[Newton] Bump Newton pin to v1.2.0rc3

[hujc7]

Summary

Bumps the Newton pin to v1.2.0rc3, keeping the canonical newton[sim] @ git+... form across all five pin sites.

Restores the bump that was briefly active on develop between isaac-sim/IsaacLab#5024 and isaac-sim/IsaacLab#5566 — isaac-sim/IsaacLab#5024 silently moved the pin to newton==1.2.0rc3 (PyPI form, dropping the [sim] extra), and isaac-sim/IsaacLab#5566 reverted it back to newton[sim] @ git+...@v1.2.0rc2. This PR brings rc3 back, this time with the proper [sim] extra preserved everywhere.

What's new in Newton v1.2.0rc3 vs v1.2.0rc2

Notable upstream fixes:

• newton-physics/newton#2651 — MPR/GJK no longer assumes convex hulls are centered around the origin (affects rigid-body contact computation for off-center hulls).
• newton-physics/newton#2703 — Kamino FK solver performance improvements.
• newton-physics/newton#2721 — HDR color output for tiled camera sensors.
• SolverMuJoCo fixes: planar meshes, contact-anchor computation, distance conversion.
• Per-mesh color and PBR overrides in log_mesh (newton-physics/newton#2628) — rerun viewer.

Required dep bumps

None on the IsaacLab side. Since isaac-sim/IsaacLab#5566 dropped IsaacLab's explicit mujoco / mujoco-warp pins, the mjwarp 3.8.0.1 → 3.8.0.2 bump in rc3 flows in transitively through newton[sim] with no IsaacLab-side change.

warp-lang stays at 1.13.0 (set by isaac-sim/IsaacLab#5523).

Pins updated

File	Change
source/isaaclab_newton/setup.py	v1.2.0rc2 → v1.2.0rc3
source/isaaclab_physx/setup.py	v1.2.0rc2 → v1.2.0rc3
source/isaaclab_visualizers/setup.py	3× v1.2.0rc2 → v1.2.0rc3
tools/wheel_builder/res/python_packages.toml	v1.2.0rc2 → v1.2.0rc3

Test plan

• Pre-commit clean.
• CI smoke verifies clean install picks up newton 1.2.0rc3 and downstream mjwarp 3.8.0.2.

Caveat

This is a version-string-only bump — no IsaacLab-side code adapts were needed. If any rc3 behavioral change (MPR/GJK convex-hull fix, SolverMuJoCo contact-anchor fix) surfaces a regression in scenes with off-center convex meshes or planar collision, those would need follow-up tracking.

Alternative: isaac-sim/IsaacLab#5616 bumps directly to v1.2.0rc4 — pick whichever target based on CI signal.

[greptile-apps]

Greptile Summary

This PR bumps the Newton dependency pin from v1.2.0rc2 to v1.2.0rc3 across all five pin sites in the repository, preserving the newton[sim] @ git+... form that ensures the MuJoCo/mujoco-warp extras are correctly resolved at install time.

• Five pin sites updated consistently: isaaclab_newton/setup.py, isaaclab_physx/setup.py, isaaclab_visualizers/setup.py (three extras), and tools/wheel_builder/res/python_packages.toml — all now reference v1.2.0rc3.
• Changelog entries added for isaaclab, isaaclab_newton, isaaclab_physx, and isaaclab_visualizers, documenting the upstream fixes included in rc3 (MPR/GJK convex-hull fix, Kamino FK performance, HDR tiled camera, SolverMuJoCo fixes, and the transitive mjwarp 3.8.0.1 → 3.8.0.2 bump).

Confidence Score: 5/5

Safe to merge — all five Newton pin sites are updated consistently to v1.2.0rc3 using the correct newton[sim] git-URL form.

The change is purely mechanical version-string replacements across five files, with no IsaacLab-side code changes. All pin sites use the same git-URL and [sim] extra, changelog entries are present and accurate, and the PR description thoroughly explains the history and motivation.

No files require special attention. The wheel_builder TOML and all three setup.py files are in sync.

