Rename Newton preset to MJWarp by AntoineRichard · Pull Request #5488 · isaac-sim/IsaacLab

AntoineRichard · 2026-05-04T15:55:25Z

Description

Renames the public Newton MJWarp physics preset from newton to mjwarp to distinguish solver selection from the Newton backend, Newton package, and Newton visualizer names.

The change keeps legitimate Newton component names intact, including isaaclab_newton, newton_renderer, --viz newton, backend label newton, and solver value "newton". Legacy newton preset selections now resolve to mjwarp with a deprecation warning.

Related to #5483.

No new dependencies are required.

Type of change

Bug fix (non-breaking change which fixes an issue)
Documentation update

Screenshots

Not applicable.

Testing

Docker: ./isaaclab.sh -p -m pytest source/isaaclab_tasks/test/test_mjwarp_preset_names.py source/isaaclab_tasks/test/test_hydra.py source/isaaclab_tasks/test/test_preset_kit_decision.py -q: 74 passed
Docker: ./isaaclab.sh -p -m pytest source/isaaclab_tasks/test/test_shadow_hand_vision_presets.py -q: 67 passed, 6 skipped, 2 xpassed
Docker: ./isaaclab.sh -p -m pytest "source/isaaclab_visualizers/test/test_visualizer_cartpole_integration.py::test_cartpole_newton_visualizer_tiled_camera_rgb_non_black[newton]" -q: 1 passed
Docker: ./isaaclab.sh -p -m pytest --collect-only -q source/isaaclab_tasks/test/test_environments_newton.py: 86 tests collected
Docker byte-compile of changed Python files: passed
Docker grep guards for stale public newton preset references: passed
Host: ./isaaclab.sh -f: passed
Host: git diff --check: passed

Checklist

I have read and understood the contribution guidelines
I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have updated the changelog and the corresponding version in the extension's config/extension.toml file
I have added my name to the CONTRIBUTORS.md or my name already exists there

Note: this PR adds changelog fragments under changelog.d. The extension version is compiled by the nightly workflow, so config/extension.toml is intentionally not edited directly.

isaaclab-review-bot

🤖 Isaac Lab Review Bot

Summary

This PR renames the Newton MJWarp physics preset from newton to mjwarp across the entire codebase to distinguish solver selection from the Newton backend/package/visualizer names. The implementation includes a deprecation path that maps legacy newton preset references to mjwarp with warnings. The change is comprehensive, touching 54 files including documentation, task configs, test utilities, and the core Hydra preset system.

Architecture Impact

This is a naming-only refactor with well-contained blast radius:

Hydra preset system (isaaclab_tasks/utils/hydra.py): Core changes to support legacy aliasing via _LEGACY_PRESET_ALIASES and _normalize_preset_name(). All downstream preset resolution flows through this module.
Task configs: All PresetCfg subclasses with physics presets now use mjwarp field name instead of newton.
Test infrastructure: Updated to use mjwarp preset name, including env_test_utils.py which drives parametrized environment tests.
Documentation: Comprehensive update of all user-facing docs to use mjwarp.

The deprecation layer ensures backward compatibility — existing scripts using presets=newton will continue to work with a warning.

Implementation Verdict

Ship it — Minor suggestions below, but the implementation is correct and thorough.

Test Coverage

Thorough. The PR includes:

New regression test file test_mjwarp_preset_names.py that grep-guards against stale newton preset references
Updated test_hydra.py with test_legacy_newton_attribute_alias_warns() to verify deprecation warnings
Updated test_preset_kit_decision.py to use mjwarp
All existing Newton CI tests updated to use mjwarp

The test author explicitly ran 74+ tests across multiple test files per the PR description.

CI Status

No CI checks available yet.

Findings

🔵 Improvement: source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py:91 — Docstring references outdated field name

The PresetCfg docstring example still shows newton as a field name, which contradicts the PR's goal:

class PhysicsCfg(PresetCfg):
    default: PhysxCfg = PhysxCfg()
    mjwarp: NewtonCfg = NewtonCfg()  # docstring says newton

The docstring at line 91 should use mjwarp for consistency.

