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Update MjWarp dependency#1086

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adenzler-nvidia merged 9 commits into
newton-physics:mainfrom
adenzler-nvidia:dev/adenzler/update-mjwarp-dep
Nov 14, 2025
Merged

Update MjWarp dependency#1086
adenzler-nvidia merged 9 commits into
newton-physics:mainfrom
adenzler-nvidia:dev/adenzler/update-mjwarp-dep

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@adenzler-nvidia

@adenzler-nvidia adenzler-nvidia commented Nov 14, 2025 •
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Newton Migration Guide

Please ensure the migration guide for warp.sim users is up-to-date with the changes made in this PR.

  • The migration guide in docs/migration.rst is up-to date

Before your PR is "Ready for review"

  • Necessary tests have been added and new examples are tested (see newton/tests/test_examples.py)
  • Documentation is up-to-date
  • Code passes formatting and linting checks with pre-commit run -a

Summary by CodeRabbit

  • Chores
    • Updated physics engine and simulation tool dependencies to newer development releases.
    • No functional, API, or public-facing behavior changes were introduced.
    • These dependency updates are intended to carry internal fixes and improvements without affecting existing user workflows.

@adenzler-nvidia
update uv lock file
a574420 
Signed-off-by: Alain Denzler <adenzler@nvidia.com>
@adenzler-nvidia
update asv.conf.json
5544ea6 
Signed-off-by: Alain Denzler <adenzler@nvidia.com>
@coderabbitai

coderabbitai Bot commented Nov 14, 2025 •
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📝 Walkthrough

Walkthrough

Bumped MuJoCo dev version to 3.3.8.dev832233427 and updated the mujoco_warp git commit to bf1c0ca in build/configuration files. No functional or control-flow changes.

Changes

Cohort / File(s) Summary
ASV and build configs
asv.conf.json		 Updated MuJoCo dev version reference and updated mujoco_warp git commit hash in install_command entries.
Project manifest
pyproject.toml		 Bumped sim dependency MuJoCo dev version to 3.3.8.dev832233427.

Estimated code review effort

🎯 1 (Trivial) | ⏱️ ~2 minutes

  • Simple, homogeneous string/version updates across two files.
  • Verify version/commit correctness and no accidental formatting changes.

Possibly related PRs

Suggested reviewers

  • shi-eric
  • eric-heiden

Pre-merge checks and finishing touches

✅ Passed checks (3 passed)
Check name Status Explanation
Description Check ✅ Passed Check skipped - CodeRabbit’s high-level summary is enabled.
Title check ✅ Passed The title 'Update MjWarp dependency' is partially related to the changeset, which updates both MjWarp (via commit hash) and MuJoCo version across multiple configuration files, but does not capture the full scope of the changes.
Docstring Coverage ✅ Passed No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check.
✨ Finishing touches
🧪 Generate unit tests (beta)
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  • Post copyable unit tests in a comment
📜 Recent review details

Configuration used: Path: .coderabbit.yml

Review profile: CHILL

Plan: Pro

📥 Commits

Reviewing files that changed from the base of the PR and between 5544ea6 and f3fc40b.

⛔ Files ignored due to path filters (1)
  • uv.lock is excluded by !**/*.lock
📒 Files selected for processing (2)
  • asv.conf.json (1 hunks)
  • pyproject.toml (1 hunks)
🧰 Additional context used
🧠 Learnings (1)
📓 Common learnings 
Learnt from: shi-eric
Repo: newton-physics/newton PR: 521
File: newton/examples/example_cloth_hanging.py:36-36
Timestamp: 2025-08-12T05:17:34.423Z
Learning: The Newton migration guide (docs/migration.rst) is specifically for documenting how to migrate existing warp.sim functionality to Newton equivalents. New Newton-only features that didn't exist in warp.sim do not need migration documentation.

