[Newton] Bump Newton pin to v1.2.0rc2 (#5523)

## Summary

Bumps the Newton pin to
[`v1.2.0rc2`](https://pypi.org/project/newton/1.2.0rc2/), 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](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](newton-physics/newton#2678
Regression fix.
-
**[newton-physics/newton#2720](newton-physics/newton#2720
`SolverKamino` reset under `world_mask`.
-
**[newton-physics/newton#2710](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

- [x] \`./isaaclab.sh -i newton\` clean install against the bumped pins.
- [x] \`pip list\` confirms \`newton 1.2.0rc2\`, \`warp-lang 1.13.0\`,
\`mujoco 3.8.0\`, \`mujoco-warp 3.8.0.1\`.
- [x] 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.
- [x] 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.

---------

Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Author: hujc7

source/isaaclab/changelog.d/jichuanh-newton-rc2-bump.minor.rst

@@ -0,0 +1,23 @@
+Changed
+^^^^^^^
+
+* Bumped Newton pin to ``v1.2.0rc2``. Pulls in IsaacLab-relevant fixes from
+  `newton-physics/newton#2678 <https://github.com/newton-physics/newton/pull/2678>`_
+  and `newton-physics/newton#2720
+  <https://github.com/newton-physics/newton/pull/2720>`_ (``SolverKamino``
+  reset under ``world_mask``), the upstream tendon-scoping fix from
+  `newton-physics/newton#2659
+  <https://github.com/newton-physics/newton/pull/2659>`_ ("Scope USD
+  custom-frequency parsing"), and a VRAM-leak fix on example reset
+  (`newton-physics/newton#2710
+  <https://github.com/newton-physics/newton/pull/2710>`_).
+* Newton ``v1.2.0rc2`` requires ``warp-lang==1.13.0``, ``mujoco==3.8.0``,
+  and ``mujoco-warp==3.8.0.1``. ``warp-lang``/``mujoco``/``mujoco-warp``
+  pins live in :mod:`isaaclab` and ``tools/wheel_builder/res/python_packages.toml``;
+  the Newton pin is mirrored across :mod:`isaaclab_newton`,
+  :mod:`isaaclab_visualizers` (3×), :mod:`isaaclab_physx` (``[newton]``
+  extra), and the wheel-builder TOML.
+* Updated ``wp.math.transform_to_matrix`` to ``wp.transform_to_matrix`` in
+  :mod:`~isaaclab_newton.physics.newton_manager` and
+  :mod:`~isaaclab_ov.renderers.ovrtx_renderer_kernels` to match the
+  ``warp-lang`` 1.13 API (the ``wp.math`` namespace was removed).

source/isaaclab/setup.py

@@ -30,12 +30,12 @@
     # procedural-generation
     "trimesh",
     "pyglet>=2.1.6,<3",
-    "mujoco==3.6.0",
-    "mujoco-warp==3.6.0",
+    "mujoco==3.8.0",
+    "mujoco-warp==3.8.0.1",
     # image processing
     "transformers==4.57.6",
     "einops",  # needed for transformers, doesn't always auto-install
-    "warp-lang==1.12.0",
+    "warp-lang==1.13.0",
     "matplotlib>=3.10.3",  # minimum version for Python 3.12 support
     # make sure this is consistent with isaac sim version
     "pillow==12.1.1",

source/isaaclab_mimic/changelog.d/jichuanh-newton-rc2-bump.rst

@@ -0,0 +1,15 @@
+Added
+^^^^^
+
+* Added a temporary ``warp.torch`` compatibility shim at
+  :mod:`isaaclab_mimic` import time so that cuRobo (NVlabs/curobo) keeps
+  working with ``warp-lang>=1.13``, which dropped the ``warp.torch``
+  submodule in favour of top-level ``warp.*`` (e.g.
+  ``wp.torch.device_from_torch`` → ``wp.device_from_torch``). cuRobo's
+  pinned commit and ``main`` still call ``wp.torch.*`` and raise
+  ``AttributeError: module 'warp' has no attribute 'torch'`` at
+  :meth:`MotionGenConfig.load_from_robot_config` time. The shim
+  reconstructs ``warp.torch`` as a thin forwarding module and is a
+  no-op once warp re-introduces the namespace or cuRobo migrates.
+  Remove this shim once the cuRobo pin in ``docker/Dockerfile.curobo``
+  is bumped to a commit that uses the top-level ``wp.*`` API directly.

source/isaaclab_mimic/isaaclab_mimic/__init__.py

@@ -5,4 +5,53 @@
 
 """Package containing implementation of Isaac Lab Mimic data generation."""
 