🔵 Improvement: source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py:80-89 — __getattr__ unconditionally raises for unknown attributes

The implementation is correct, but the AttributeError message uses {type(self).__name__!s} which is redundant — !s is the default conversion. Consider simplifying to:

raise AttributeError(f"{type(self).__name__} object has no attribute {name!r}")

🔵 Improvement: source/isaaclab_tasks/test/test_mjwarp_preset_names.py:47-48 — Special-case pattern for environments.rst

The test has a special case checking docs/source/overview/environments.rst for bare `newton` strings. This is fragile because:

The path is hardcoded as a string comparison
The _LEGACY_PRESET_PATTERNS already handles most cases

Consider documenting why this special case exists (e.g., table formatting that can't use the regex patterns).

🔵 Improvement: source/isaaclab_tasks/test/rendering_test_utils.py:271-273 — Helper function placement

The _physics_preset_name() helper maps "newton" → "mjwarp" for golden image paths. This is correct, but the function is defined mid-file after _apply_overrides_to_env_cfg. For readability, consider moving it near other private helpers at the top of the file.

🔵 Improvement: source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py:337 — Comment still references presets=newton

Line 337 comment says:

# scene — use ShadowHandSceneCfg so that presets=mjwarp disables clone_in_fabric automatically

This is correctly updated. ✓ (No issue here, just confirming.)

🔵 Improvement: source/isaaclab_tasks/changelog.d/antoiner-rename-newton-preset-mjwarp.rst — Changelog wording

The changelog entry is clear and appropriate. The "Changed" and "Deprecated" sections correctly document the migration path.

🟡 Warning: source/isaaclab_tasks/test/test_shadow_hand_vision_presets.py:298 — Hardcoded preset name "mjwarp"

In render_correctness_env, the physics preset is checked via:

if physics == "newton":
    cfg.sim.physics = copy.deepcopy(shadow_hand_vision_presets["sim.physics"]["mjwarp"])

The test parameter is "newton" (line 259-281 show id="newton-...") but accesses the preset dict with "mjwarp". This is intentional since the dict key changed, but the test parameter string "newton" is now misleading. Consider renaming the test parameter to "mjwarp" for consistency, or add a comment explaining the mismatch is intentional for golden image path compatibility.

🔵 Improvement: Documentation consistency verified — All docs now use mjwarp consistently. The changes in docs/source/overview/environments.rst (90 lines changed) correctly update all preset column references from newton to mjwarp.

Overall: This is a clean, well-tested refactoring PR. The deprecation layer in hydra.py ensures backward compatibility, and the new test_mjwarp_preset_names.py guards against regressions. The author has been thorough in updating all 54 files consistently.

greptile-apps · 2026-05-04T16:00:54Z

Greptile Summary

This PR renames the public Newton MJWarp physics preset identifier from newton to mjwarp across all 54 affected files — env configs, tests, docs, and scripts — while preserving legitimate uses of "newton" (backend label, --viz newton, newton_renderer, solver value "newton", and isaaclab_newton package). A backward-compatibility layer is added: _LEGACY_PRESET_ALIASES, _normalize_preset_name, and PresetCfg.__getattr__ ensure that legacy newton preset selections silently redirect to mjwarp with a DeprecationWarning, and a new regression-guard test (test_mjwarp_preset_names.py) verifies no stale public references remain.

Confidence Score: 4/5

Safe to merge; the rename is systematic and well-tested, with only minor style observations.

All findings are P2 (style/clarity). The deprecation logic is correct: no double-warnings are emitted, the fallback when mjwarp is absent is safe, and the regression-guard test prevents re-introduction of stale references. The only concerns are a hardcoded stacklevel that may report unhelpful warning locations from generator-expression call sites, and redundant normalization calls in apply_overrides that deserve a clarifying comment.

source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py — _normalize_preset_name stacklevel and redundant normalization in apply_overrides.

