[Bump] Bump Newton to 1.6.0rc1 for newton#4017

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).
@@ -85,8 +85,11 @@ dependencies = [
     "rsl-rl-lib==5.4.1",  # default RL framework
     "onnxscript>=0.5",
     # ----- newton (default physics engine) -----
-    # Pin the Newton build used by both workspace and wheel installs until the 1.6 release.
-    "newton[sim] @ git+https://github.com/newton-physics/newton.git@24bd863528d6b91137408930d0fbe8fa216ad962",
+    # Pin the Newton release used by both workspace and wheel installs until 1.6.0 final.
+    # [tool.uv].override-dependencies only reaches uv sync, so a wheel built from this
+    # metadata would otherwise resolve the newest stable (1.5.1) and miss newton#4017:
+    # 1.6.0rc1 is a prerelease, which a default resolve skips.
+    "newton[sim]==1.6.0rc1",
     # Import and mesh-processing packages used by Newton, including the ones that honoring
     # USD-authored ``physics:approximation`` requires. Keep these explicit instead of selecting
     # newton[importers], whose standalone USD dependency would overlap with usd-exchange.
@@ -220,7 +223,7 @@ 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
@@ -400,9 +403,9 @@ 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] @ git+https://github.com/newton-physics/newton.git@24bd863528d6b91137408930d0fbe8fa216ad962",
+    "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/actuators/test_newton_adapter.py

@@ -7,7 +7,7 @@
 
 import numpy as np
 import pytest
-from newton.actuators import ClampingDCMotor, ClampingMaxEffort, ClampingPositionBased, ControllerPD
+from newton.actuators import ClampingDCMotor, ClampingMaxEffort, ClampingPositionBased, DrivePD
 
 from pxr import Usd, UsdGeom, UsdPhysics
 
@@ -110,7 +110,7 @@ def test_from_usd_groups_by_structure_and_preserves_per_dof_values():
     assert len(actuators) == 4
 
     pd = next(actuator for actuator in actuators if [type(c) for c in actuator.clamping] == [ClampingMaxEffort])
-    assert type(pd.controller) is ControllerPD
+    assert type(pd.controller) is DrivePD
     np.testing.assert_array_equal(pd.indices.numpy(), [0, 1, 6, 7])
     np.testing.assert_allclose(pd.controller.kp.numpy(), [11.0, 22.0, 11.0, 22.0])
     np.testing.assert_allclose(pd.controller.kd.numpy(), [1.5, 2.5, 1.5, 2.5])
@@ -119,7 +119,7 @@ def test_from_usd_groups_by_structure_and_preserves_per_dof_values():
     assert pd.delay.buf_depth == 4
 
     dc = next(actuator for actuator in actuators if [type(c) for c in actuator.clamping] == [ClampingDCMotor])
-    assert type(dc.controller) is ControllerPD
+    assert type(dc.controller) is DrivePD
     assert dc.delay is None
     np.testing.assert_array_equal(dc.indices.numpy(), [2, 3, 8, 9])
     np.testing.assert_allclose(dc.controller.kp.numpy(), [33.0, 44.0, 33.0, 44.0])

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') == '1.6.0.dev0'"
-        -> verify the wheel resolves the pinned Newton 1.6 development build
+    - python -c "import importlib.metadata as m; assert m.version('newton') == '1.6.0rc1'"
+        -> verify the wheel resolves the pinned Newton release
     - 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') == '1.6.0.dev0'"],
+                ["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] @ git+https://github.com/newton-physics/newton.git@24bd863528d6b91137408930d0fbe8fa216ad962
+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

source/isaaclab_newton/changelog.d/jichuanh-newton-actuator-rename-test.skip

@@ -0,0 +1,3 @@
+Test-only change: the actuator tests now assert Newton's new drive class names
+(``DrivePD``, ``DriveNeuralMLP``, ``DriveNeuralLSTM``). Newton 1.6.0rc1 still exports the
+old ``Controller*`` aliases, so there is no user-visible behavior change.

source/isaaclab_newton/test/assets/test_newton_actuators_newton.py

@@ -598,7 +598,7 @@ def test_has_delay(self):
 
     def test_controller_is_pd(self):
         for a in self.result["actuator_info"]:
-            self.assertEqual(a["controller_type"], "ControllerPD")
+            self.assertEqual(a["controller_type"], "DrivePD")
 
