Pin Newton to the 1.6.0rc1 release instead of a git commit

newton 1.6.0rc1 published today is the first release carrying newton#4017, so
the fix no longer needs a git dependency built from source. Depend on the
published wheel.

The release requires warp-lang >=1.17 and mujoco-warp 3.12, so warp-lang moves
to the 1.17.0 release and mujoco/mujoco-warp to 3.12.0. Regenerate both
uv-overrides.txt files from the override table they are generated from.

Author: hujc7

pyproject.toml

@@ -51,7 +51,7 @@ dependencies = [
     "pyglet>=2.1.6,<3",
     "transformers==4.57.6",
     "einops",
-    "warp-lang==1.16.0",
+    "warp-lang==1.17.0",
     "matplotlib>=3.10.3",
     # pillow: floor, not exact — an exact pin below Isaac Sim's prebundled version forces a
     # downgrade that deletes the prebundled copy other extensions symlink into (nvbugs 6410989).
@@ -401,12 +401,9 @@ environments = [
 # Torch routes through [tool.uv.sources]. Values mirror [tool.isaaclab.versions] where applicable.
 override-dependencies = [
     "numpy>=2",
-    "mujoco~=3.11.0",
-    "mujoco-warp~=3.11.0",
-    # Pinned past 1.5.1 for newton#4017 (ArticulationView generic over custom frequencies),
-    # which the MuJoCo tendon adapter needs to read mujoco.actuator_trntype. Merged to main
-    # and absent from every 1.5.x release, so this is the merge commit rather than a release.
-    "newton[sim] @ git+https://github.com/newton-physics/newton.git@4055a1594d91ae8c1a8688b0932cd10f75d30603",
+    "mujoco~=3.12.0",
+    "mujoco-warp~=3.12.0",
+    "newton[sim]==1.6.0rc1",
     # Force the Newton-matched schemas over isaacsim's ==0.2.0 pin.
     "newton-usd-schemas>=0.4.1",
     "torch==2.11.0",

source/isaaclab/changelog.d/jichuanh-newton-pin-4017.minor.rst

@@ -1,10 +1,10 @@
 Changed
 ^^^^^^^
 
-* Changed the pinned Newton version from ``1.5.1`` to the ``main`` commit merging
+* Changed the pinned Newton version from ``1.5.1`` to ``1.6.0rc1``, the first release carrying
   `newton#4017 <https://github.com/newton-physics/newton/pull/4017>`_, which makes
   ``ArticulationView`` generic over custom frequencies. Reading a MuJoCo actuator attribute such
   as ``mujoco.actuator_trntype`` through an articulation view previously raised *"has custom
-  frequency 'mujoco:actuator' which is not supported by ArticulationView"*. The fix is absent
-  from every 1.5.x release, so the pin is a git commit rather than a PyPI release and Newton
-  reports ``1.6.0.dev0``.
+  frequency 'mujoco:actuator' which is not supported by ArticulationView"*.
+* Changed ``warp-lang`` from ``1.16.0`` to ``1.17.0`` and ``mujoco``/``mujoco-warp`` from
+  ``3.11.0`` to ``3.12.0``, which Newton ``1.6.0rc1`` requires.

source/isaaclab/test/install_ci/uv_pip/uv-overrides.txt

@@ -1,7 +1,7 @@
 numpy>=2
-mujoco~=3.11.0
-mujoco-warp~=3.11.0
-newton[sim] @ git+https://github.com/newton-physics/newton.git@4055a1594d91ae8c1a8688b0932cd10f75d30603
+mujoco~=3.12.0
+mujoco-warp~=3.12.0
+newton[sim]==1.6.0rc1
 newton-usd-schemas>=0.4.1
 torch==2.11.0
 torchvision==0.26.0

tools/wheel_builder/uv-overrides.txt

@@ -1,7 +1,7 @@
 numpy>=2
-mujoco~=3.11.0
-mujoco-warp~=3.11.0
-newton[sim] @ git+https://github.com/newton-physics/newton.git@4055a1594d91ae8c1a8688b0932cd10f75d30603
+mujoco~=3.12.0
+mujoco-warp~=3.12.0
+newton[sim]==1.6.0rc1
 newton-usd-schemas>=0.4.1
 torch==2.11.0
 torchvision==0.26.0