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Pin Newton to v1.4.0 and override the Isaac Sim MuJoCo pins #6584

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Pin Newton to v1.4.0 and override the Isaac Sim MuJoCo pins #6584

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08311a5
Pin Newton to v1.4.0 and override the Isaac Sim MuJoCo pins
hujc7 Jul 17, 2026
bff9d6c
Reference the upstream Newton issue from the xfail marker
hujc7 Jul 17, 2026
5dfe5d6
Use the PyPI release pin form for Newton
hujc7 Jul 17, 2026
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9 changes: 7 additions & 2 deletions pyproject.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -168,8 +168,11 @@ 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 = "1.4.0"
warp = "1.15.0.dev20260626"
# MuJoCo stack required by the Newton pin; overrides isaacsim-core's exact 3.8 pin.
mujoco_warp = ">=3.10.0.2,<3.11"
mujoco = "~=3.10.0"

[tool.ruff]
line-length = 120
Expand Down Expand Up @@ -335,7 +338,9 @@ prerelease = "allow"
# the CUDA indexes via [tool.uv.sources]. Values mirror [tool.isaaclab.versions] above.
override-dependencies = [
"numpy>=2",
"newton[sim] @ git+https://github.com/newton-physics/newton.git@c7ae7c7648cd0717df39e5c94b95d5a02c997320",
"newton[sim]==1.4.0",
"mujoco-warp>=3.10.0.2,<3.11",
"mujoco~=3.10.0",
# Force the Newton-matched schemas over isaacsim's ==0.2.0 pin.
"newton-usd-schemas>=0.3.1",
"torch==2.11.0",
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6 changes: 5 additions & 1 deletion source/isaaclab/test/cli/test_uv_run_pyproject.py
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Expand Up @@ -98,9 +98,13 @@ def test_version_single_source_matches_literal_pins():
assert f"{package}=={versions[package]}" in overrides

# Newton git commit is pinned via a uv override; warp-lang is a core dependency.
assert any(dep.endswith(f"newton.git@{versions['newton']}") for dep in overrides)
assert f"newton[sim]=={versions['newton']}" in overrides
assert f"warp-lang=={versions['warp']}" in dependencies

# MuJoCo-stack overrides mirror the table (they outrank isaacsim-core's exact pins).
assert f"mujoco-warp{versions['mujoco_warp']}" in overrides
assert f"mujoco{versions['mujoco']}" in overrides


def test_uv_run_isaacsim_extra_is_conflict_forked():
"""Isaac Sim is an opt-in uv workspace extra, forked away from clashing extras.
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14 changes: 14 additions & 0 deletions source/isaaclab_newton/changelog.d/newton-pin-v140.minor.rst
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@@ -0,0 +1,14 @@
Changed
^^^^^^^

* Changed the pinned Newton version to the v1.4.0 release (from a pre-1.4
development commit), adopting the MuJoCo 3.10 stack and the new margin/gap
semantics. Assets that author PhysX ``contactOffset`` / ``restOffset``
attributes keep their behavior through Newton's schema translation
(``margin == restOffset``, ``gap == contactOffset - restOffset``).

Fixed
^^^^^

* Fixed custom-frequency USD traversal honoring ``ignore_paths`` via the
upstream Newton fix included in v1.4.0.
6 changes: 6 additions & 0 deletions source/isaaclab_newton/test/sensors/test_contact_sensor.py
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Expand Up @@ -199,6 +199,12 @@ def test_contact_lifecycle(device: str, use_mujoco_contacts: bool, shape_type: S
@pytest.mark.parametrize("use_mujoco_contacts", COLLISION_PIPELINES)
@pytest.mark.parametrize("shape_type", STABLE_SHAPES, ids=[shape_type_to_str(s) for s in STABLE_SHAPES])
def test_horizontal_collision_detects_contact(device: str, use_mujoco_contacts: bool, shape_type: ShapeType):
if use_mujoco_contacts and shape_type == ShapeType.MESH_CAPSULE:
pytest.xfail(
"Newton >= 1.4 (mujoco-warp 3.10 margin/gap semantics) loses mesh-mesh collision response in the"
" MuJoCo contacts pipeline: objects tunnel with zero contact forces."
" Tracked upstream: https://github.com/newton-physics/newton/issues/3559"
)
Comment on lines +202 to +207

@greptile-apps greptile-apps Bot Jul 17, 2026

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P1 xfail scope may be too narrow for other mesh types

The PR description characterises the regression as "mesh-mesh shape pairs in the MuJoCo contacts pipeline lose collision response entirely," yet the guard only covers MESH_CAPSULE. STABLE_SHAPES also includes MESH_SPHERE, MESH_BOX, and MESH_CYLINDER. Because test_horizontal_collision_detects_contact runs the same shape_type for both objects, those combinations are also mesh-mesh collisions and are likely affected. If any of them fail under the new MuJoCo 3.10 stack they will produce an unguarded hard failure in CI rather than an expected-failure, which would block merges unrelated to this pin. Consider broadening the condition to use_mujoco_contacts and is_mesh_shape(shape_type) (the helper is already imported) and re-evaluating once the upstream fix in newton#3559 lands.

"""Test horizontal collision detection with varied velocities and separations.
Comment on lines 201 to 208

@greptile-apps greptile-apps Bot Jul 17, 2026

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P2 The function docstring is placed after the early-exit block, making it an unreachable string expression rather than a proper __doc__ attribute. Python only recognises a triple-quoted string as a docstring when it is the first statement in the function body. Moving the xfail check below the docstring preserves documentation tooling support and follows the standard pytest conditional-xfail pattern.

Suggested change
def test_horizontal_collision_detects_contact(device: str, use_mujoco_contacts: bool, shape_type: ShapeType):
if use_mujoco_contacts and shape_type == ShapeType.MESH_CAPSULE:
pytest.xfail(
"Newton >= 1.4 (mujoco-warp 3.10 margin/gap semantics) loses mesh-mesh collision response in the"
" MuJoCo contacts pipeline: objects tunnel with zero contact forces."
" Tracked upstream: https://github.com/newton-physics/newton/issues/3559"
)
"""Test horizontal collision detection with varied velocities and separations.
def test_horizontal_collision_detects_contact(device: str, use_mujoco_contacts: bool, shape_type: ShapeType):
"""Test horizontal collision detection with varied velocities and separations.


8 environments (2 groups x 4 envs) with different collision speeds.
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