.0rc3, preserving the newton[sim] extra and git-URL form.
source/isaaclab_physx/setup.py	Single-line version bump from v1.2.0rc2 to v1.2.0rc3 in the [newton] extra, consistent with other pin sites.
source/isaaclab_visualizers/setup.py	Three newton[sim] pins (newton, rerun, viser extras) each bumped from v1.2.0rc2 to v1.2.0rc3, all consistent.
tools/wheel_builder/res/python_packages.toml	Wheel-builder newton[sim] pin bumped from v1.2.0rc2 to v1.2.0rc3, keeping it in sync with the setup.py files.
source/isaaclab/changelog.d/jichuanh-newton-1.2.0rc3-bump.minor.rst	New changelog entry documenting the rc3 bump and the transitive mjwarp 3.8.0.1 to 3.8.0.2 change.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A["newton[sim] @ git+...@v1.2.0rc3"]
    A --> B["isaaclab_newton/setup.py - all extra"]
    A --> C["isaaclab_physx/setup.py - newton extra"]
    A --> D["isaaclab_visualizers/setup.py - newton extra"]
    A --> E["isaaclab_visualizers/setup.py - rerun extra"]
    A --> F["isaaclab_visualizers/setup.py - viser extra"]
    A --> G["tools/wheel_builder/res/python_packages.toml"]
    A --> H["mujoco-warp 3.8.0.2 - transitive via newton[sim]"]
    H --> I["No IsaacLab-side pin change needed"]

_{Reviews (1): Last reviewed commit: "Bump Newton pin to v1.2.0rc3" | Re-trigger Greptile}

isaaclab-review-bot

🤖 Automated Code Review — PR #5614

Summary

This PR bumps the Newton physics engine pin from v1.2.0rc2 to v1.2.0rc3 across all 5 declaration sites, maintaining the canonical newton[sim] @ git+... form. This is a version-string-only change with no IsaacLab code modifications.

✅ Review Status

All checks pass. The changelog fragment naming issue from the initial commit was resolved in the follow-up commit.

📦 Dependency Changes

File	Change
`isaaclab_newton/setup.py`	`v1.2.0rc2` → `v1.2.0rc3`
`isaaclab_physx/setup.py`	`v1.2.0rc2` → `v1.2.0rc3`
`isaaclab_visualizers/setup.py`	`v1.2.0rc2` → `v1.2.0rc3` (3 extras: newton, rerun, viser)
`tools/wheel_builder/res/python_packages.toml`	`v1.2.0rc2` → `v1.2.0rc3`

Transitive dependency: mjwarp upgrades from 3.8.0.1 → 3.8.0.2 via newton[sim].

✅ Architecture Review

Aspect	Status	Notes
Pin Consistency	✅ Pass	All 5 Newton pin locations updated consistently
`[sim]` Extra Preserved	✅ Pass	Correctly maintains `newton[sim] @ git+...` form
Changelog Fragments	✅ Pass	Properly added with dot-free slug naming
Cross-module Sync	✅ Pass	PhysX `[newton]` extra matches isaaclab_newton pin

⚠️ Behavioral Change Awareness

The PR description correctly documents upstream rc3 changes that may affect simulation behavior:

MPR/GJK convex-hull centering (newton#2651) — Contact computation for off-center convex meshes now handles non-origin-centered hulls correctly
SolverMuJoCo fixes — Planar mesh handling, contact-anchor computation, and distance conversion improvements
Kamino FK performance (newton#2703) — Forward kinematics solver optimizations
HDR tiled camera (newton#2721) — HDR color output support for tiled camera sensors

These are upstream improvements, but scenes relying on previous (incorrect) behavior for off-center convex meshes may need adjustment. The author appropriately flags this in the caveat section.

📋 CI Status

✅ Build Wheel
✅ Check changelog fragments
✅ Check for Broken Links
✅ Installation Tests
✅ Pre-commit
⏳ License check (pending)
⏳ Docker builds (pending)

📝 Final Assessment

Verdict: Ready to merge once pending CI checks complete.

This is a clean dependency version bump with:

Consistent pin updates across all declaration sites
Proper [sim] extra preservation (avoiding the #5024 regression)
Complete changelog documentation
Clear communication of behavioral change risks

No IsaacLab code changes required — the upstream fixes flow through cleanly.

