mataylor-nvidia · pull · Sep 17, 2026 · Sep 17, 2026
diff --git a/source/isaaclab/changelog.d/bump-newton-1-6-release.rst b/source/isaaclab/changelog.d/bump-newton-1-6-release.rst
diff --git a/source/isaaclab/changelog.d/pin-published-torch.rst b/source/isaaclab/changelog.d/pin-published-torch.rst
diff --git a/source/isaaclab/changelog.d/upgrade-starlette-1-3.rst b/source/isaaclab/changelog.d/upgrade-starlette-1-3.rst
diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst
@@ -1,6 +1,24 @@
 Changelog
 ---------
 
+24.2.3 (2026-09-17)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed the pinned Newton version from ``1.6.0rc1`` to the final ``1.6.0`` release. No user
+  action is required; new environments now resolve the stable release instead of the release candidate.
+
+Fixed
+^^^^^
+
+* Updated Starlette to 1.3.1 or newer to address current security advisories and aligned aiohttp with the
+  Isaac Sim 6.1 dependency selection. No migration is required.
+* Pinned the PyTorch stack in the published package dependencies so downstream projects no
+  longer selected newer, untested builds when installing the Isaac Lab wheel.
+
+
 24.2.2 (2026-09-16)
 ~~~~~~~~~~~~~~~~~~~
 

diff --git a/source/isaaclab/pyproject.toml b/source/isaaclab/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab"
-version = "24.2.2"
+version = "24.2.3"
 description = "Extension providing main framework interfaces and abstractions for robot learning."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]

diff --git a/source/isaaclab_assets/changelog.d/fix-newton-ball-joint-dof-space.rst b/source/isaaclab_assets/changelog.d/fix-newton-ball-joint-dof-space.rst
diff --git a/source/isaaclab_assets/docs/CHANGELOG.rst b/source/isaaclab_assets/docs/CHANGELOG.rst
@@ -1,6 +1,17 @@
 Changelog
 ---------
 
+0.8.2 (2026-09-17)
+~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed :obj:`~isaaclab_assets.robots.agility.DIGIT_V4_CFG` to disable colliders on the
+  RealSense camera mount's decoration meshes and to split actuators into a stable-armature and a
+  low-armature group, matching what the Digit velocity tasks previously configured per-task.
+
+
 0.8.1 (2026-09-11)
 ~~~~~~~~~~~~~~~~~~
 

diff --git a/source/isaaclab_assets/pyproject.toml b/source/isaaclab_assets/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab_assets"
-version = "0.8.1"
+version = "0.8.2"
 description = "Extension containing configuration instances of different assets and sensors."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]

diff --git a/source/isaaclab_newton/changelog.d/fix-newton-graph-coloring-hang.rst b/source/isaaclab_newton/changelog.d/fix-newton-graph-coloring-hang.rst
diff --git a/source/isaaclab_newton/changelog.d/hehu-newton-ball-joint-dof-space.rst b/source/isaaclab_newton/changelog.d/hehu-newton-ball-joint-dof-space.rst
diff --git a/source/isaaclab_newton/docs/CHANGELOG.rst b/source/isaaclab_newton/docs/CHANGELOG.rst
@@ -1,6 +1,30 @@
 Changelog
 ---------
 