Important Files Changed

Filename	Overview
source/isaaclab_newton/setup.py	Single-line version bump from v1.2.0rc2 to v1.2.0rc3, preserving the newton[sim] extra and git-URL form.
source/isaaclab_physx/setup.py	Single-line version bump from v1.2.0rc2 to v1.2.0rc3 in the [newton] extra, consistent with other pin sites.
source/isaaclab_visualizers/setup.py	Three newton[sim] pins (newton, rerun, viser extras) each bumped from v1.2.0rc2 to v1.2.0rc3, all consistent.
tools/wheel_builder/res/python_packages.toml	Wheel-builder newton[sim] pin bumped from v1.2.0rc2 to v1.2.0rc3, keeping it in sync with the setup.py files.
source/isaaclab/changelog.d/jichuanh-newton-1.2.0rc3-bump.minor.rst	New changelog entry documenting the rc3 bump and the transitive mjwarp 3.8.0.1 to 3.8.0.2 change.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A["newton[sim] @ git+...@v1.2.0rc3"]
    A --> B["isaaclab_newton/setup.py - all extra"]
    A --> C["isaaclab_physx/setup.py - newton extra"]
    A --> D["isaaclab_visualizers/setup.py - newton extra"]
    A --> E["isaaclab_visualizers/setup.py - rerun extra"]
    A --> F["isaaclab_visualizers/setup.py - viser extra"]
    A --> G["tools/wheel_builder/res/python_packages.toml"]
    A --> H["mujoco-warp 3.8.0.2 - transitive via newton[sim]"]
    H --> I["No IsaacLab-side pin change needed"]

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_{Reviews (1): Last reviewed commit: "Bump Newton pin to v1.2.0rc3" | Re-trigger Greptile}

[isaaclab-review-bot]

🤖 Automated Code Review — PR #5614

Summary

This PR bumps the Newton physics engine pin from v1.2.0rc2 to v1.2.0rc3 across all 5 declaration sites, maintaining the canonical newton[sim] @ git+... form. This is a version-string-only change with no IsaacLab code modifications.

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✅ Review Status

All checks pass. The changelog fragment naming issue from the initial commit was resolved in the follow-up commit.

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📦 Dependency Changes

File	Change
isaaclab_newton/setup.py	v1.2.0rc2 → v1.2.0rc3
isaaclab_physx/setup.py	v1.2.0rc2 → v1.2.0rc3
isaaclab_visualizers/setup.py	v1.2.0rc2 → v1.2.0rc3 (3 extras: newton, rerun, viser)
tools/wheel_builder/res/python_packages.toml	v1.2.0rc2 → v1.2.0rc3

Transitive dependency: mjwarp upgrades from 3.8.0.1 → 3.8.0.2 via newton[sim].

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✅ Architecture Review

Aspect	Status	Notes
Pin Consistency	✅ Pass	All 5 Newton pin locations updated consistently
[sim] Extra Preserved	✅ Pass	Correctly maintains newton[sim] @ git+... form
Changelog Fragments	✅ Pass	Properly added with dot-free slug naming
Cross-module Sync	✅ Pass	PhysX [newton] extra matches isaaclab_newton pin

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⚠️ Behavioral Change Awareness

The PR description correctly documents upstream rc3 changes that may affect simulation behavior:

1. MPR/GJK convex-hull centering (newton#2651) — Contact computation for off-center convex meshes now handles non-origin-centered hulls correctly
2. SolverMuJoCo fixes — Planar mesh handling, contact-anchor computation, and distance conversion improvements
3. Kamino FK performance (newton#2703) — Forward kinematics solver optimizations
4. HDR tiled camera (newton#2721) — HDR color output support for tiled camera sensors

These are upstream improvements, but scenes relying on previous (incorrect) behavior for off-center convex meshes may need adjustment. The author appropriately flags this in the caveat section.

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📋 CI Status

• ✅ Build Wheel
• ✅ Check changelog fragments
• ✅ Check for Broken Links
• ✅ Installation Tests
• ✅ Pre-commit
• ⏳ License check (pending)
• ⏳ Docker builds (pending)

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📝 Final Assessment

Verdict: Ready to merge once pending CI checks complete.

This is a clean dependency version bump with:

• Consistent pin updates across all declaration sites
• Proper [sim] extra preservation (avoiding the #5024 regression)
• Complete changelog documentation
• Clear communication of behavioral change risks

No IsaacLab code changes required — the upstream fixes flow through cleanly.

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Update (019ec00): ✅ Reviewed incremental changes. The new commits add comprehensive changelog fragments for all affected packages (isaaclab, isaaclab_newton, isaaclab_physx, isaaclab_visualizers) with proper dot-free slug naming. Documentation is thorough, including upstream PR links and transitive mjwarp bump details. No new concerns — LGTM.

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Update (3803363): ✅ Force-push squashed prior commits into a single clean commit. No functional changes from previous review — same version bumps and changelog fragments. LGTM.