isaac-sim · kellyguo11 · May 12, 2026 · May 8, 2026 · May 8, 2026
diff --git a/source/isaaclab/changelog.d/feature-heterogeneous_dexsuite.rst b/source/isaaclab/changelog.d/feature-heterogeneous_dexsuite.rst
@@ -0,0 +1,5 @@
+Changed
+^^^^^^^
+
+* Changed Newton-related dependencies to use MuJoCo 3.8, MuJoCo Warp 3.8.0.2,
+  Warp 1.13 or newer, and the packaged Newton 1.2.0 release candidate.
diff --git a/source/isaaclab/setup.py b/source/isaaclab/setup.py
@@ -31,11 +31,11 @@
     "trimesh",
     "pyglet>=2.1.6,<3",
     "mujoco==3.8.0",
-    "mujoco-warp==3.8.0.1",
+    "mujoco-warp==3.8.0.2",
     # image processing
     "transformers==4.57.6",
     "einops",  # needed for transformers, doesn't always auto-install
-    "warp-lang==1.13.0",
+    "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",

diff --git a/source/isaaclab_newton/changelog.d/feature-heterogeneous_dexsuite.rst b/source/isaaclab_newton/changelog.d/feature-heterogeneous_dexsuite.rst
@@ -0,0 +1,5 @@
+Changed
+^^^^^^^
+
+* Changed Newton integration to use the packaged Newton 1.2.0 release candidate
+  and updated transform conversion calls for Warp 1.13 compatibility.
diff --git a/source/isaaclab_newton/setup.py b/source/isaaclab_newton/setup.py
@@ -39,9 +39,9 @@ def run(self):
     "all": [
         "prettytable==3.3.0",
         "mujoco==3.8.0",
-        "mujoco-warp==3.8.0.1",
+        "mujoco-warp==3.8.0.2",
         "PyOpenGL-accelerate==3.1.10",
-        "newton @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
+        "newton==1.2.0rc3",
     ],
 }
 

diff --git a/source/isaaclab_ov/changelog.d/feature-heterogeneous_dexsuite.rst b/source/isaaclab_ov/changelog.d/feature-heterogeneous_dexsuite.rst
@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed Newton transform synchronization for Warp 1.13 compatibility in the
+  RTX renderer.
diff --git a/source/isaaclab_physx/changelog.d/feature-heterogeneous_dexsuite.rst b/source/isaaclab_physx/changelog.d/feature-heterogeneous_dexsuite.rst
@@ -0,0 +1,5 @@
+Changed
+^^^^^^^
+
+* Changed the Newton extra to depend on the packaged Newton 1.2.0 release
+  candidate instead of a Git commit.
diff --git a/source/isaaclab_physx/setup.py b/source/isaaclab_physx/setup.py
@@ -20,7 +20,7 @@
 
 EXTRAS_REQUIRE = {
     "newton": [
-        "newton @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
+        "newton==1.2.0rc3",
     ],
 }
 

diff --git a/source/isaaclab_tasks/changelog.d/feature-heterogeneous_dexsuite.rst b/source/isaaclab_tasks/changelog.d/feature-heterogeneous_dexsuite.rst
@@ -0,0 +1,5 @@
+Added
+^^^^^
+
+* Added Newton MJWarp physics preset support and mesh-based heterogeneous
+  object spawning for Dexsuite manipulation environments.
@@ -3,9 +3,6 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
-from isaaclab_physx.physics import PhysxCfg
-
 from isaaclab.assets import ArticulationCfg
 from isaaclab.managers import RewardTermCfg as RewTerm
 from isaaclab.managers import SceneEntityCfg
@@ -31,34 +28,6 @@
 FINGER_SENSORS = [f"{name}_object_s" for name in FINGERTIP_LIST if name != "thumb_link_3"]
 
