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[Newton] Drop explicit mujoco/mujoco-warp pins, defer to newton[sim] #5566

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Merged
kellyguo11 merged 7 commits into from
May 14, 2026
Merged

[Newton] Drop explicit mujoco/mujoco-warp pins, defer to newton[sim] #5566

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6dd489f
Drop explicit mujoco/mujoco-warp pins, defer to Newton
hujc7 May 10, 2026
48018cb
Use newton[sim] in all Newton declarations
hujc7 May 11, 2026
4a50282
Document why rerun/viser extras pin newton[sim]
hujc7 May 12, 2026
02b1456
Merge branch 'develop' into jichuanh/drop-mujoco-deps
hujc7 May 12, 2026
de295cc
Merge branch 'develop' into jichuanh/drop-mujoco-deps
kellyguo11 May 12, 2026
1c394ff
Merge remote-tracking branch 'origin/develop' into jichuanh/drop-mujo…
hujc7 May 13, 2026
e35394a
Merge branch 'develop' into jichuanh/drop-mujoco-deps
hujc7 May 13, 2026
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8 changes: 8 additions & 0 deletions source/isaaclab/changelog.d/jichuanh-drop-mujoco-deps.rst
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@@ -0,0 +1,8 @@
Removed
^^^^^^^

* Removed explicit ``mujoco`` and ``mujoco-warp`` dependencies from
:mod:`isaaclab`. These packages are not used by ``isaaclab`` core and are
now resolved transitively through Newton's ``[sim]`` extra in
:mod:`isaaclab_newton`. Users installing only the PhysX or Kit backends no
longer pull in MuJoCo.
4 changes: 1 addition & 3 deletions source/isaaclab/setup.py
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Expand Up @@ -30,12 +30,10 @@
# procedural-generation
"trimesh",
"pyglet>=2.1.6,<3",
"mujoco==3.8.0",
"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",
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8 changes: 8 additions & 0 deletions source/isaaclab_newton/changelog.d/jichuanh-drop-mujoco-deps.rst
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Changed
^^^^^^^

* Switched the Newton install to ``newton[sim]`` so that ``mujoco`` and
``mujoco-warp`` are pulled in transitively via Newton's ``[sim]`` extra.
The explicit ``mujoco==3.8.0`` and ``mujoco-warp==3.8.0.1`` pins were
removed from :mod:`isaaclab_newton` — Newton is now the single source of
truth for those versions.
4 changes: 1 addition & 3 deletions source/isaaclab_newton/setup.py
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Expand Up @@ -38,10 +38,8 @@ def run(self):
EXTRAS_REQUIRE = {
"all": [
"prettytable==3.3.0",
"mujoco==3.8.0",
"mujoco-warp==3.8.0.2",
"PyOpenGL-accelerate==3.1.10",
"newton==1.2.0rc3",
"newton[sim] @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
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@greptile-apps greptile-apps Bot May 11, 2026

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P2 Loosened mujoco/mujoco-warp version constraints

The previous explicit pins (mujoco==3.8.0, mujoco-warp==3.8.0.1) guaranteed exact reproducibility. Newton's [sim] extra specifies mujoco~=3.8.0 (compatible-release, i.e. >=3.8.0,<3.9.0) and mujoco-warp>=3.8.0.1,~=3.8.0, so a fresh install after a new 3.8.x release could resolve a different patch version than was tested. Since Newton is pinned to an immutable tag (v1.2.0rc2) the constraint itself won't change, but pip will still pick the latest matching patch from PyPI at install time. Worth confirming the team is comfortable trading bit-for-bit reproducibility for deferred version management.

Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!

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@hujc7 hujc7 May 12, 2026 •
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By design — the goal of this change is for Newton to be the single source of truth for these versions, so the loosening from ==3.8.0 to ~=3.8.0 is the trade-off we accept (called out in the PR description). If a specific 3.8.x patch turns out to be incompatible, the right fix is to tighten Newton's own [sim] spec rather than override it here.

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Makes sense — single source of truth in Newton with ~= as the compatibility range is a clean approach. Agreed that tightening upstream is the right lever if a patch breaks things.