Important Files Changed

Filename	Overview
source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py	Core preset logic updated: adds `_LEGACY_PRESET_ALIASES`, `_normalize_preset_name` helper, and `PresetCfg.__getattr__` redirect; normalization applied in `register_task`, `parse_overrides`, `_pick_alternative`, and defensively in `apply_overrides`.
source/isaaclab_tasks/test/test_mjwarp_preset_names.py	New regression-guard test file; scans all text/Python files for stale `newton` preset references using carefully scoped regexes that avoid matching the test file's own pattern definitions.
source/isaaclab_tasks/test/test_hydra.py	All preset field names updated from `newton` to `mjwarp`; adds `test_legacy_newton_attribute_alias_warns` and `test_parse_overrides_maps_legacy_newton_preset_to_mjwarp` to cover the new deprecation paths.
source/isaaclab_tasks/test/env_test_utils.py	Renames `newton_envs` parameter to `mjwarp_envs` and updates `_has_physics_preset` lookup key from `"newton"` to `"mjwarp"` throughout.
source/isaaclab_tasks/test/rendering_test_utils.py	Adds `_physics_preset_name` helper to map the `"newton"` backend label used in golden-image test IDs to the new `"mjwarp"` preset name; applied consistently in all three rendering test helpers.
source/isaaclab_tasks/test/test_shadow_hand_vision_presets.py	Preset dict lookups updated from `["newton"]` to `["mjwarp"]`; test parameter strings (physics IDs) intentionally left as `"newton"` to match golden-image naming and keep test IDs stable.
source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py	Renames all `newton` PresetCfg fields to `mjwarp` across `ShadowHandEventCfg`, `ShadowHandRobotCfg`, `ObjectCfg`, `ShadowHandSceneCfg`, and `PhysicsCfg`.
source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py	Renames `newton` fields to `mjwarp` in `RoughPhysicsCfg`, `VelocityEnvContactSensorCfg`, and `EventsCfg`.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A["CLI arg: presets=newton / env.backend=newton"] --> B["register_task / parse_overrides"]
    B --> C["_normalize_preset_name(name, known_names)"]
    C --> D{"'mjwarp' in known_names\nAND 'newton' not in known_names?"}
    D -- Yes --> E["emit DeprecationWarning\nreturn 'mjwarp'"]
    D -- No --> F["return name as-is"]
    E --> G["resolve_presets / apply_overrides\nuse 'mjwarp'"]
    F --> G

    H["cfg.newton (Python attr access)"] --> I["PresetCfg.__getattr__"]
    I --> J{"'mjwarp' in dataclass fields\nAND 'newton' not in fields?"}
    J -- Yes --> K["emit DeprecationWarning\nreturn self.mjwarp"]
    J -- No --> L["raise AttributeError"]

Comments Outside Diff (2)

source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py, line 52-58 (link)

Hardcoded stacklevel is incorrect for generator-expression call sites

_normalize_preset_name is called from at least three different depths: directly (e.g., in _pick_alternative's for loop), via a generator expression passed to list.extend (in parse_overrides), and from a simple assignment (in apply_overrides). A fixed stacklevel=3 produces a meaningful source location only for one of these cases; when called from inside a generator expression the reported warning frame points into CPython's generator machinery rather than user code.