 
-@configclass
-class KukaAllegroPhysicsCfg(PresetCfg):
-    default = PhysxCfg(
-        bounce_threshold_velocity=0.01,
-        gpu_max_rigid_patch_count=4 * 5 * 2**15,
-        gpu_found_lost_pairs_capacity=2**26,
-    )
-    newton_mjwarp = NewtonCfg(
-        solver_cfg=MJWarpSolverCfg(
-            solver="newton",
-            integrator="implicitfast",
-            njmax=300,
-            nconmax=70,
-            impratio=10.0,
-            cone="elliptic",
-            update_data_interval=2,
-            iterations=100,
-            ls_iterations=15,
-            ls_parallel=False,
-            use_mujoco_contacts=True,
-            ccd_iterations=5000,
-        ),
-        num_substeps=2,
-        debug_mode=False,
-    )
-    physx = default
-
-
 @configclass
 class KukaAllegroSceneCfg(PresetCfg):
     @configclass
@@ -132,28 +101,15 @@ class KukaAllegroObservationCfg(PresetCfg):
     default = state
 
 
-@configclass
-class KukaAllegroEventCfg(PresetCfg):
-    @configclass
-    class KukaAllegroPhysxEventCfg(dexsuite.StartupEventCfg, dexsuite.EventCfg):
-        pass
-
-    default = KukaAllegroPhysxEventCfg()
-    newton_mjwarp = dexsuite.EventCfg()
-    physx = default
-
-
 @configclass
 class KukaAllegroMixinCfg:
     scene: KukaAllegroSceneCfg = KukaAllegroSceneCfg()
     rewards: KukaAllegroReorientRewardCfg = KukaAllegroReorientRewardCfg()
     observations: KukaAllegroObservationCfg = KukaAllegroObservationCfg()
-    events: KukaAllegroEventCfg = KukaAllegroEventCfg()
     actions: KukaAllegroRelJointPosActionCfg = KukaAllegroRelJointPosActionCfg()
 
     def __post_init__(self):
         super().__post_init__()
-        self.sim.physics = KukaAllegroPhysicsCfg()
 
 
 @configclass

@@ -5,6 +5,7 @@
 
 from dataclasses import MISSING
 
+from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg, NewtonCollisionPipelineCfg, NewtonShapeCfg
 from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
@@ -18,7 +19,7 @@
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.markers import VisualizationMarkersCfg
 from isaaclab.scene import InteractiveSceneCfg
-from isaaclab.sim import CapsuleCfg, ConeCfg, CuboidCfg, RigidBodyMaterialCfg, SphereCfg
+from isaaclab.sim import MeshCapsuleCfg, MeshConeCfg, MeshCuboidCfg, MeshSphereCfg, RigidBodyMaterialCfg
 from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 from isaaclab.utils.noise import UniformNoiseCfg as Unoise
@@ -37,26 +38,32 @@
 )
 
