From c4c2f3dc7e6bec0ba9a7c3d9cf5d9a14bc9487fc Mon Sep 17 00:00:00 2001
From: jichuanh <jichuanh@nvidia.com>
Date: Wed, 6 May 2026 21:37:37 +0000
Subject: [PATCH 1/6] Bump Newton pin to v1.2.0rc2
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The Newton 1.2.0rc2 release pulls in two IsaacLab-relevant fixes
(newton-physics/newton#2678, newton-physics/newton#2720 for
SolverKamino reset under world_mask), the upstream tendon-scoping
fix from #2659 ("Scope USD custom-frequency parsing"), and a
VRAM-leak fix on example reset (#2710).

Pin bumps:

* 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: same 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: same set of
  pins, mirrored across the wheel-bundling manifest.

Code adapts:

* source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py
  and source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_kernels.py:
  wp.math.transform_to_matrix → wp.transform_to_matrix. The
  wp.math namespace was removed in warp-lang 1.13.

Smoke verified: Shadow-Hand-Over MAPPO (4 envs, 1 iter) runs
clean on the bumped env — simulation init through CUDA graph
capture through one training step + checkpoint save, no errors.
---
 .../jichuanh-newton-1.2.0rc2-bump.minor.rst   | 21 +++++++++++++++++++
 source/isaaclab/setup.py                      |  6 +++---
 .../jichuanh-newton-1.2.0rc2-bump.minor.rst   | 21 +++++++++++++++++++
 .../isaaclab_newton/physics/newton_manager.py |  2 +-
 source/isaaclab_newton/setup.py               |  6 +++---
 .../jichuanh-newton-1.2.0rc2-bump.rst         | 21 +++++++++++++++++++
 .../renderers/ovrtx_renderer_kernels.py       |  2 +-
 source/isaaclab_visualizers/setup.py          |  6 +++---
 tools/wheel_builder/res/python_packages.toml  | 10 ++++-----
 9 files changed, 79 insertions(+), 16 deletions(-)
 create mode 100644 source/isaaclab/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
 create mode 100644 source/isaaclab_newton/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
 create mode 100644 source/isaaclab_ov/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst

diff --git a/source/isaaclab/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst b/source/isaaclab/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
new file mode 100644
index 000000000000..afcb64c533b1
--- /dev/null
+++ b/source/isaaclab/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
@@ -0,0 +1,21 @@
+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``. Pins updated in :mod:`isaaclab`,
+  :mod:`isaaclab_newton`, :mod:`isaaclab_visualizers`, and
+  ``tools/wheel_builder/res/python_packages.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).
diff --git a/source/isaaclab/setup.py b/source/isaaclab/setup.py
index 67c18c4c62d1..5608ae5bff06 100644
--- a/source/isaaclab/setup.py
+++ b/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",
diff --git a/source/isaaclab_newton/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst b/source/isaaclab_newton/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
new file mode 100644
index 000000000000..afcb64c533b1
--- /dev/null
+++ b/source/isaaclab_newton/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
@@ -0,0 +1,21 @@
+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``. Pins updated in :mod:`isaaclab`,
+  :mod:`isaaclab_newton`, :mod:`isaaclab_visualizers`, and
+  ``tools/wheel_builder/res/python_packages.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).
diff --git a/source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py b/source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py
index 2bb2f1f37397..dbc85e97c270 100644
--- a/source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py
+++ b/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)
diff --git a/source/isaaclab_newton/setup.py b/source/isaaclab_newton/setup.py
index 2e0b87f17543..4621e77f879b 100644
--- a/source/isaaclab_newton/setup.py
+++ b/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",
     ],
 }
 