Consider passing stacklevel as a parameter with a sensible default:
```
def _normalize_preset_name(name: str, known_names: set[str], stacklevel: int = 3) -> str:
```
source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py, line 528-534 (link)

Redundant normalization in apply_overrides

Both global_presets (built by parse_overrides) and preset_sel tuples are already normalized before apply_overrides is called in the production flow through register_task. The extra _normalize_preset_name calls here are harmless but create the impression that un-normalized names can arrive at this point, and they trigger an extra _known_preset_names traversal. If the intent is to guard direct test-only call-sites, a brief comment would make the reasoning clear:
```
# Normalize again in case apply_overrides is called directly (e.g. from tests)
# without going through parse_overrides.
known_names = _known_preset_names(presets)
for name in global_presets:
    name = _normalize_preset_name(name, known_names)
```

_{Reviews (1): Last reviewed commit: "Rename Newton preset to MJWarp" | Re-trigger Greptile}

greptile-apps · 2026-05-04T16:01:02Z

+        return name
+    warnings.warn(
+        f"Preset '{name}' is deprecated. Use '{replacement}' instead.",
+        DeprecationWarning,
+        stacklevel=3,
+    )
+    return replacement


Hardcoded stacklevel is incorrect for generator-expression call sites

_normalize_preset_name is called from at least three different depths: directly (e.g., in _pick_alternative's for loop), via a generator expression passed to list.extend (in parse_overrides), and from a simple assignment (in apply_overrides). A fixed stacklevel=3 produces a meaningful source location only for one of these cases; when called from inside a generator expression the reported warning frame points into CPython's generator machinery rather than user code.

Consider passing stacklevel as a parameter with a sensible default:

def _normalize_preset_name(name: str, known_names: set[str], stacklevel: int = 3) -> str:

greptile-apps · 2026-05-04T16:01:08Z

            avail = list(presets[sec][path].keys())
            raise ValueError(f"Unknown preset '{name}' for {sec}.{path}. Available: {avail}")
        full_path = f"{sec}.{path}" if path else sec
        resolved[full_path] = (sec, path, name)

    applied_by: dict[str, str] = {}
+    known_names = _known_preset_names(presets)


Redundant normalization in apply_overrides

Both global_presets (built by parse_overrides) and preset_sel tuples are already normalized before apply_overrides is called in the production flow through register_task. The extra _normalize_preset_name calls here are harmless but create the impression that un-normalized names can arrive at this point, and they trigger an extra _known_preset_names traversal. If the intent is to guard direct test-only call-sites, a brief comment would make the reasoning clear:

# Normalize again in case apply_overrides is called directly (e.g. from tests) # without going through parse_overrides. known_names = _known_preset_names(presets) for name in global_presets: name = _normalize_preset_name(name, known_names)

greptile-apps · 2026-05-04T16:01:34Z

            avail = list(presets[sec][path].keys())
            raise ValueError(f"Unknown preset '{name}' for {sec}.{path}. Available: {avail}")
        full_path = f"{sec}.{path}" if path else sec
        resolved[full_path] = (sec, path, name)

    applied_by: dict[str, str] = {}
+    known_names = _known_preset_names(presets)


Redundant normalization in apply_overrides

Both global_presets (built by parse_overrides) and preset_sel tuples are already normalized before apply_overrides is called in the production flow through register_task. The extra _normalize_preset_name calls here are harmless but create the impression that un-normalized names can arrive at this point, and they trigger an extra _known_preset_names traversal. If the intent is to guard direct test-only call-sites, a brief comment would make the reasoning clear:

# Normalize again in case apply_overrides is called directly (e.g. from tests) # without going through parse_overrides. known_names = _known_preset_names(presets) for name in global_presets: name = _normalize_preset_name(name, known_names)

greptile-apps · 2026-05-04T16:01:42Z

            avail = list(presets[sec][path].keys())
            raise ValueError(f"Unknown preset '{name}' for {sec}.{path}. Available: {avail}")
        full_path = f"{sec}.{path}" if path else sec
        resolved[full_path] = (sec, path, name)

    applied_by: dict[str, str] = {}
+    known_names = _known_preset_names(presets)


Redundant normalization in apply_overrides

Both global_presets (built by parse_overrides) and preset_sel tuples are already normalized before apply_overrides is called in the production flow through register_task. The extra _normalize_preset_name calls here are harmless but create the impression that un-normalized names can arrive at this point, and they trigger an extra _known_preset_names traversal. If the intent is to guard direct test-only call-sites, a brief comment would make the reasoning clear:

