[Newton] Tighten reward thresholds in tests and update to latest newton.

source/isaaclab/isaaclab/assets/articulation/articulation_data.py

@@ -50,9 +50,7 @@ def __init__(self, root_newton_view, device: str):
         self._sim_timestamp = 0.0
 
         # obtain global simulation view
-        gravity = NewtonManager.get_model().gravity
-        # Convert to direction vector
-        gravity_dir = torch.tensor((gravity[0], gravity[1], gravity[2]), device=self.device)
+        gravity_dir = wp.to_torch(NewtonManager.get_model().gravity)
         gravity_dir = math_utils.normalize(gravity_dir.unsqueeze(0)).squeeze(0)
 
         # Initialize constants

source/isaaclab/isaaclab/sim/_impl/newton_manager.py

@@ -133,7 +133,7 @@ def start_simulation(cls) -> None:
         for callback in NewtonManager._on_init_callbacks:
             callback()
         print(f"[INFO] Finalizing model on device: {NewtonManager._device}")
-        NewtonManager._builder.gravity = np.array(NewtonManager._gravity_vector)
+        NewtonManager._builder.gravity = np.array(NewtonManager._gravity_vector)[-1]
         NewtonManager._builder.up_axis = Axis.from_string(NewtonManager._up_axis)
         with Timer(name="newton_finalize_builder", msg="Finalize builder took:", enable=True, format="ms"):
             NewtonManager._model = NewtonManager._builder.finalize(device=NewtonManager._device)

source/isaaclab/isaaclab/sim/_impl/newton_viewer.py

@@ -16,6 +16,7 @@
 from __future__ import annotations
 
 import newton as nt
+import warp as wp
 from newton.viewer import ViewerGL
 
 
@@ -150,7 +151,7 @@ def _render_left_panel(self):
                     imgui.text(f"Environments: {self.model.num_envs}")
                     axis_names = ["X", "Y", "Z"]
                     imgui.text(f"Up Axis: {axis_names[self.model.up_axis]}")
-                    gravity = self.model.gravity
+                    gravity = wp.to_torch(self.model.gravity)[0]
                     gravity_text = f"Gravity: ({gravity[0]:.2f}, {gravity[1]:.2f}, {gravity[2]:.2f})"
                     imgui.text(gravity_text)
 

source/isaaclab/setup.py

@@ -48,9 +48,9 @@
     "flatdict==4.0.1",
     # newton
     "usd-core==25.05.0",
-    "mujoco>=3.3.6.dev802089588",
-    "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp.git@64bb938f87b6aaf840753ef9ddc198db655020c0",
-    "newton @ git+https://github.com/newton-physics/newton.git@beta-1-1",
+    "mujoco>=3.3.7.dev811775910",
+    "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp.git@df3d9faac49bf004b26a85d71e339ddb8e6e94f3",
+    "newton @ git+https://github.com/newton-physics/newton.git@6461b0a7405d805a334bceb7834cf9abf3847f94",
     "imgui-bundle==1.92.0",
     "PyOpenGL-accelerate==3.1.10",
 ]

source/isaaclab_tasks/test/benchmarking/configs.yaml

@@ -42,7 +42,7 @@ fast:
   rsl_rl:Isaac-Humanoid-Direct-v0:
     max_iterations: 500
     lower_thresholds:
-      reward: 600
+      reward: 6000
       episode_length: 500
     upper_thresholds:
       duration: 500
@@ -56,14 +56,14 @@ fast:
   rsl_rl:Isaac-Velocity-Flat-G1-v0:
     max_iterations: 500
     lower_thresholds:
-      reward: 15
+      reward: 20
       episode_length: 700
     upper_thresholds:
       duration: 3000
   rsl_rl:Isaac-Velocity-Flat-H1-v0:
     max_iterations: 500
     lower_thresholds:
-      reward: 15
+      reward: 25
       episode_length: 700
     upper_thresholds:
       duration: 3000

source/isaaclab_tasks/test/benchmarking/conftest.py

@@ -44,6 +44,11 @@ def pytest_addoption(parser):
         default="",
         help="Optional tag to add to the KPI payload for filtering on the Grafana dashboard.",
     )
+    parser.addoption(
+        "--disable_duration_check",
+        action="store_true",
+        help="Disable the duration check for the test.",
+    )
 
 
 @pytest.fixture
@@ -71,6 +76,11 @@ def save_kpi_payload(request):
     return request.config.getoption("--save_kpi_payload")
 
 
+@pytest.fixture
+def disable_duration_check(request):
+    return request.config.getoption("--disable_duration_check")
+
+
 @pytest.fixture
 def tag(request):
     return request.config.getoption("--tag")

source/isaaclab_tasks/test/benchmarking/test_environments_training.py

@@ -76,7 +76,7 @@ def train_job(workflow, task, env_config, num_gpus):
 
 
 @pytest.mark.parametrize("task_spec", setup_environment())
-def test_train_environments(workflow, task_spec, config_path, mode, num_gpus, kpi_store):
+def test_train_environments(workflow, task_spec, config_path, mode, num_gpus, kpi_store, disable_duration_check):
     """Train environments provided in the config file, save KPIs, and evaluate against thresholds"""
     # Skip if workflow not supported for this task
     if workflow + "_cfg_entry_point" not in task_spec.kwargs:
@@ -103,7 +103,7 @@ def test_train_environments(workflow, task_spec, config_path, mode, num_gpus, kp
 
     print(f">>> Evaluating trained: {job_name}")
     # Check if training logs were output and all thresholds passed
-    kpi_payload = utils.evaluate_job(workflow, task, env_config, duration)
+    kpi_payload = utils.evaluate_job(workflow, task, env_config, duration, disable_duration_check)
 
     success_flag = kpi_payload["success"]
     print(f">>> Trained {job_name} success flag: {success_flag}.")

source/isaaclab_tasks/test/benchmarking/test_utils.py

@@ -51,7 +51,7 @@ def get_env_config(env_configs, mode, workflow, task):
     return None
 
 
-def evaluate_job(workflow, task, env_config, duration):
+def evaluate_job(workflow, task, env_config, duration, disable_duration_check=False):
     """Evaluate the job."""
     log_data = _retrieve_logs(workflow, task)
 
@@ -64,6 +64,8 @@ def evaluate_job(workflow, task, env_config, duration):
         return kpi_payload
 
     thresholds = {**env_config.get("lower_thresholds", {}), **env_config.get("upper_thresholds", {})}
+    if disable_duration_check:
+        thresholds.pop("duration", None)
 
     # evaluate all thresholds from the config
     for threshold_name, threshold_val in thresholds.items():