diff --git a/source/isaaclab_ov/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst b/source/isaaclab_ov/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst
new file mode 100644
index 000000000000..afcb64c533b1
--- /dev/null
+++ b/source/isaaclab_ov/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst
@@ -0,0 +1,21 @@
+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``. Pins updated in :mod:`isaaclab`,
+  :mod:`isaaclab_newton`, :mod:`isaaclab_visualizers`, and
+  ``tools/wheel_builder/res/python_packages.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).
diff --git a/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_kernels.py b/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_kernels.py
index c287f1257632..0c1626916414 100644
--- a/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_kernels.py
+++ b/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)))
diff --git a/source/isaaclab_visualizers/setup.py b/source/isaaclab_visualizers/setup.py
index fc120619787b..9ad52a712360 100644
--- 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@a27277ed49d6f307b8a1e4c394be7e1d14965a62",
+        "newton @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
         "PyOpenGL-accelerate",
         "imgui-bundle>=1.92.5",
     ],
     "rerun": [
-        "newton @ git+https://github.com/newton-physics/newton.git@a27277ed49d6f307b8a1e4c394be7e1d14965a62",
+        "newton @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
         "rerun-sdk>=0.29.0",
     ],
     "viser": [
-        "newton @ git+https://github.com/newton-physics/newton.git@a27277ed49d6f307b8a1e4c394be7e1d14965a62",
+        "newton @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
         "viser>=1.0.16",
     ],
 }
diff --git a/tools/wheel_builder/res/python_packages.toml b/tools/wheel_builder/res/python_packages.toml
index 1676fdc8f905..00d2adb30107 100644
--- a/tools/wheel_builder/res/python_packages.toml
+++ b/tools/wheel_builder/res/python_packages.toml
@@ -22,7 +22,7 @@ pyproject.dependencies.all = [
     # 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",
     # make sure this is consistent with isaac sim version
     "pillow==12.1.1",
@@ -82,10 +82,10 @@ pyproject.optional-dependencies.all = [
     # https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_newton/setup.py
     # ================================================================================
     { "newton" = [
-        "warp-lang==1.12.0",
-        "mujoco==3.6.0",
-        "mujoco-warp==3.6.0",
-        "newton @ git+https://github.com/newton-physics/newton.git@a27277ed49d6f307b8a1e4c394be7e1d14965a62",
+        "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",
         "PyOpenGL-accelerate==3.1.10"
     ] },
     # ================================================================================

From c03dc528420c94d242c87c20a380121f6d7e7931 Mon Sep 17 00:00:00 2001
From: jichuanh <jichuanh@nvidia.com>
Date: Wed, 6 May 2026 21:49:51 +0000
Subject: [PATCH 2/6] Pin warp-lang to ==1.13.0

Tighten the warp-lang requirement from >=1.13.0 to ==1.13.0 across
isaaclab/setup.py, tools/wheel_builder/res/python_packages.toml, and the
three changelog fragments. The Newton 1.2.0rc2 toolchain has been
validated against this exact warp-lang version; later warp-lang releases
have not been smoke-tested here.
---
 .../changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst       | 2 +-
 source/isaaclab/setup.py                                      | 2 +-
 .../changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst       | 2 +-
 .../isaaclab_ov/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst | 2 +-
 tools/wheel_builder/res/python_packages.toml                  | 4 ++--
 5 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/source/isaaclab/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst b/source/isaaclab/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
index afcb64c533b1..f234c58054f5 100644
--- a/source/isaaclab/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
+++ b/source/isaaclab/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
@@ -11,7 +11,7 @@ Changed
   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``,
+* Newton ``v1.2.0rc2`` requires ``warp-lang==1.13.0``, ``mujoco==3.8.0``,
   and ``mujoco-warp==3.8.0.1``. Pins updated in :mod:`isaaclab`,
   :mod:`isaaclab_newton`, :mod:`isaaclab_visualizers`, and
   ``tools/wheel_builder/res/python_packages.toml``.
diff --git a/source/isaaclab/setup.py b/source/isaaclab/setup.py
index 5608ae5bff06..4f54032f6d14 100644
--- a/source/isaaclab/setup.py
+++ b/source/isaaclab/setup.py
@@ -35,7 +35,7 @@
     # 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/jichuanh-newton-1.2.0rc2-bump.minor.rst b/source/isaaclab_newton/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
index afcb64c533b1..f234c58054f5 100644
--- a/source/isaaclab_newton/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
+++ b/source/isaaclab_newton/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
@@ -11,7 +11,7 @@ Changed
   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``,
+* Newton ``v1.2.0rc2`` requires ``warp-lang==1.13.0``, ``mujoco==3.8.0``,
   and ``mujoco-warp==3.8.0.1``. Pins updated in :mod:`isaaclab`,
   :mod:`isaaclab_newton`, :mod:`isaaclab_visualizers`, and
   ``tools/wheel_builder/res/python_packages.toml``.
diff --git a/source/isaaclab_ov/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst b/source/isaaclab_ov/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst
index afcb64c533b1..f234c58054f5 100644
--- a/source/isaaclab_ov/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst
+++ b/source/isaaclab_ov/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst
@@ -11,7 +11,7 @@ Changed
   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``,
+* Newton ``v1.2.0rc2`` requires ``warp-lang==1.13.0``, ``mujoco==3.8.0``,
   and ``mujoco-warp==3.8.0.1``. Pins updated in :mod:`isaaclab`,
   :mod:`isaaclab_newton`, :mod:`isaaclab_visualizers`, and
   ``tools/wheel_builder/res/python_packages.toml``.
diff --git a/tools/wheel_builder/res/python_packages.toml b/tools/wheel_builder/res/python_packages.toml
index 00d2adb30107..285d1cddbc66 100644
--- a/tools/wheel_builder/res/python_packages.toml
+++ b/tools/wheel_builder/res/python_packages.toml
@@ -22,7 +22,7 @@ pyproject.dependencies.all = [
     # 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",
     # make sure this is consistent with isaac sim version
     "pillow==12.1.1",
@@ -82,7 +82,7 @@ pyproject.optional-dependencies.all = [
     # https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_newton/setup.py
     # ================================================================================
     { "newton" = [
-        "warp-lang>=1.13.0",
+        "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",