# Normalize again in case apply_overrides is called directly (e.g. from tests) # without going through parse_overrides. known_names = _known_preset_names(presets) for name in global_presets: name = _normalize_preset_name(name, known_names)

Pivots the rename to group Newton-backend solver variants under a common prefix and addresses review feedback on PR isaac-sim#5488: - newton -> newton_mjwarp - kamino -> newton_kamino Both legacy names remain live as aliases that emit a FutureWarning (always shown, unlike DeprecationWarning) and resolve to the new names. _user_stacklevel() points warnings at user code rather than inside hydra.py. _format_unknown_presets_error explicitly calls out the rename when an unknown preset matches a legacy alias. Tests cover the alias path end-to-end through parse_overrides and apply_overrides, the shadow-guard for configs that legitimately keep the deprecated spelling, and an expanded regression scanner that catches both renames (with a fixed RST literal pattern that actually matches the realistic ``newton``,/``newton``... forms).

isaaclab-review-bot

🤖 Isaac Lab Review Bot

Summary

This follow-up addresses the rename from mjwarp to newton_mjwarp (and kamino to newton_kamino), which is a better naming convention that groups Newton-backend presets together while maintaining distinctiveness from the backend/package/visualizer names.

Previous Findings Status

✅ All previous concerns have been addressed:

The docstring in PresetCfg now correctly uses newton_mjwarp as the example field name
The test parameter naming in test_shadow_hand_vision_presets.py maintains "newton" for golden image compatibility with clear code structure
Documentation is consistent throughout

New Observations

The new newton_mjwarp naming convention is cleaner than the previous mjwarp — it groups solver presets by backend prefix while still distinguishing them from the bare newton backend label. The deprecation aliases now correctly map both newton → newton_mjwarp and kamino → newton_kamino.

Implementation Verdict

Ship it — The implementation is thorough, the deprecation path is correct, and the naming convention improvement makes the preset system more intuitive.

isaaclab-review-bot

🤖 Isaac Lab Review Bot

Summary

This is a follow-up review after the final commits. The PR is complete and ready to ship.

Previous Findings Status

✅ All previous concerns were already addressed in the prior review. No regressions introduced.

Implementation Verdict

Ship it — The rename from newton/kamino to newton_mjwarp/newton_kamino is complete with proper deprecation warnings, comprehensive test coverage (including the new test_newton_solver_preset_names.py scanner), and consistent documentation updates across 54 files.

isaaclab-review-bot

🤖 Isaac Lab Review Bot

Summary

Follow-up review after final commits. The PR remains complete and ready to ship.

Previous Findings Status

✅ All previous concerns remain addressed. No new issues introduced in the latest commits.

Implementation Verdict

Ship it — The rename is comprehensive with proper deprecation warnings, test coverage including the test_newton_solver_preset_names.py scanner, and consistent documentation. The legacy alias system in hydra.py correctly maps newton → newton_mjwarp and kamino → newton_kamino with FutureWarning emissions.

isaaclab-review-bot

🤖 Isaac Lab Review Bot

Summary

Follow-up review after commit 6708443. The PR remains complete and ready to ship.

Previous Findings Status

✅ All previous concerns remain addressed. No new issues were introduced in this commit.

Implementation Verdict

Ship it — The rename from newton to newton_mjwarp is comprehensive across 55 files with proper deprecation warnings via _LEGACY_PRESET_ALIASES, thorough test coverage including the regression scanner in test_newton_solver_preset_names.py, and consistent documentation updates. The CI results show core checks passing (pre-commit, wheels, labeler, changelog) with physics-dependent jobs still pending as expected.

