[Newton] Bump Newton pin to v1.2.0rc2

[hujc7]

Summary

Bumps the Newton pin to v1.2.0rc2, which pulls in IsaacLab-relevant fixes plus the upstream tendon-scoping fix.

What's new in Newton v1.2.0rc2 vs IsaacLab's current pin (a27277e)

The current IsaacLab Newton pin is from late April; v1.2.0rc2 is the latest release-candidate cut. Notable fixes pulled in:

• newton-physics/newton#2659 "Scope USD custom-frequency parsing" — parse_usd now scopes the custom-frequency walk to root_path natively.
• newton-physics/newton#2678 Regression fix.
• newton-physics/newton#2720 SolverKamino reset under world_mask.
• newton-physics/newton#2710 VRAM leak fix on example reset.
• Plus 16 other smaller fixes between rc1 and rc2.

Required dep bumps

Newton 1.2.0rc2's `pyproject.toml` requires:

• `warp-lang==1.13.0`
• `mujoco==3.8.0` (was 3.6.0)
• `mujoco-warp==3.8.0.1` (was 3.6.0)

Pins updated in:

File	Change
`source/isaaclab/setup.py`	`warp-lang==1.12.0` → `==1.13.0`; `mujoco==3.6.0` → `==3.8.0`; `mujoco-warp==3.6.0` → `==3.8.0.1`
`source/isaaclab_newton/setup.py`	mujoco / mujoco-warp bumps; Newton pin → `v1.2.0rc2`
`source/isaaclab_visualizers/setup.py`	3× Newton pin → `v1.2.0rc2`
`tools/wheel_builder/res/python_packages.toml`	All four pins mirrored

Code adapts

`warp-lang` 1.13 removed the `wp.math` namespace. Two IsaacLab call sites use it:

• `source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py:72`
• `source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_kernels.py:330`

Both rewritten as `wp.math.transform_to_matrix(...)` → `wp.transform_to_matrix(...)`. That's the only IsaacLab-side adapt needed.

Test plan

• `./isaaclab.sh -i newton` clean install against the bumped pins.
• `pip list` confirms `newton 1.2.0rc2`, `warp-lang 1.13.0`, `mujoco 3.8.0`, `mujoco-warp 3.8.0.1`.
• Sanity smoke: Shadow-Hand-Over MAPPO (4 envs, 1 iter) runs clean — simulation init through CUDA graph capture through one training step + checkpoint save, no errors.
• Pre-commit clean.

Caveat

Smoke covered Shadow-Hand-Over MAPPO. Other envs with different sensors / renderers / collision setups could surface warp 1.13 or mujoco 3.8 differences the smoke didn't exercise; full PR CI catches them.

[greptile-apps]

Greptile Summary

This PR bumps the Newton physics dependency from a commit-SHA pin (a27277e) to v1.2.0rc2, and carries the required transitive version updates for warp-lang (1.12→1.13), mujoco (3.6→3.8), and mujoco-warp (3.6→3.8.0.1) across all four relevant manifests. Two @wp.kernel call sites that used the removed wp.math namespace are correctly migrated to the flat wp.transform_to_matrix API.

• Dependency pins updated consistently in source/isaaclab/setup.py, source/isaaclab_newton/setup.py, source/isaaclab_visualizers/setup.py, and tools/wheel_builder/res/python_packages.toml; no version skew between files.
• API migration (wp.math.transform_to_matrix → wp.transform_to_matrix) applied to both affected kernels (newton_manager.py and ovrtx_renderer_kernels.py); a repo-wide search confirms no remaining wp.math. usages in source files.
• The Newton pin now uses a git tag (v1.2.0rc2) rather than the previous immutable commit SHA, trading reproducibility for readability — see inline comment.

Confidence Score: 4/5

Safe to merge; the version bumps are consistent across all manifests and the two warp API call sites are correctly updated.

The changes are well-scoped: four manifest files get synchronized version bumps and two kernel files get a straightforward one-line API rename. A repo-wide search found no remaining wp.math. usages in source. The only open question is whether the upstream newton tag v1.2.0rc2 is immutable — if it were ever re-tagged, fresh installs could silently diverge from the commit tested here.

source/isaaclab_newton/setup.py and source/isaaclab_visualizers/setup.py, where the Newton pin now references a mutable git tag rather than a commit SHA.