From 49872a5a453094053ba43e2209f0931e8155351b Mon Sep 17 00:00:00 2001
From: jichuanh <jichuanh@nvidia.com>
Date: Wed, 6 May 2026 23:13:23 +0000
Subject: [PATCH 3/6] Bump isaaclab_physx [newton] extra to v1.2.0rc2

The optional [newton] extra in isaaclab_physx pulls Newton in for the
visualizer-side scene representation when the user runs PhysX with
OV/Rerun/Viser visualizers. Keep its pin synchronized with the Newton
pin in isaaclab_newton and isaaclab_visualizers; the previous commit-
SHA pin had drifted off the version used elsewhere in the repo.

Tighten the changelog wording on the existing fragments to spell out
which pins live where: warp-lang/mujoco/mujoco-warp in isaaclab + the
wheel-builder TOML; the Newton pin in isaaclab_newton, isaaclab_visualizers,
isaaclab_physx, and the wheel-builder TOML.
---
 .../changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst   | 8 +++++---
 .../changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst   | 8 +++++---
 .../changelog.d/jichuanh-newton-1.2.0rc2-bump.rst         | 8 +++++---
 .../changelog.d/jichuanh-newton-1.2.0rc2-bump.rst         | 8 ++++++++
 source/isaaclab_physx/setup.py                            | 2 +-
 5 files changed, 24 insertions(+), 10 deletions(-)
 create mode 100644 source/isaaclab_physx/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst

diff --git a/source/isaaclab/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst b/source/isaaclab/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
index f234c58054f5..3609cf6cd787 100644
--- a/source/isaaclab/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
+++ b/source/isaaclab/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
@@ -12,9 +12,11 @@ Changed
   (`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``. Pins updated in :mod:`isaaclab`,
-  :mod:`isaaclab_newton`, :mod:`isaaclab_visualizers`, and
-  ``tools/wheel_builder/res/python_packages.toml``.
+  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
diff --git a/source/isaaclab_newton/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst b/source/isaaclab_newton/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
index f234c58054f5..3609cf6cd787 100644
--- a/source/isaaclab_newton/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
+++ b/source/isaaclab_newton/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
@@ -12,9 +12,11 @@ Changed
   (`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``. Pins updated in :mod:`isaaclab`,
-  :mod:`isaaclab_newton`, :mod:`isaaclab_visualizers`, and
-  ``tools/wheel_builder/res/python_packages.toml``.
+  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
diff --git a/source/isaaclab_ov/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst b/source/isaaclab_ov/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst
index f234c58054f5..3609cf6cd787 100644
--- a/source/isaaclab_ov/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst
+++ b/source/isaaclab_ov/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst
@@ -12,9 +12,11 @@ Changed
   (`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``. Pins updated in :mod:`isaaclab`,
-  :mod:`isaaclab_newton`, :mod:`isaaclab_visualizers`, and
-  ``tools/wheel_builder/res/python_packages.toml``.
+  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
diff --git a/source/isaaclab_physx/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst b/source/isaaclab_physx/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst
new file mode 100644
index 000000000000..74bca94ff983
--- /dev/null
+++ b/source/isaaclab_physx/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst
@@ -0,0 +1,8 @@
+Changed
+^^^^^^^
+
+* Bumped the optional ``[newton]`` extra to ``v1.2.0rc2`` so the Newton
+  scene representation built by
+  :class:`~isaaclab_physx.scene_data_providers.PhysxSceneDataProvider`
+  for the OV/Rerun/Viser visualizers stays in sync with the version
+  pinned in :mod:`isaaclab_newton` and :mod:`isaaclab_visualizers`.
diff --git a/source/isaaclab_physx/setup.py b/source/isaaclab_physx/setup.py
index 1e917e938c2b..9cc172addf50 100644
--- 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@2684d75bfa4bb8b058a93b81c458a74b7701c997",
+        "newton @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
     ],
 }
 