Pivots the rename to group Newton-backend solver variants under a common prefix and addresses review feedback on PR isaac-sim#5488: - newton -> newton_mjwarp - kamino -> newton_kamino Both legacy names remain live as aliases that emit a FutureWarning (always shown, unlike DeprecationWarning) and resolve to the new names. _user_stacklevel() points warnings at user code rather than inside hydra.py. _format_unknown_presets_error explicitly calls out the rename when an unknown preset matches a legacy alias. Tests cover the alias path end-to-end through parse_overrides and apply_overrides, the shadow-guard for configs that legitimately keep the deprecated spelling, and an expanded regression scanner that catches both renames (with a fixed RST literal pattern that actually matches the realistic ``newton``,/``newton``... forms).

- Path-specific apply_overrides error now mentions the rename when an unknown name matches a deprecated alias (matches the global preset path, which already calls out the rename via _format_unknown_presets_error). - _user_stacklevel caps its frame walk and falls back to stacklevel=2 when no non-hydra.py frame is found, so warnings at minimum jump out of the helper rather than landing inside hydra.py. - Changelog "Changed" entry is tagged **Breaking:** per AGENTS.md (the alias shim covers most users, but workflows treating FutureWarning as an error or iterating __dataclass_fields__ directly see a hard rename). - :class:`FutureWarning` -> :exc:`FutureWarning` in the changelog (FutureWarning is a builtin exception). - Aligned the deprecation lifetime wording in hydra.py with the changelog ("removed in a future release"). - Reformatted _SCAN_EXCLUDE_FILES to match ruff format output so pre-commit is clean on a fresh checkout. Adds tests for previously untested paths: - _format_unknown_presets_error deprecation hint branch. - Real-config alias path through UnitreeGo1RoughEnvCfg (presets=newton resolves to the newton_mjwarp field). - PresetCfg.__getattr__ AttributeError branch (hasattr / pytest.raises). - _user_stacklevel attributing warnings outside hydra.py.

The bulk rename `mjwarp` -> `newton_mjwarp` made cells in the Presets column overflow the 23-char column width, producing 'Malformed table' errors during Sphinx doc build. Widened the column to 30 chars across all 11 tables in the file (separator rows, header underlines, and data-row cell padding).

isaaclab-review-bot

🤖 Isaac Lab Review Bot

Summary

Follow-up review after commit 1f30078. The PR remains complete and ready to ship.

Previous Findings Status

✅ All previous concerns remain addressed. No new issues were introduced in this commit.

Implementation Verdict

Ship it — The latest commit (1f30078) contains only minor doc formatting fixes and changelog fragment updates. The comprehensive rename from newton to newton_mjwarp across 55 files remains correct with proper deprecation warnings, thorough regression testing, and consistent documentation. CI shows core checks passing with physics-dependent jobs pending as expected.

Update preset references in the Kamino tutorial after the rename in isaac-sim#5488 ("Rename Newton preset to MJWarp"): * ``presets=newton`` -> ``presets=newton_mjwarp`` * ``presets=kamino`` -> ``presets=newton_kamino`` * ``env.sim.physics=kamino`` -> ``env.sim.physics=newton_kamino`` * Backticked preset name references in prose updated to match. This brings the tutorial in line with the renamed preset keys and satisfies the regression check in ``test_newton_solver_preset_names.py``.

AntoineRichard requested review from Mayankm96, jtigue-bdai, kellyguo11 and ooctipus as code owners May 4, 2026 15:55

github-actions Bot added documentation Improvements or additions to documentation isaac-lab Related to Isaac Lab team labels May 4, 2026

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ooctipus approved these changes May 5, 2026

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AntoineRichard added 4 commits May 5, 2026 13:18

Rename Newton preset to MJWarp

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AntoineRichard force-pushed the antoiner/rename-newton-preset-mjwarp branch from 6708443 to 1f30078 Compare May 5, 2026 11:21

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AntoineRichard merged commit 530fa8b into isaac-sim:develop May 5, 2026
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Rename Newton preset to MJWarp#5488

Rename Newton preset to MJWarp#5488
AntoineRichard merged 4 commits intoisaac-sim:developfrom
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AntoineRichard commented May 4, 2026

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Confidence Score: 4/5

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