 
+OBJECT_PHYSICS = {
+    "physics_material": RigidBodyMaterialCfg(static_friction=0.5),
+    "collision_props": sim_utils.CollisionPropertiesCfg(contact_offset=0.002),
+}
+
+
 @configclass
 class ObjectCfg(PresetCfg):
     shapes = sim_utils.MultiAssetSpawnerCfg(
         assets_cfg=[
-            CuboidCfg(size=(0.05, 0.1, 0.1), physics_material=RigidBodyMaterialCfg(static_friction=0.5)),
-            CuboidCfg(size=(0.05, 0.05, 0.1), physics_material=RigidBodyMaterialCfg(static_friction=0.5)),
-            CuboidCfg(size=(0.025, 0.1, 0.1), physics_material=RigidBodyMaterialCfg(static_friction=0.5)),
-            CuboidCfg(size=(0.025, 0.05, 0.1), physics_material=RigidBodyMaterialCfg(static_friction=0.5)),
-            CuboidCfg(size=(0.025, 0.025, 0.1), physics_material=RigidBodyMaterialCfg(static_friction=0.5)),
-            CuboidCfg(size=(0.01, 0.1, 0.1), physics_material=RigidBodyMaterialCfg(static_friction=0.5)),
-            SphereCfg(radius=0.05, physics_material=RigidBodyMaterialCfg(static_friction=0.5)),
-            SphereCfg(radius=0.025, physics_material=RigidBodyMaterialCfg(static_friction=0.5)),
-            CapsuleCfg(radius=0.04, height=0.025, physics_material=RigidBodyMaterialCfg(static_friction=0.5)),
-            CapsuleCfg(radius=0.04, height=0.01, physics_material=RigidBodyMaterialCfg(static_friction=0.5)),
-            CapsuleCfg(radius=0.04, height=0.1, physics_material=RigidBodyMaterialCfg(static_friction=0.5)),
-            CapsuleCfg(radius=0.025, height=0.1, physics_material=RigidBodyMaterialCfg(static_friction=0.5)),
-            CapsuleCfg(radius=0.025, height=0.2, physics_material=RigidBodyMaterialCfg(static_friction=0.5)),
-            CapsuleCfg(radius=0.01, height=0.2, physics_material=RigidBodyMaterialCfg(static_friction=0.5)),
-            ConeCfg(radius=0.05, height=0.1, physics_material=RigidBodyMaterialCfg(static_friction=0.5)),
-            ConeCfg(radius=0.025, height=0.1, physics_material=RigidBodyMaterialCfg(static_friction=0.5)),
+            MeshCuboidCfg(size=(0.05, 0.1, 0.1), **OBJECT_PHYSICS),
+            MeshCuboidCfg(size=(0.05, 0.05, 0.1), **OBJECT_PHYSICS),
+            MeshCuboidCfg(size=(0.025, 0.1, 0.1), **OBJECT_PHYSICS),
+            MeshCuboidCfg(size=(0.025, 0.05, 0.1), **OBJECT_PHYSICS),
+            MeshCuboidCfg(size=(0.025, 0.025, 0.1), **OBJECT_PHYSICS),
+            MeshCuboidCfg(size=(0.01, 0.1, 0.1), **OBJECT_PHYSICS),
+            MeshSphereCfg(radius=0.05, **OBJECT_PHYSICS),
+            MeshSphereCfg(radius=0.025, **OBJECT_PHYSICS),
+            MeshCapsuleCfg(radius=0.04, height=0.025, **OBJECT_PHYSICS),
+            MeshCapsuleCfg(radius=0.04, height=0.01, **OBJECT_PHYSICS),
+            MeshCapsuleCfg(radius=0.04, height=0.1, **OBJECT_PHYSICS),
+            MeshCapsuleCfg(radius=0.025, height=0.1, **OBJECT_PHYSICS),
+            MeshCapsuleCfg(radius=0.025, height=0.2, **OBJECT_PHYSICS),
+            MeshCapsuleCfg(radius=0.01, height=0.2, **OBJECT_PHYSICS),
+            MeshConeCfg(radius=0.05, height=0.1, **OBJECT_PHYSICS),
+            MeshConeCfg(radius=0.025, height=0.1, **OBJECT_PHYSICS),
         ],
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             solver_position_iteration_count=16,
@@ -77,7 +84,6 @@ class ObjectCfg(PresetCfg):
         collision_props=sim_utils.CollisionPropertiesCfg(),
         mass_props=sim_utils.MassPropertiesCfg(mass=0.2),
     )
-    newton_mjwarp = cube  # newton does not support multi-asset spawning yet
     default = shapes
 
 
@@ -218,8 +224,8 @@ def __post_init__(self):
 
 
 @configclass
-class StartupEventCfg:
-    """Startup-mode domain randomization (PhysX only — Newton does not support startup events)."""
+class EventCfg:
+    """Reset-mode events (shared by all physics backends)."""
 
     robot_physics_material = EventTerm(
         func=mdp.randomize_rigid_body_material,
@@ -245,6 +251,17 @@ class StartupEventCfg:
         },
     )
 
+    object_physics_inertia = EventTerm(
+        func=mdp.randomize_rigid_body_inertia,
+        mode="startup",
+        params={
+            "asset_cfg": SceneEntityCfg("object"),
+            "inertia_distribution_params": [0.01, 0.01],
+            "operation": "add",
+            "diagonal_only": True,
+        },
+    )
+
     joint_stiffness_and_damping = EventTerm(
         func=mdp.randomize_actuator_gains,
         mode="startup",
@@ -276,11 +293,6 @@ class StartupEventCfg:
         },
     )
 