Update (019ec00): ✅ Reviewed incremental changes. The new commits add comprehensive changelog fragments for all affected packages (isaaclab, isaaclab_newton, isaaclab_physx, isaaclab_visualizers) with proper dot-free slug naming. Documentation is thorough, including upstream PR links and transitive mjwarp bump details. No new concerns — LGTM.

Update (3803363): ✅ Force-push squashed prior commits into a single clean commit. No functional changes from previous review — same version bumps and changelog fragments. LGTM.

Restores the bump that was briefly active between isaac-sim#5024 and isaac-sim#5566, keeping the canonical `newton[sim] @ git+...` form across all five pin sites (isaaclab_newton, isaaclab_physx, isaaclab_visualizers x3, tools/wheel_builder/res/python_packages.toml). mjwarp moves 3.8.0.1 -> 3.8.0.2 transitively via newton[sim] -- no IsaacLab-side mujoco / mujoco-warp pin change since isaac-sim#5566 dropped explicit pins.

## Summary Bumps the Newton pin from `v1.2.0rc2` (current develop) directly to the [`v1.2.0` stable release](https://github.com/newton-physics/newton/releases/tag/v1.2.0) across all five pin sites, keeping the canonical `newton[sim] @ git+...` form everywhere. Per Kelly Guo's suggestion: skip the rc bump and go straight to stable. Upstream published `v1.2.0` on 2026-05-12. **Alternative**: [#5614](#5614) (rc3 bump) — pick whichever target based on CI signal. This one is the most forward target. > Branch is still named `jichuanh/newton-1.2.0rc4-bump` from when this PR was originally proposing rc4 — the branch name doesn't match the current target but the diff is correct. Force-pushing the rename would close/reopen the PR, which adds noise without changing the artifact. ## What's new in Newton v1.2.0 vs v1.2.0rc2 Full release notes: [newton-physics/newton release v1.2.0](https://github.com/newton-physics/newton/releases/tag/v1.2.0). Notable IsaacLab-relevant fixes: - [newton-physics/newton#2651](newton-physics/newton#2651) — MPR/GJK no longer assumes convex hulls are centered around the origin. - [newton-physics/newton#2703](newton-physics/newton#2703) — Kamino FK solver performance. - [newton-physics/newton#2721](newton-physics/newton#2721) — HDR color output for tiled camera sensors. - [newton-physics/newton#2743](newton-physics/newton#2743) — Collada textures in URDF import. - [newton-physics/newton#2823](newton-physics/newton#2823) — Gravity-data device allocation in Kamino (multi-GPU). - [newton-physics/newton#2632](newton-physics/newton#2632) — CollisionPipeline small fixes. - [newton-physics/newton#2734](newton-physics/newton#2734) — `DelassusOperator` attribute refactor. Not used in IsaacLab source today (verified by grep), no adapt needed. - SolverMuJoCo fixes: planar meshes, contact-anchor computation, distance conversion. ## Required dep bumps None on the IsaacLab side. The `mjwarp 3.8.0.1 → 3.8.0.3` bump flows in transitively through `newton[sim]`, since [#5566](#5566) dropped IsaacLab's explicit `mujoco` / `mujoco-warp` pins. `warp-lang` stays at `1.13.0` (set by [#5523](#5523)). ## Pins updated | File | Change | |---|---| | `source/isaaclab_newton/setup.py` | `v1.2.0rc2` → `v1.2.0` | | `source/isaaclab_physx/setup.py` | `v1.2.0rc2` → `v1.2.0` | | `source/isaaclab_visualizers/setup.py` | 3× `v1.2.0rc2` → `v1.2.0` | | `tools/wheel_builder/res/python_packages.toml` | `v1.2.0rc2` → `v1.2.0` | ## Test plan - [x] Pre-commit clean. - [ ] CI smoke verifies clean install picks up `newton 1.2.0` and downstream `mjwarp 3.8.0.3`.

