Enable biped rough terrain envs with Newton pin bump

Bump Newton pin from 2684d75 (1.1.0) to 381781c2 (1.2.0) to fix biped
contact quality on triangle-mesh terrain. H1 and Cassie fail on 1.1.0
but train on 1.2.0.

Per-biped fixes (restore overrides dropped in parent PR's consolidation):
- All bipeds (H1, Cassie, G1, Digit): restore
  reset_robot_joints.params["position_range"] = (1.0, 1.0) — bipeds have
  precise init poses that should not be randomly scaled.
- Cassie: add leg armature=0.02 for stability on rough terrain.

Out of scope (pre-existing config issues, fail on PhysX too):
- G1: barely trains on PhysX (reward=0.14, 300 iter) — finger joints
  in action space dilute learning. Needs separate PR.
- Digit: falls in 7 steps on both Newton and PhysX — closed-loop
  kinematics / init pose issue. Needs separate PR.

Author: hujc7

source/isaaclab_newton/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.5.14"
+version = "0.5.15"
 
 # Description
 title = "Newton simulation interfaces for IsaacLab core package"

source/isaaclab_newton/docs/CHANGELOG.rst

@@ -1,6 +1,18 @@
 Changelog
 ---------
 
+0.5.15 (2026-04-18)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Bumped pinned Newton version from ``2684d75`` (1.1.0.dev0) to
+  ``381781c2`` (1.2.0.dev0) to enable biped rough-terrain training (H1,
+  Cassie). The bump requires ``mujoco-warp~=3.6.0`` (already set
+  transitively via Newton's ``pyproject.toml``).
+
+
 0.5.14 (2026-04-16)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab_newton/setup.py

@@ -45,7 +45,7 @@ def run(self):
         "mujoco==3.5.0",
         "mujoco-warp==3.5.0.2",
         "PyOpenGL-accelerate==3.1.10",
-        "newton @ git+https://github.com/newton-physics/newton.git@2684d75bfa4bb8b058a93b81c458a74b7701c997",
+        "newton @ git+https://github.com/newton-physics/newton.git@381781c2",
     ],
 }
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py

@@ -13,6 +13,7 @@
     LocomotionVelocityRoughEnvCfg,
     RewardsCfg,
 )
+from isaaclab_tasks.utils import preset
 
 ##
 # Pre-defined configs
@@ -60,12 +61,18 @@ def __post_init__(self):
         super().__post_init__()
         # scene
         self.scene.robot = CASSIE_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+        # Cassie Newton-only armature for biped stability on rough terrain; PhysX unchanged
+        self.scene.robot.actuators["legs"].armature = preset(default=0.0, newton=0.02)
+
+
         self.scene.height_scanner.prim_path = "{ENV_REGEX_NS}/Robot/pelvis"
 
         # Cassie uses "pelvis" as base body — disable mass randomization for bipeds
         self.events.add_base_mass = None
         self.events.base_com = None
         self.events.base_external_force_torque.params["asset_cfg"].body_names = ".*pelvis"
+        # Cassie has precise initial pose — don't scale joint defaults randomly on reset
+        self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)
 
         # actions
         self.actions.joint_pos.scale = 0.5

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/digit/rough_env_cfg.py

@@ -232,6 +232,8 @@ def __post_init__(self):
         self.events.add_base_mass.params["asset_cfg"].body_names = "torso_base"
         self.events.base_external_force_torque.params["asset_cfg"].body_names = "torso_base"
         self.events.base_com.default.params["asset_cfg"].body_names = "torso_base"
+        # Digit has precise initial pose — don't scale joint defaults randomly on reset
+        self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)
 
         # Override actuator to target only actuated joints. Digit has ball joints (rod constraints)
         # that MuJoCo represents with 4 DoFs instead of 3, inflating joint_pos to 74 columns while

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py

@@ -119,6 +119,8 @@ def __post_init__(self):
         self.events.add_base_mass = None
         self.events.base_com = None
         self.events.base_external_force_torque.params["asset_cfg"].body_names = "torso_link"
+        # G1 has precise initial pose — don't scale joint defaults randomly on reset
+        self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)
 
         # Rewards
         self.rewards.lin_vel_z_l2.weight = 0.0

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py

@@ -85,6 +85,8 @@ def __post_init__(self):
 
         # H1 uses "torso_link" as base body — disable mass randomization for bipeds
         self.events.add_base_mass = None
+        # H1 has precise initial pose — don't scale joint defaults randomly on reset
+        self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)
         self.events.base_com = None
         self.events.base_external_force_torque.params["asset_cfg"].body_names = ".*torso_link"