-
-@configclass
-class EventCfg:
-    """Reset-mode events (shared by all physics backends)."""
-
     # Gravity scheduling is a deliberate curriculum trick — starting with no
     # gravity (easy) and gradually introducing full gravity (hard) makes learning
     # smoother and removes the need for a separate "Lift" reward.
@@ -409,6 +421,36 @@ class TerminationsCfg:
     abnormal_robot = DoneTerm(func=mdp.abnormal_robot_state)
 
 
+@configclass
+class PhysicsCfg(PresetCfg):
+    default = PhysxCfg(
+        bounce_threshold_velocity=0.01,
+        gpu_max_rigid_patch_count=4 * 5 * 2**15,
+        gpu_found_lost_pairs_capacity=2**26,
+    )
+    newton_mjwarp = NewtonCfg(
+        solver_cfg=MJWarpSolverCfg(
+            solver="newton",
+            integrator="implicitfast",
+            njmax=300,
+            nconmax=200,
+            impratio=10.0,
+            cone="elliptic",
+            update_data_interval=2,
+            iterations=100,
+            ls_iterations=15,
+            ls_parallel=False,
+            use_mujoco_contacts=False,
+            ccd_iterations=35,
+        ),
+        collision_cfg=NewtonCollisionPipelineCfg(),
+        default_shape_cfg=NewtonShapeCfg(),
+        num_substeps=2,
+        debug_mode=False,
+    )
+    physx = default
+
+
 @configclass
 class DexsuiteReorientEnvCfg(ManagerBasedEnvCfg):
     """Dexsuite reorientation task definition, also the base definition for derivative Lift task and evaluation task"""
@@ -423,19 +465,11 @@ class DexsuiteReorientEnvCfg(ManagerBasedEnvCfg):
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()
-    events: EventCfg = MISSING  # type: ignore
+    events: EventCfg = EventCfg()
     curriculum: CurriculumCfg | None = CurriculumCfg()
 
     def validate_config(self):
         """Check for invalid preset combinations after resolution."""
-        is_newton = not isinstance(self.sim.physics, PhysxCfg)
-        is_multi_asset = isinstance(self.scene.object.spawn, sim_utils.MultiAssetSpawnerCfg)
-
-        if is_newton and is_multi_asset:
-            raise ValueError(
-                "Newton physics does not support multi-asset spawning."
-                " Use a single-geometry object preset (e.g. presets=cube) instead of 'shapes'."
-            )
 
         warp_supported = {"rgb", "depth", "distance_to_image_plane"}
         for cam_attr in ("base_camera", "wrist_camera"):
@@ -466,11 +500,7 @@ def __post_init__(self):
         # simulation settings
         self.sim.dt = 1 / 120
         self.sim.render_interval = self.decimation
-        self.sim.physics = PhysxCfg(
-            bounce_threshold_velocity=0.01,
-            gpu_max_rigid_patch_count=4 * 5 * 2**15,
-            gpu_found_lost_pairs_capacity=2**26,
-        )
+        self.sim.physics = PhysicsCfg()
 
 
 class DexsuiteLiftEnvCfg(DexsuiteReorientEnvCfg):

diff --git a/source/isaaclab_visualizers/setup.py b/source/isaaclab_visualizers/setup.py
@@ -17,16 +17,16 @@
     "kit": [],
     "newton": [
         "warp-lang",
-        "newton @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
+        "newton==1.2.0rc3",
         "PyOpenGL-accelerate",
         "imgui-bundle>=1.92.5",
     ],
     "rerun": [
-        "newton @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
+        "newton==1.2.0rc3",
         "rerun-sdk>=0.29.0",
     ],
     "viser": [
-        "newton @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
+        "newton==1.2.0rc3",
         "viser>=1.0.16",
     ],
 }

@@ -85,8 +85,8 @@ pyproject.optional-dependencies.all = [
     { "newton" = [
         "warp-lang==1.13.0",
         "mujoco==3.8.0",
-        "mujoco-warp==3.8.0.1",
-        "newton @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
+        "mujoco-warp==3.8.0.2",
+        "newton==1.2.0rc3",
         "PyOpenGL-accelerate==3.1.10"
     ] },
     # ================================================================================