## Summary Bumps the Newton pin from `v1.2.0rc2` (current develop) directly to the [`v1.2.0` stable release](https://github.com/newton-physics/newton/releases/tag/v1.2.0) across all five pin sites, keeping the canonical `newton[sim] @ git+...` form everywhere. Per Kelly Guo's suggestion: skip the rc bump and go straight to stable. Upstream published `v1.2.0` on 2026-05-12. **Alternative**: [isaac-sim#5614](isaac-sim#5614) (rc3 bump) — pick whichever target based on CI signal. This one is the most forward target. > Branch is still named `jichuanh/newton-1.2.0rc4-bump` from when this PR was originally proposing rc4 — the branch name doesn't match the current target but the diff is correct. Force-pushing the rename would close/reopen the PR, which adds noise without changing the artifact. ## What's new in Newton v1.2.0 vs v1.2.0rc2 Full release notes: [newton-physics/newton release v1.2.0](https://github.com/newton-physics/newton/releases/tag/v1.2.0). Notable IsaacLab-relevant fixes: - [newton-physics/newton#2651](newton-physics/newton#2651) — MPR/GJK no longer assumes convex hulls are centered around the origin. - [newton-physics/newton#2703](newton-physics/newton#2703) — Kamino FK solver performance. - [newton-physics/newton#2721](newton-physics/newton#2721) — HDR color output for tiled camera sensors. - [newton-physics/newton#2743](newton-physics/newton#2743) — Collada textures in URDF import. - [newton-physics/newton#2823](newton-physics/newton#2823) — Gravity-data device allocation in Kamino (multi-GPU). - [newton-physics/newton#2632](newton-physics/newton#2632) — CollisionPipeline small fixes. - [newton-physics/newton#2734](newton-physics/newton#2734) — `DelassusOperator` attribute refactor. Not used in IsaacLab source today (verified by grep), no adapt needed. - SolverMuJoCo fixes: planar meshes, contact-anchor computation, distance conversion. ## Required dep bumps None on the IsaacLab side. The `mjwarp 3.8.0.1 → 3.8.0.3` bump flows in transitively through `newton[sim]`, since [isaac-sim#5566](isaac-sim#5566) dropped IsaacLab's explicit `mujoco` / `mujoco-warp` pins. `warp-lang` stays at `1.13.0` (set by [isaac-sim#5523](isaac-sim#5523)). ## Pins updated | File | Change | |---|---| | `source/isaaclab_newton/setup.py` | `v1.2.0rc2` → `v1.2.0` | | `source/isaaclab_physx/setup.py` | `v1.2.0rc2` → `v1.2.0` | | `source/isaaclab_visualizers/setup.py` | 3× `v1.2.0rc2` → `v1.2.0` | | `tools/wheel_builder/res/python_packages.toml` | `v1.2.0rc2` → `v1.2.0` | ## Test plan - [x] Pre-commit clean. - [ ] CI smoke verifies clean install picks up `newton 1.2.0` and downstream `mjwarp 3.8.0.3`.

hujc7 requested a review from hhansen-bdai as a code owner May 14, 2026 15:22

github-actions Bot added isaac-lab Related to Isaac Lab team infrastructure labels May 14, 2026

hujc7 mentioned this pull request May 14, 2026

[Newton] Bump Newton pin to v1.2.0rc4 (depends on #5614) #5615

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hujc7 force-pushed the jichuanh/newton-1.2.0rc3-bump branch from 35eb9e9 to 2e4db1e Compare May 14, 2026 15:27

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hujc7 mentioned this pull request May 14, 2026

[Newton] Bump Newton pin to v1.2.0 (stable) #5616

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hujc7 force-pushed the jichuanh/newton-1.2.0rc3-bump branch from 019ec00 to a0c213e Compare May 14, 2026 15:48

hujc7 force-pushed the jichuanh/newton-1.2.0rc3-bump branch from a0c213e to 3803363 Compare May 14, 2026 15:49

Merge branch 'develop' into jichuanh/newton-1.2.0rc3-bump

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hujc7 closed this May 15, 2026

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[Newton] Bump Newton pin to v1.2.0rc3#5614

[Newton] Bump Newton pin to v1.2.0rc3#5614
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hujc7 commented May 14, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Summary

What's new in Newton v1.2.0rc3 vs v1.2.0rc2

Required dep bumps

Pins updated

Test plan

Caveat

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greptile-apps Bot commented May 14, 2026

Greptile Summary

Confidence Score: 5/5

Important Files Changed

Flowchart

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🤖 Automated Code Review — PR #5614

Summary

✅ Review Status

📦 Dependency Changes

✅ Architecture Review

⚠️ Behavioral Change Awareness

📋 CI Status

📝 Final Assessment

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hujc7 commented May 14, 2026 •

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