From 5e163472d5b30e84d7f68ed8d17ffbbeaffeb58e Mon Sep 17 00:00:00 2001
From: jichuanh <jichuanh@nvidia.com>
Date: Wed, 6 May 2026 23:20:39 +0000
Subject: [PATCH 4/6] Rename changelog fragment slugs to drop dots
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The changelog CLI rejects slugs containing dots — version-style
'1.2.0rc2' embedded in the slug breaks parsing. Rename to 'rc2-bump'
without dots.

AGENTS.md ## Changelog says the slug defaults to the branch name with
'/' replaced by '-', which on this branch produces a dotted slug; the
no-dots constraint lives only in tools/changelog/cli.py validation, not
in AGENTS.md. Doc fix to follow.
---
 ...1.2.0rc2-bump.minor.rst => jichuanh-newton-rc2-bump.minor.rst} | 0
 ...1.2.0rc2-bump.minor.rst => jichuanh-newton-rc2-bump.minor.rst} | 0
 ...uanh-newton-1.2.0rc2-bump.rst => jichuanh-newton-rc2-bump.rst} | 0
 ...uanh-newton-1.2.0rc2-bump.rst => jichuanh-newton-rc2-bump.rst} | 0
 4 files changed, 0 insertions(+), 0 deletions(-)
 rename source/isaaclab/changelog.d/{jichuanh-newton-1.2.0rc2-bump.minor.rst => jichuanh-newton-rc2-bump.minor.rst} (100%)
 rename source/isaaclab_newton/changelog.d/{jichuanh-newton-1.2.0rc2-bump.minor.rst => jichuanh-newton-rc2-bump.minor.rst} (100%)
 rename source/isaaclab_ov/changelog.d/{jichuanh-newton-1.2.0rc2-bump.rst => jichuanh-newton-rc2-bump.rst} (100%)
 rename source/isaaclab_physx/changelog.d/{jichuanh-newton-1.2.0rc2-bump.rst => jichuanh-newton-rc2-bump.rst} (100%)

diff --git a/source/isaaclab/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst b/source/isaaclab/changelog.d/jichuanh-newton-rc2-bump.minor.rst
similarity index 100%
rename from source/isaaclab/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
rename to source/isaaclab/changelog.d/jichuanh-newton-rc2-bump.minor.rst
diff --git a/source/isaaclab_newton/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst b/source/isaaclab_newton/changelog.d/jichuanh-newton-rc2-bump.minor.rst
similarity index 100%
rename from source/isaaclab_newton/changelog.d/jichuanh-newton-1.2.0rc2-bump.minor.rst
rename to source/isaaclab_newton/changelog.d/jichuanh-newton-rc2-bump.minor.rst
diff --git a/source/isaaclab_ov/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst b/source/isaaclab_ov/changelog.d/jichuanh-newton-rc2-bump.rst
similarity index 100%
rename from source/isaaclab_ov/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst
rename to source/isaaclab_ov/changelog.d/jichuanh-newton-rc2-bump.rst
diff --git a/source/isaaclab_physx/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst b/source/isaaclab_physx/changelog.d/jichuanh-newton-rc2-bump.rst
similarity index 100%
rename from source/isaaclab_physx/changelog.d/jichuanh-newton-1.2.0rc2-bump.rst
rename to source/isaaclab_physx/changelog.d/jichuanh-newton-rc2-bump.rst

From f8ab14eb7e0d615ba8c3413968fa3364cef14bb7 Mon Sep 17 00:00:00 2001
From: jichuanh <jichuanh@nvidia.com>
Date: Thu, 7 May 2026 20:41:12 +0000
Subject: [PATCH 5/6] Adapt NewtonWarpRenderer to Newton 1.2.0rc2 explicit
 shape-BVH lifecycle
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Newton 1.2.0rc2 made shape-BVH construction explicit in the
SensorTiledCamera path: passing a non-None state to update() no longer
auto-builds the BVH, and the underlying RenderContext.render now raises
RuntimeError("build_bvh_shape() must be called before rendering
shapes.") if it was never built. CI's three rendering test files
(test_rendering_cartpole.py, test_rendering_dexsuite_kuka_kitless.py,
test_rendering_shadow_hand_kitless.py) all hit this on the first
newton_warp render call after the bump.