 
 # ---------------------------------------------------------------------------
@@ -772,7 +772,7 @@ def test_kfe_controller_is_pd(self):
         kfe_acts = [a for a in self.result["actuator_info"] if "ClampingPositionBased" in a["clamping_types"]]
         self.assertTrue(len(kfe_acts) > 0, "No actuator with position-based clamping found")
         for a in kfe_acts:
-            self.assertEqual(a["controller_type"], "ControllerPD")
+            self.assertEqual(a["controller_type"], "DrivePD")
 
     def test_kfe_has_position_based_clamping(self):
         kfe_acts = [a for a in self.result["actuator_info"] if "ClampingPositionBased" in a["clamping_types"]]
@@ -845,11 +845,11 @@ def test_num_actuators(self):
         self.assertGreaterEqual(self.result["num_actuators"], 2)
 
     def test_has_neural_mlp_controller(self):
-        mlp_acts = [a for a in self.result["actuator_info"] if a["controller_type"] == "ControllerNeuralMLP"]
+        mlp_acts = [a for a in self.result["actuator_info"] if a["controller_type"] == "DriveNeuralMLP"]
         self.assertTrue(len(mlp_acts) > 0, "No NeuralMLP controller found")
 
     def test_mlp_has_dc_motor_clamping(self):
-        mlp_acts = [a for a in self.result["actuator_info"] if a["controller_type"] == "ControllerNeuralMLP"]
+        mlp_acts = [a for a in self.result["actuator_info"] if a["controller_type"] == "DriveNeuralMLP"]
         for a in mlp_acts:
             self.assertIn("ClampingDCMotor", a["clamping_types"])
 
@@ -890,11 +890,11 @@ def test_num_actuators(self):
         self.assertGreaterEqual(self.result["num_actuators"], 2)
 
     def test_has_neural_lstm_controller(self):
-        lstm_acts = [a for a in self.result["actuator_info"] if a["controller_type"] == "ControllerNeuralLSTM"]
+        lstm_acts = [a for a in self.result["actuator_info"] if a["controller_type"] == "DriveNeuralLSTM"]
         self.assertTrue(len(lstm_acts) > 0, "No NeuralLSTM controller found")
 
     def test_lstm_has_dc_motor_clamping(self):
-        lstm_acts = [a for a in self.result["actuator_info"] if a["controller_type"] == "ControllerNeuralLSTM"]
+        lstm_acts = [a for a in self.result["actuator_info"] if a["controller_type"] == "DriveNeuralLSTM"]
         for a in lstm_acts:
             self.assertIn("ClampingDCMotor", a["clamping_types"])
 

source/isaaclab_tasks/changelog.d/jichuanh-manipulation-determinism-mode.rst

@@ -0,0 +1,8 @@
+Fixed
+^^^^^
+
+* Fixed ``test_manipulation_env_determinism`` asserting bit-reproducible rewards without requesting
+  a determinism guarantee. Newton defaults to ``wp.DeterministicMode.NOT_GUARANTEED``, under which
+  Warp's atomics may accumulate in any order, so the test failed intermittently depending on GPU
+  scheduling. It now passes ``deterministic_mode="run_to_run"``, as the Newton cartpole cases
+  already did.

source/isaaclab_tasks/test/core/test_environment_determinism.py

@@ -36,16 +36,20 @@ def setup_environment():
 
 
 @pytest.mark.parametrize(
-    "task_name",
+    ("task_name", "deterministic_mode"),
     [
-        "Isaac-Open-Drawer-Franka",
-        "IsaacContrib-Lift-Cube-Franka",
+        # Newton defaults to ``wp.DeterministicMode.NOT_GUARANTEED``, under which Warp's atomics may
+        # accumulate in any order, so two runs are not bit-reproducible. ``run_to_run`` is exactly
+        # the guarantee this test asserts: one device, one process, run twice. ``deterministic_mode``
+        # is a Newton setting, so the PhysX-backed task leaves it unset.
+        ("Isaac-Open-Drawer-Franka", "run_to_run"),
+        ("IsaacContrib-Lift-Cube-Franka", None),
     ],
 )
 @pytest.mark.parametrize("device", ["cuda", "cpu"])
-def test_manipulation_env_determinism(task_name, device):
+def test_manipulation_env_determinism(task_name, deterministic_mode, device):
     """Check deterministic environment creation for manipulation."""
-    _test_environment_determinism(task_name, device)
+    _test_environment_determinism(task_name, device, deterministic_mode=deterministic_mode)
 
 
 @pytest.mark.parametrize(

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@24bd863528d6b91137408930d0fbe8fa216ad962
+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