Bump Newton to 81cdcfc

Author: mmichelis

pyproject.toml

@@ -85,7 +85,7 @@ dependencies = [
     # Loose bound so the wheel co-resolves with isaacsim's newton[sim]==1.2.0 pin; the
     # exact git commit is forced via [tool.uv].override-dependencies (uv sync only).
     "newton[sim]>=1.2.0",
-    # Loose bound co-resolves with isaacsim's ==0.2.0; the override below forces >=0.3.1.
+    # Loose bound co-resolves with isaacsim's ==0.2.0; the override below forces >=0.4.0.
     "newton-usd-schemas>=0.2.0",
     "PyOpenGL-accelerate>=3.1.0",
     # ----- newton interactive viewer GUI (in base, no extra required) -----
@@ -167,7 +167,7 @@ torchaudio = "2.11.0"
 ovphysx = "0.5.2+head.f62c22207c"
 ovrtx = ">=0.3.0,<0.4.0"
 # Newton git commit + matching warp-lang prerelease (upgraded together).
-newton = "c7ae7c7648cd0717df39e5c94b95d5a02c997320"
+newton = "81cdcfc2dd89f8b7285e32b5e3853092a97fa6f9"
 warp = "1.15.0.dev20260626"
 
 [tool.ruff]
@@ -327,16 +327,17 @@ explicit = true
 [tool.uv]
 index-strategy = "unsafe-best-match"
 prerelease = "allow"
-# Isaac Lab owns the Newton and torch versions. Overrides replace these requirements
-# for EVERY requester (unlike constraints, which only intersect), so ``--extra isaacsim``
-# — which pins ``newton[sim]==1.2.0`` and its own torch stack — can neither block
-# resolution nor downgrade an already-installed newton/torch. The torch stack routes to
-# the CUDA indexes via [tool.uv.sources]. Values mirror [tool.isaaclab.versions] above.
+# Isaac Lab owns the Newton, MuJoCo, and torch versions. Overrides replace requirements
+# for every requester, unlike constraints, which only intersect. The ``isaacsim`` extra
+# pins older Newton, MuJoCo, and torch versions, so these overrides prevent downgrades.
+# Torch routes through [tool.uv.sources]. Values mirror [tool.isaaclab.versions] where applicable.
 override-dependencies = [
     "numpy>=2",
-    "newton[sim] @ git+https://github.com/newton-physics/newton.git@c7ae7c7648cd0717df39e5c94b95d5a02c997320",
+    "mujoco~=3.10.0",
+    "mujoco-warp~=3.10.0,>=3.10.0.2",
+    "newton[sim] @ git+https://github.com/newton-physics/newton.git@81cdcfc2dd89f8b7285e32b5e3853092a97fa6f9",
     # Force the Newton-matched schemas over isaacsim's ==0.2.0 pin.
-    "newton-usd-schemas>=0.3.1",
+    "newton-usd-schemas>=0.4.0",
     "torch==2.11.0",
     "torchvision==0.26.0",
     "torchaudio==2.11.0",

source/isaaclab_newton/changelog.d/mmichelis-bump-newton-279f225.rst

@@ -0,0 +1,7 @@
+Changed
+^^^^^^^
+
+* Updated the pinned Newton commit to
+  ``81cdcfc2dd89f8b7285e32b5e3853092a97fa6f9`` with compatible MuJoCo and
+  schema versions, and migrated the Newton Warp renderer to the current
+  tiled-camera APIs. Reinstall Isaac Lab to use the updated stack.

source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer.py

@@ -277,7 +277,9 @@ def update(self, positions: ProxyArray, orientations: ProxyArray, intrinsics: Pr
             fov_radians_all = 2.0 * torch.atan(self.height / (2.0 * first_focal_length))
 
             fov_warp = wp.from_torch(fov_radians_all, dtype=wp.float32)
-            self.camera_rays = self.newton_sensor.utils.compute_pinhole_camera_rays(self.width, self.height, fov_warp)
+            self.camera_rays = self.newton_sensor.utils.compute_camera_rays_pinhole(
+                self.width, self.height, camera_fovs=fov_warp
+            )
 
     @wp.kernel
     def _update_transforms(
@@ -329,7 +331,7 @@ def initialize(self) -> None:
 
         self.newton_sensor = newton.sensors.SensorTiledCamera(
             self._newton_model,
-            config=newton.sensors.SensorTiledCamera.RenderConfig(
+            default_render_config=newton.sensors.SensorTiledCamera.RenderConfig(
                 enable_textures=self.cfg.enable_textures,
                 enable_shadows=self.cfg.enable_shadows,
                 enable_ambient_lighting=self.cfg.enable_ambient_lighting,
@@ -342,11 +344,13 @@ def initialize(self) -> None:
         )
 
         if self.cfg.render_order == "pixel_priority":
-            self.newton_sensor.render_config.render_order = newton.sensors.SensorTiledCamera.RenderOrder.PIXEL_PRIORITY
+            self.newton_sensor.default_render_config.render_order = (
+                newton.sensors.SensorTiledCamera.RenderOrder.PIXEL_PRIORITY
+            )
         elif self.cfg.render_order == "view_priority":
-            self.newton_sensor.render_config.render_order = newton.sensors.SensorTiledCamera.RenderOrder.VIEW_PRIORITY
-        else:
-            self.newton_sensor.render_config.render_order = newton.sensors.SensorTiledCamera.RenderOrder.TILED
+            self.newton_sensor.default_render_config.render_order = (
+                newton.sensors.SensorTiledCamera.RenderOrder.VIEW_PRIORITY
+            )
 
         # Newton ``v1.2.0rc2`` made shape-BVH construction explicit; ``SensorTiledCamera.update``
         # no longer auto-builds when a non-``None`` state is passed, and the underlying
@@ -441,9 +445,8 @@ def render(self, render_data: RenderData):
         if self.newton_sensor.model.shape_count > 0:
             newton.geometry.refit_bvh_shape(self.newton_sensor.model, newton_state)
 
-        # render_config is shared state across all Newton sensors, so set max_distance immediately
-        # before each render call rather than once in create_render_data.
-        self.newton_sensor.render_config.max_distance = (
+        # Cameras can have different far clipping planes, so update the sensor config before rendering.
+        self.newton_sensor.default_render_config.max_distance = (
             render_data.far_clip if render_data.far_clip is not None else self.cfg.max_distance
         )
 

source/isaaclab_newton/test/sensors/test_contact_sensor.py

@@ -235,7 +235,7 @@ def test_horizontal_collision_detects_contact(device: str, use_mujoco_contacts:
         scene_cfg.object_b = create_shape_cfg(
             shape_type,
             "{ENV_REGEX_NS}/ObjectB",
-            pos=(max_separation / 2, 0.0, 0.5),
+            pos=(max_separation / 2, 0.01, 0.5),
             disable_gravity=True,
             activate_contact_sensors=True,
         )