],
}

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8 changes: 8 additions & 0 deletions source/isaaclab_physx/changelog.d/jichuanh-drop-mujoco-deps.rst
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@@ -0,0 +1,8 @@
Changed
^^^^^^^

* Switched the Newton install spec to ``newton[sim]`` in the ``newton``
extra so the MuJoCo solver dependencies are pulled in transitively.
Required because pip resolves a git-URL requirement once for the URL;
a bare ``newton @ git+...`` here would shadow the ``[sim]`` extra
requested elsewhere.
2 changes: 1 addition & 1 deletion source/isaaclab_physx/setup.py
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Expand Up @@ -20,7 +20,7 @@

EXTRAS_REQUIRE = {
"newton": [
"newton==1.2.0rc3",
"newton[sim] @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
],
}

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8 changes: 8 additions & 0 deletions source/isaaclab_visualizers/changelog.d/jichuanh-drop-mujoco-deps.rst
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Changed
^^^^^^^

* Switched the Newton install spec to ``newton[sim]`` in the ``newton``,
``rerun``, and ``viser`` extras so the MuJoCo solver dependencies are
pulled in transitively. Required because pip resolves a git-URL
requirement once for the URL; a bare ``newton @ git+...`` here would
shadow the ``[sim]`` extra requested elsewhere.
13 changes: 10 additions & 3 deletions source/isaaclab_visualizers/setup.py
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Expand Up @@ -13,20 +13,27 @@
"numpy",
]

# Every Newton declaration in the repo must use the SAME extra spec (`newton[sim]`).
# Pip resolves a git-URL requirement once per URL: if any package declares bare
# `newton @ git+...` while another declares `newton[sim] @ git+...`, the first
# resolution wins and silently drops the `[sim]` extra. That breaks `isaaclab_newton`
# at import time because `mujoco` / `mujoco-warp` go missing. So even the rerun/viser
# extras — which don't use the MuJoCo solver directly — must pin `newton[sim]` to
# stay consistent with `isaaclab_newton`.
EXTRAS_REQUIRE = {
"kit": [],
"newton": [
"warp-lang",
"newton==1.2.0rc3",
"newton[sim] @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
"PyOpenGL-accelerate",
"imgui-bundle>=1.92.5",
],
"rerun": [
"newton==1.2.0rc3",
"newton[sim] @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
"rerun-sdk>=0.29.0",
],
"viser": [
"newton==1.2.0rc3",
"newton[sim] @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
"viser>=1.0.16",
],
Comment on lines +32 to 38
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@greptile-apps greptile-apps Bot May 11, 2026

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P2 rerun and viser extras now force-install MuJoCo

Before this PR the rerun and viser extras pulled in bare newton (no MuJoCo). After, they request newton[sim], so users who install only isaaclab_visualizers[rerun] or isaaclab_visualizers[viser] will now also download mujoco and mujoco-warp — packages those visualization backends do not use directly. The PR description gives a valid pip-deduplication rationale (a bare newton @ git+URL elsewhere could shadow the [sim] extras), but it is worth documenting in the changelog or a comment why visualization-only extras now carry the full MuJoCo install.

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@hujc7 hujc7 May 12, 2026

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Added a block comment above EXTRAS_REQUIRE explaining why even the rerun/viser extras pin newton[sim]. tl;dr: pip resolves a git-URL requirement once per URL, so a bare newton @ git+... here would shadow the [sim] extra requested by isaaclab_newton and silently break installs. Forcing [sim] everywhere is what keeps the resolution consistent — the cost is that rerun/viser-only installs carry a mujoco install they don't use, which we accept.

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TIL about pip deduplicating git-URL requirements — that explains the necessity well. The added comment should save future readers the same question. 👍

}
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4 changes: 1 addition & 3 deletions tools/wheel_builder/res/python_packages.toml
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Expand Up @@ -84,9 +84,7 @@ pyproject.optional-dependencies.all = [
# ================================================================================
{ "newton" = [
"warp-lang==1.13.0",
"mujoco==3.8.0",
"mujoco-warp==3.8.0.2",
"newton==1.2.0rc3",
"newton[sim] @ git+https://github.com/newton-physics/newton.git@v1.2.0rc2",
"PyOpenGL-accelerate==3.1.10"
] },
# ================================================================================
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