+# ---------------------------------------------------------------------------
+# Compatibility shim: re-expose ``warp.torch`` after warp-lang 1.13 dropped it
+#
+# Newton ``v1.2.0rc2`` requires ``warp-lang>=1.13``. Warp 1.13 collapsed the
+# ``warp.torch`` submodule into the top-level ``warp`` namespace, so e.g.
+# ``wp.torch.device_from_torch`` is now ``wp.device_from_torch``. cuRobo
+# (NVlabs/curobo) still uses the old ``wp.torch.*`` form (verified at
+# ``ebb71702f`` and on ``main`` as of 2026-05-07) and raises
+# ``AttributeError: module 'warp' has no attribute 'torch'`` at
+# ``MotionGenConfig.load_from_robot_config(...)`` time.
+#
+# This shim runs at ``isaaclab_mimic`` import — which Python evaluates before
+# any submodule, including
+# :mod:`isaaclab_mimic.motion_planners.curobo.curobo_planner` — so curobo
+# sees a ``warp.torch`` namespace whose members forward to the relocated
+# top-level ``warp.*`` callables. Idempotent: a no-op once warp ships
+# ``wp.torch`` again or curobo migrates.
+#
+# TODO: remove this shim once the cuRobo pin in ``docker/Dockerfile.curobo``
+# bumps to a commit that uses ``wp.from_torch``/``wp.device_from_torch``/
+# etc. directly. Tracking upstream at https://github.com/NVlabs/curobo —
+# follow up on the open issue / PR there to confirm the migration landed
+# before deleting this block.
+import sys as _sys
+import types as _types
+
+import warp as _wp
+
+if not hasattr(_wp, "torch"):
+    _wp_torch_shim = _types.ModuleType("warp.torch")
+    for _name in (
+        "from_torch",
+        "to_torch",
+        "device_from_torch",
+        "device_to_torch",
+        "dtype_from_torch",
+        "dtype_to_torch",
+        "stream_from_torch",
+        "stream_to_torch",
+    ):
+        if hasattr(_wp, _name):
+            setattr(_wp_torch_shim, _name, getattr(_wp, _name))
+    _wp.torch = _wp_torch_shim
+    _sys.modules["warp.torch"] = _wp_torch_shim
+    del _wp_torch_shim, _name
+
+del _sys, _types, _wp
+
+
 __version__ = "1.0.0"

source/isaaclab_newton/changelog.d/jichuanh-newton-rc2-bump.minor.rst

@@ -0,0 +1,33 @@
+Changed
+^^^^^^^
+
+* Bumped Newton pin to ``v1.2.0rc2``. Pulls in IsaacLab-relevant fixes from
+  `newton-physics/newton#2678 <https://github.com/newton-physics/newton/pull/2678>`_
+  and `newton-physics/newton#2720
+  <https://github.com/newton-physics/newton/pull/2720>`_ (``SolverKamino``
+  reset under ``world_mask``), the upstream tendon-scoping fix from
+  `newton-physics/newton#2659
+  <https://github.com/newton-physics/newton/pull/2659>`_ ("Scope USD
+  custom-frequency parsing"), and a VRAM-leak fix on example reset
+  (`newton-physics/newton#2710
+  <https://github.com/newton-physics/newton/pull/2710>`_).
+* Newton ``v1.2.0rc2`` requires ``warp-lang==1.13.0``, ``mujoco==3.8.0``,
+  and ``mujoco-warp==3.8.0.1``. ``warp-lang``/``mujoco``/``mujoco-warp``
+  pins live in :mod:`isaaclab` and ``tools/wheel_builder/res/python_packages.toml``;
+  the Newton pin is mirrored across :mod:`isaaclab_newton`,
+  :mod:`isaaclab_visualizers` (3×), :mod:`isaaclab_physx` (``[newton]``
+  extra), and the wheel-builder TOML.
+* Updated ``wp.math.transform_to_matrix`` to ``wp.transform_to_matrix`` in
+  :mod:`~isaaclab_newton.physics.newton_manager` and
+  :mod:`~isaaclab_ov.renderers.ovrtx_renderer_kernels` to match the
+  ``warp-lang`` 1.13 API (the ``wp.math`` namespace was removed).
+* Adapted :class:`~isaaclab_newton.renderers.NewtonWarpRenderer` to
+  Newton ``v1.2.0rc2``'s explicit shape-BVH lifecycle.
+  :meth:`~newton.sensors.SensorTiledCamera.update` no longer auto-builds
+  the BVH when a non-``None`` state is passed and the underlying
+  ``RenderContext.render`` now raises ``RuntimeError("build_bvh_shape()
+  must be called before rendering shapes.")`` if it was never built. The
+  renderer now calls ``newton.geometry.build_bvh_shape`` once after
+  sensor construction and ``newton.geometry.refit_bvh_shape`` each frame
+  before :meth:`~newton.sensors.SensorTiledCamera.update`, since env
+  body poses move every step.

