Bump Newton to 1.6.0rc1 for newton#4017

1.6.0rc1 is the first release carrying newton#4017, which makes ArticulationView
generic over custom frequencies; the MuJoCo tendon adapter needs it to read
mujoco.actuator_trntype. The release requires warp-lang >=1.17 and mujoco-warp
3.12, so those pins move with it.

Both uv-overrides.txt files are regenerated from the override table rather than
edited by hand.

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).
@@ -221,7 +221,7 @@ torchaudio = "2.11.0"
 ovphysx = "0.5.11"
 ovrtx = "0.4.1.364340"
 ovstage = "0.1.1.355824"
-warp = "1.16.0"
+warp = "1.17.0"
 
 [tool.ruff]
 line-length = 120
@@ -401,9 +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",
-    "newton[sim]==1.5.1",
+    "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

@@ -0,0 +1,10 @@
+Changed
+^^^^^^^
+
+* 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"*.
+* 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/test_uv_pip_install_isaaclab_all_trains_cartpole.py

@@ -15,8 +15,8 @@
          Reinstall AFTER the wheel install: unsafe-best-match re-resolves torch from PyPI to CPU.)
     - (aarch64 only) export LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1
 Tests:
-    - python -c "import importlib.metadata as m; assert m.version('newton') == '1.5.1'"
-        -> verify the wheel resolves Newton 1.5
+    - python -c "import importlib.metadata as m; assert m.version('newton') == '1.6.0rc1'"
+        -> verify the wheel resolves Newton 1.6
     - uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct --num_envs 16
         presets=newton_mjwarp --max_iterations 5; uv run isaaclab train --rl_library rsl_rl
         --task Isaac-Cartpole-Camera-Direct --num_envs 16 presets=newton_mjwarp,newton_renderer --max_iterations 2
@@ -57,7 +57,7 @@ def test_uv_pip_install_isaaclab_all_trains_cartpole(self, isaaclab_root, wheel,
             assert result.returncode == 0, f"uv pip install {wheel}[all] failed:\n{result.stdout}\n{result.stderr}"
 
             result = self.run_in_uv_env(
-                ["python", "-c", "import importlib.metadata as m; assert m.version('newton') == '1.5.1'"],
+                ["python", "-c", "import importlib.metadata as m; assert m.version('newton') == '1.6.0rc1'"],
                 cwd=isaaclab_root,
             )
             assert result.returncode == 0, (

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]==1.5.1
+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]==1.5.1
+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