Important Files Changed

Filename	Overview
source/isaaclab/setup.py	Bumps mujoco 3.6.0→3.8.0, mujoco-warp 3.6.0→3.8.0.1, warp-lang 1.12.0→1.13.0 in INSTALL_REQUIRES; straightforward version updates.
source/isaaclab_newton/setup.py	Bumps Newton pin from commit SHA a27277e to git tag v1.2.0rc2, and mujoco/mujoco-warp versions; warp-lang not explicitly pinned here (relies on Newton's transitive dep).
source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py	Single-line warp 1.13 API migration: wp.math.transform_to_matrix → wp.transform_to_matrix inside the _set_fabric_transforms kernel; correct and complete.
source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_kernels.py	Single-line warp 1.13 API migration: wp.math.transform_to_matrix → wp.transform_to_matrix in sync_newton_transforms_kernel; correct and complete.
source/isaaclab_visualizers/setup.py	Updates Newton pin from commit SHA to v1.2.0rc2 tag across newton, rerun, and viser extras; no mujoco/warp-lang changes needed here (not listed in this package).
tools/wheel_builder/res/python_packages.toml	Mirrors all four pin updates (warp-lang, mujoco, mujoco-warp, Newton) in both the main dep list and the newton optional group.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    subgraph Before
        A1[warp-lang==1.12.0]
        A2[mujoco==3.6.0]
        A3[mujoco-warp==3.6.0]
        A4[newton @ a27277e]
        A5[wp.math.transform_to_matrix]
    end

    subgraph After
        B1[warp-lang==1.13.0]
        B2[mujoco==3.8.0]
        B3[mujoco-warp==3.8.0.1]
        B4[newton @ v1.2.0rc2]
        B5[wp.transform_to_matrix]
    end

    subgraph Files Updated
        F1[source/isaaclab/setup.py]
        F2[source/isaaclab_newton/setup.py]
        F3[source/isaaclab_visualizers/setup.py]
        F4[tools/wheel_builder/res/python_packages.toml]
        F5[newton_manager.py\novrtx_renderer_kernels.py]
    end

    A1 -->|bumped| B1
    A2 -->|bumped| B2
    A3 -->|bumped| B3
    A4 -->|re-pinned to tag| B4
    A5 -->|wp.math removed in 1.13| B5

    B1 --> F1 & F2 & F4
    B2 --> F1 & F2 & F4
    B3 --> F1 & F2 & F4
    B4 --> F2 & F3 & F4
    B5 --> F5

Loading

_{Reviews (1): Last reviewed commit: "Pin warp-lang to ==1.13.0" | Re-trigger Greptile}

[greptile-apps]

Mutable tag replaces immutable commit SHA

The previous pin used commit hash a27277ed49d6f307b8a1e4c394be7e1d14965a62, which is immutable. The new pin v1.2.0rc2 is a git tag — if the tag is ever force-pushed on the upstream repo, CI and fresh installs would silently pull different code without any change to this file. The same applies to the three entries in source/isaaclab_visualizers/setup.py and the wheel-builder TOML. If the RC tag is expected to stay frozen (i.e. no re-tagging) this is fine as-is, but pinning to the resolved commit SHA would give stronger reproducibility guarantees.

[kellyguo11]

isaac sim MR seems to have also updated newton and mujoco usd dependencies - https://gitlab-master.nvidia.com/omniverse/isaac/omni_isaac_sim/-/commit/43148d5d419b491ef2c4350073ef8d4928e60ef5. show we follow to do the same?

[hujc7]

It looks like newton-usd-schemas and mujoco-usd-converter is transitive through newton or isaac sim. IsaacLab does not pin those.

[kellyguo11]

@StafaH - looks like Jichuan included the bvh update in this PR. could you take a look to see if this is correct?

[StafaH]

This is not correct but works. Ideally we want to now move the bvh build and refit outside of the renderer. In 1.2 there is a deprecation path that builds a bvh and refits it to keep old behaviour, so we can just call the original code and newton should handle building if it does not exist.