source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py

@@ -69,7 +69,7 @@ def _set_fabric_transforms(
     i = int(wp.tid())
     idx = int(newton_indices[i])
     transform = newton_body_q[idx]
-    fabric_transforms[i] = wp.transpose(wp.mat44d(wp.math.transform_to_matrix(transform)))
+    fabric_transforms[i] = wp.transpose(wp.mat44d(wp.transform_to_matrix(transform)))
 
 
 @wp.kernel(enable_backward=False)

source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer.py

@@ -172,6 +172,14 @@ def __init__(self, cfg: NewtonWarpRendererCfg):
             ),
         )
 
+        # Newton ``v1.2.0rc2`` made shape-BVH construction explicit; ``SensorTiledCamera.update``
+        # no longer auto-builds when a non-``None`` state is passed, and the underlying
+        # ``RenderContext.render`` raises if ``build_bvh_shape`` was never called for the model.
+        # Build it once per model — idempotent across multiple sensors that share ``newton_model``
+        # because subsequent calls overwrite the same model-level BVH attributes.
+        if newton_model.shape_count > 0 and newton_model.bvh_shapes is None:
+            newton.geometry.build_bvh_shape(newton_model, newton_model.state())
+
         if cfg.create_default_light:
             self.newton_sensor.utils.create_default_light(enable_shadows=cfg.enable_shadows)
 
@@ -220,8 +228,13 @@ def update_camera(
 
     def render(self, render_data: RenderData):
         """Render and write to output buffers. See :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.render`."""
+        newton_state = self.get_scene_data_provider().get_newton_state()
+        # Refit the shape BVH against the current state since env body poses move every frame.
+        # ``build_bvh_shape`` ran once in ``__init__``; ``refit_bvh_shape`` reuses that topology.
+        if self.newton_sensor.model.shape_count > 0:
+            newton.geometry.refit_bvh_shape(self.newton_sensor.model, newton_state)
         self.newton_sensor.update(
-            self.get_scene_data_provider().get_newton_state(),
+            newton_state,
             render_data.camera_transforms,
             render_data.camera_rays,
             color_image=render_data.outputs.color_image,

source/isaaclab_newton/setup.py

@@ -38,10 +38,10 @@ def run(self):
 EXTRAS_REQUIRE = {
     "all": [
         "prettytable==3.3.0",
-        "mujoco==3.6.0",
-        "mujoco-warp==3.6.0",
+        "mujoco==3.8.0",
+        "mujoco-warp==3.8.0.1",
         "PyOpenGL-accelerate==3.1.10",
-        "newton @ git+https://github.com/newton-physics/newton.git@a27277ed49d6f307b8a1e4c394be7e1d14965a62",
+        "newton @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
     ],
 }
 

source/isaaclab_ov/changelog.d/jichuanh-newton-rc2-bump.rst

@@ -0,0 +1,23 @@
+Changed
+^^^^^^^
+
+* Bumped Newton pin to ``v1.2.0rc2``. Pulls in IsaacLab-relevant fixes from
+  `newton-physics/newton#2678 <https://github.com/newton-physics/newton/pull/2678>`_
+  and `newton-physics/newton#2720
+  <https://github.com/newton-physics/newton/pull/2720>`_ (``SolverKamino``
+  reset under ``world_mask``), the upstream tendon-scoping fix from
+  `newton-physics/newton#2659
+  <https://github.com/newton-physics/newton/pull/2659>`_ ("Scope USD
+  custom-frequency parsing"), and a VRAM-leak fix on example reset
+  (`newton-physics/newton#2710
+  <https://github.com/newton-physics/newton/pull/2710>`_).
+* Newton ``v1.2.0rc2`` requires ``warp-lang==1.13.0``, ``mujoco==3.8.0``,
+  and ``mujoco-warp==3.8.0.1``. ``warp-lang``/``mujoco``/``mujoco-warp``
+  pins live in :mod:`isaaclab` and ``tools/wheel_builder/res/python_packages.toml``;
+  the Newton pin is mirrored across :mod:`isaaclab_newton`,
+  :mod:`isaaclab_visualizers` (3×), :mod:`isaaclab_physx` (``[newton]``
+  extra), and the wheel-builder TOML.
+* Updated ``wp.math.transform_to_matrix`` to ``wp.transform_to_matrix`` in
+  :mod:`~isaaclab_newton.physics.newton_manager` and
+  :mod:`~isaaclab_ov.renderers.ovrtx_renderer_kernels` to match the
+  ``warp-lang`` 1.13 API (the ``wp.math`` namespace was removed).

source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_kernels.py

@@ -327,4 +327,4 @@ def sync_newton_transforms_kernel(
     i = wp.tid()
     body_idx = newton_body_indices[i]
     transform = newton_body_q[body_idx]
-    ovrtx_transforms[i] = wp.transpose(wp.mat44d(wp.math.transform_to_matrix(transform)))
+    ovrtx_transforms[i] = wp.transpose(wp.mat44d(wp.transform_to_matrix(transform)))