Build the shape BVH once in NewtonWarpRenderer.__init__ via
newton.geometry.build_bvh_shape(model, model.state()) — guarded by
shape_count > 0 and bvh_shapes is None so it stays idempotent across
multiple sensors that share the same Newton model. Refit per frame in
render() via newton.geometry.refit_bvh_shape against the current state,
since env body poses move every step.

Recorded in the isaaclab_newton changelog fragment alongside the
existing wp.math.transform_to_matrix → wp.transform_to_matrix adapt.
---
 .../jichuanh-newton-rc2-bump.minor.rst            | 10 ++++++++++
 .../renderers/newton_warp_renderer.py             | 15 ++++++++++++++-
 2 files changed, 24 insertions(+), 1 deletion(-)

diff --git a/source/isaaclab_newton/changelog.d/jichuanh-newton-rc2-bump.minor.rst b/source/isaaclab_newton/changelog.d/jichuanh-newton-rc2-bump.minor.rst
index 3609cf6cd787..25985f94b4b2 100644
--- a/source/isaaclab_newton/changelog.d/jichuanh-newton-rc2-bump.minor.rst
+++ b/source/isaaclab_newton/changelog.d/jichuanh-newton-rc2-bump.minor.rst
@@ -21,3 +21,13 @@ Changed
   :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.
diff --git a/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer.py b/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer.py
index a02d820f2951..78285636b6ef 100644
--- a/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer.py
+++ b/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,

From 100b3995f4fd59d6aa163b0e17bc2a3a04fcade6 Mon Sep 17 00:00:00 2001
From: jichuanh <jichuanh@nvidia.com>
Date: Thu, 7 May 2026 22:26:39 +0000
Subject: [PATCH 6/6] Add warp.torch compat shim for cuRobo on warp-lang 1.13
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Newton 1.2.0rc2 requires warp-lang>=1.13, which dropped the warp.torch
submodule in favour of top-level warp.* (e.g. wp.torch.device_from_torch
became wp.device_from_torch). cuRobo (NVlabs/curobo) — pinned in
docker/Dockerfile.curobo and used by isaaclab_mimic — still calls
wp.torch.device_from_torch at MotionGenConfig.load_from_robot_config
time and raises AttributeError on import.

Reconstruct warp.torch as a thin forwarding module at isaaclab_mimic
import time so cuRobo's call sites keep working without an upstream
patch. Python evaluates isaaclab_mimic/__init__.py before any submodule,
including isaaclab_mimic.motion_planners.curobo.curobo_planner, so the
shim is in place before cuRobo runs. Idempotent: skipped if warp ever
re-introduces wp.torch or cuRobo migrates.

Tracking upstream at https://github.com/NVlabs/curobo — once the cuRobo
pin in docker/Dockerfile.curobo bumps to a commit that uses the
top-level wp.* API directly, drop this shim. The TODO in
source/isaaclab_mimic/isaaclab_mimic/__init__.py spells out the removal
trigger.
---
 .../changelog.d/jichuanh-newton-rc2-bump.rst  | 15 ++++++
 .../isaaclab_mimic/isaaclab_mimic/__init__.py | 49 +++++++++++++++++++
 2 files changed, 64 insertions(+)
 create mode 100644 source/isaaclab_mimic/changelog.d/jichuanh-newton-rc2-bump.rst

diff --git a/source/isaaclab_mimic/changelog.d/jichuanh-newton-rc2-bump.rst b/source/isaaclab_mimic/changelog.d/jichuanh-newton-rc2-bump.rst
new file mode 100644
index 000000000000..051f04fae9f2
--- /dev/null
+++ b/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.
diff --git a/source/isaaclab_mimic/isaaclab_mimic/__init__.py b/source/isaaclab_mimic/isaaclab_mimic/__init__.py
index 17f1264a6b59..56b86cc6034d 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/__init__.py
+++ b/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"