Learnt from: nvlukasz
Repo: newton-physics/newton PR: 519
File: newton/_src/solvers/featherstone/kernels.py:75-75
Timestamp: 2025-08-12T18:04:06.577Z
Learning: The Newton physics framework requires nightly Warp builds, which means compatibility concerns with older stable Warp versions (like missing functions such as wp.spatial_adjoint) are not relevant for this project.
🔇 Additional comments (2)
asv.conf.json (1)

20-22: Benchmark configuration updates look correct; align with pyproject.toml fix.

Lines 20 and 22 correctly use exact version pinning (== and specific commit) for reproducible benchmarking environments. However, ensure pyproject.toml (line 113) is updated to pin the same mujoco-warp commit (bf1c0ca5ab3276cf0a8fce012edcdbdf0d8848a2) for consistency between regular and benchmark environments.

Once pyproject.toml line 113 is updated with the commit pin, verify that:

  1. Regular package installation resolves to the same versions as asv.conf.json.
  2. Tests pass with both the updated MuJoCo and mujoco_warp versions.
pyproject.toml (1)

35-35: Let me search more specifically for this MuJoCo development build and its status.

Fix mujoco-warp dependency pinning inconsistency between files.

The review conflates two separate concerns. Per Python best practices, using different version specifications—>= in pyproject.toml for flexibility and == in asv.conf.json for reproducibility—is normal and correct, serving different purposes. However, there is a real issue: line 113 (pyproject.toml) specifies mujoco-warp with no commit, allowing it to float on main, while asv.conf.json line 22 pins it to commit bf1c0ca5ab3276cf0a8fce012edcdbdf0d8848a2. Align the dependency strategy: either pin mujoco-warp to the same commit in pyproject.toml, or document why intentional floating is acceptable for development installs.

Likely an incorrect or invalid review comment.

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@codecov

codecov Bot commented Nov 14, 2025 •
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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ All tests successful. No failed tests found.

📢 Thoughts on this report? Let us know!

@adenzler-nvidia
Merge branch 'main' into dev/adenzler/update-mjwarp-dep
fd95ee8
@adenzler-nvidia
revert mujoco upgrade
e29c14e 
Signed-off-by: Alain Denzler <adenzler@nvidia.com>
@adenzler-nvidia
got the number wrong
c0ad960 
Signed-off-by: Alain Denzler <adenzler@nvidia.com>
@shi-eric

shi-eric commented Nov 14, 2025

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It seems like maybe you updated the mujoco dependency before the macosx wheels made it in the mujoco index? I see that they're there now.

@adenzler-nvidia
one more try
99cbe2a 
Signed-off-by: Alain Denzler <adenzler@nvidia.com>
@adenzler-nvidia
add back macos links
ce11e1f 
Signed-off-by: Alain Denzler <adenzler@nvidia.com>
@adenzler-nvidia

adenzler-nvidia commented Nov 14, 2025

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I'm very confused about what happened and I'm trying to get back to a working version now. The MuJoCo dependency that is stated in the MjWarp repo (which should be the one we need to pick up) doesn't even exist either.

Trying to fix it now. But yes I would like to go to at least the latest supported, but will go there in steps now..

@adenzler-nvidia adenzler-nvidia added this pull request to the merge queue Nov 14, 2025
Merged via the queue into newton-physics:main with commit 5710968 Nov 14, 2025
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eric-heiden pushed a commit to eric-heiden/newton that referenced this pull request Jan 28, 2026
@adenzler-nvidia
Update MjWarp dependency (newton-physics#1086)
c85c4e5 
Signed-off-by: Alain Denzler <adenzler@nvidia.com>
@coderabbitai coderabbitai Bot mentioned this pull request Feb 13, 2026
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mmacklin pushed a commit to mmacklin/newton that referenced this pull request Apr 7, 2026
@adenzler-nvidia
Update MjWarp dependency (newton-physics#1086)
25a5ec6 
Signed-off-by: Alain Denzler <adenzler@nvidia.com>
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@shi-eric shi-eric shi-eric approved these changes

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