Upgrade newton

[huidongc]

Description

This PR upgrades the Newton physics library to git commit a27277, pins mujoco and mujoco-warp to 3.6.0, and refreshes four Dexsuite Kuka golden images that changed because the new Newton version now correctly honors prim visibility in the Warp renderer.

Fixes # (issue)

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (existing functionality will not work without user modification)
• Documentation update

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[greptile-apps]

Greptile Summary

This PR upgrades the Newton physics library to git commit a27277ed49d6f307b8a1e4c394be7e1d14965a62, bumps versions for isaaclab_newton (0.5.17→0.5.18) and isaaclab_tasks (1.5.22→1.5.23), and refreshes four Dexsuite Kuka golden images that changed because the new Newton version now correctly honors prim visibility in the Warp renderer.

Confidence Score: 5/5

Safe to merge — straightforward dependency upgrade with consistent hash, aligned version bumps, and refreshed golden image baselines.

All newton references in both setup.py files point to the same new commit hash, version numbers and changelogs are consistent, and golden images are documented as intentional baseline refreshes. No logic changes, no new code paths, no security concerns.

No files require special attention.

Important Files Changed

Filename	Overview
source/isaaclab_newton/setup.py	Newton dependency updated from previous commit hash to a27277ed49d6f307b8a1e4c394be7e1d14965a62; both extras_require entries are consistent.
source/isaaclab_visualizers/setup.py	Newton dependency updated to the same commit hash as isaaclab_newton/setup.py across all three extras groups (newton, rerun, viser).
source/isaaclab_newton/config/extension.toml	Version bumped to 0.5.18, consistent with CHANGELOG entry.
source/isaaclab_tasks/config/extension.toml	Version bumped to 1.5.23, consistent with CHANGELOG entry.
source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-newton_renderer-rgb.png	Golden image refreshed to reflect new Newton Warp renderer behavior (prim visibility now honored).

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A["PR: Upgrade Newton\n(commit a27277ed)"] --> B["source/isaaclab_newton/setup.py\nextras_require newton pin updated"]
    A --> C["source/isaaclab_visualizers/setup.py\nnewton, rerun, viser extras updated"]
    A --> D["Version bumps\nisaaclab_newton 0.5.17→0.5.18\nisaaclab_tasks 1.5.22→1.5.23"]
    A --> E["Golden images refreshed\ndexsuite_kuka (4 PNGs)\nNewton Warp renderer now\nhonors prim visibility"]
    B --> F["Consistent hash\na27277ed across both setup.py files"]
    C --> F

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_{Reviews (3): Last reviewed commit: "change log and version" | Re-trigger Greptile}

[isaaclab-review-bot]

🤖 Isaac Lab Review Bot

Summary

This PR upgrades the Newton physics library dependency from commit 2684d75 to a27277e (88 commits ahead). The updated golden test images reflect visual changes from the new Newton version. The change is straightforward — a dependency pin update with corresponding test baseline refresh.

Architecture Impact

No cross-module impact beyond the dependency update. All four locations referencing the Newton git URL (isaaclab_newton/setup.py and three extras in isaaclab_visualizers/setup.py) are consistently updated to the same commit SHA.

Implementation Verdict

Minor fixes needed — The implementation is correct, but the PR is missing required documentation updates per project conventions.

Test Coverage

The golden image updates serve as visual regression tests for the Newton renderer integration. No new code paths are introduced, so no additional unit tests are required. The updated baselines correctly reflect expected rendering changes from the Newton upgrade.

CI Status

Most checks passing ✅. Docker image builds are pending but not blocking. Pre-commit, license, docs, and installation tests all pass.

Findings

🟡 Warning: Missing CHANGELOG entry
Per the PR checklist and project conventions, dependency version upgrades should be documented in the CHANGELOG. The source/isaaclab_newton/docs/CHANGELOG.rst should include an entry noting the Newton dependency upgrade from 2684d75 to a27277e. This is a significant upgrade (88 commits) that may affect simulation behavior.

Suggested addition to CHANGELOG.rst under a new version bump or current unreleased section:

Changed
^^^^^^^

* Upgraded Newton physics library dependency from ``2684d75`` to ``a27277e``
  (88 commits). Includes collision improvements, contact quality fixes,
  hydroelastic contact optimization, and memory usage fixes in CollisionPipeline.
  See `Newton changelog <https://github.com/newton-physics/newton>`_ for details.

🟡 Warning: PR description is template boilerplate
The PR description still contains the default template text ("Please include a summary of the change..."). A clear description explaining the Newton upgrade and any notable changes from the 88 upstream commits would help reviewers and future archaeology.

🔵 Improvement: Consider bumping extension version
If this Newton upgrade introduces any user-visible behavior changes (which is likely given 88 commits including collision and contact improvements), consider bumping the isaaclab_newton version in config/extension.toml from 0.5.17 to 0.5.18. The CHANGELOG already has entries up to 0.5.17.

[AntoineRichard]

This is a serious bump, MJWarp would need to be increased to 3.6 to match newton's own pin.

[AntoineRichard]

Update MJWARP and Mujoco deps

code review request resolved