+6.3.1 (2026-09-17)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed :attr:`~isaaclab_newton.assets.articulation.articulation_data.ArticulationData.joint_pos`
+  exposing Newton's ``joint_q`` -- joint *coordinate* space -- rather than DOF positions. A ball
+  joint occupies 4 quaternion components against 3 DOFs, so on an articulation containing one the
+  array was wider than ``num_joints`` while ``joint_names``, ``joint_vel``, ``default_joint_pos``
+  and the joint gains stayed in DOF space, and every consumer indexing them with the same joint ids
+  read a different joint past the first ball joint. Added
+  :class:`~isaaclab_newton.assets.articulation.joint_coordinates.JointCoordinateMap`, which converts
+  between the two spaces on read and on write. Articulations whose joints all have one coordinate
+  per DOF keep the existing zero-copy view and are unaffected.
+
+* Fixed joint position targets being written in DOF space into Newton's coordinate-layout
+  ``joint_target_q``. That array follows ``newton.use_coord_layout_targets``, which defaults to
+  ``True`` from Newton 1.6, so on a ball-jointed articulation the actuators were writing 50 DOF
+  targets into a 56-wide coordinate array. Targets now go through a DOF-shaped staging buffer and
+  the same coordinate map.
+* Prevented Newton VBD initialization from hanging in Warp's graph-color balancing pass.
+
+
 6.3.0 (2026-09-11)
 ~~~~~~~~~~~~~~~~~~
 

diff --git a/source/isaaclab_newton/pyproject.toml b/source/isaaclab_newton/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab_newton"
-version = "6.3.0"
+version = "6.3.1"
 description = "Extension providing IsaacLab with Newton specific abstractions."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]

diff --git a/source/isaaclab_ov/changelog.d/fix-ovphysx-static-property-rereads.rst b/source/isaaclab_ov/changelog.d/fix-ovphysx-static-property-rereads.rst
diff --git a/source/isaaclab_ov/changelog.d/ovstage-gpu-hierarchy-computation.rst b/source/isaaclab_ov/changelog.d/ovstage-gpu-hierarchy-computation.rst
diff --git a/source/isaaclab_ov/docs/CHANGELOG.rst b/source/isaaclab_ov/docs/CHANGELOG.rst
@@ -1,6 +1,32 @@
 Changelog
 ---------
 
+3.1.3 (2026-09-17)
+~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed :func:`~isaaclab_ov.stage.create_ovstage` to select the ovstage hierarchy computation
+  model from the installed ovstage version instead of always requesting
+  ``HierarchyComputationModel.CPU_INCREMENTAL``. ovstage 0.2 and later place objects correctly
+  under ``GPU_INCREMENTAL``, which moves world-transform computation off the host; ovstage 0.1
+  keeps the host model. The version is resolved once at import by the new
+  :mod:`isaaclab_ov.ovstage_compat` module. No migration is required: the public extras stay
+  pinned to ``ovstage==0.1.1.355824``, so the host model remains in force until that pin moves,
+  and a missing or unparsable install also keeps the host model.
+
+Fixed
+^^^^^
+
+* Fixed OVPhysX articulation joint properties (stiffness, damping, armature, position/velocity/effort
+  limits, friction) and body mass/inertia being re-read from their CPU-only bindings on every simulation
+  step. These static properties are now read once after invalidation and kept current by the
+  ``write_*`` / ``set_*`` setters. This removes three blocking host round-trips per physics step from the
+  native Newton actuator path, which made it several times slower than the Isaac Lab actuator path on
+  OVPhysX at large environment counts.
+
+
 3.1.2 (2026-09-16)
 ~~~~~~~~~~~~~~~~~~
 

diff --git a/source/isaaclab_ov/pyproject.toml b/source/isaaclab_ov/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab_ov"
-version = "3.1.2"
+version = "3.1.3"
 description = "Extension providing Omniverse rendering and OVPhysX simulation integrations."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]

diff --git a/source/isaaclab_tasks/changelog.d/hehu-digit-newton-velocity-tasks.rst b/source/isaaclab_tasks/changelog.d/hehu-digit-newton-velocity-tasks.rst
diff --git a/source/isaaclab_tasks/changelog.d/maximiliank-franka-soft-newton-physics.rst b/source/isaaclab_tasks/changelog.d/maximiliank-franka-soft-newton-physics.rst
diff --git a/source/isaaclab_tasks/docs/CHANGELOG.rst b/source/isaaclab_tasks/docs/CHANGELOG.rst
@@ -1,6 +1,30 @@
 Changelog
 ---------
 
+20.3.1 (2026-09-17)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added a ``newton_mjwarp`` branch to ``DigitPhysicsCfg``, so the Digit velocity tasks run on the
+  Newton backend with ``presets=newton_mjwarp``. Gated on that preset: ``self_collision_enabled``
+  (the asset authors ``enabledSelfCollisions=False`` and ``DIGIT_V4_CFG`` sets no
+  ``articulation_props``, so Newton filters all 253 intra-articulation shape pairs). An armature
+  floor for the ten joints below MJWarp's observed stability threshold (expressed as a second
+  actuator group) and ``entropy_coef = 0.005`` apply on **both** backends, consistent with #7607's
+  direction of not special-casing PhysX for values that do not hurt it there.
+
+Fixed
+^^^^^
+
+* Fixed 32 ``CollisionAPI`` prims on Digit's RealSense camera decoration meshes -- glass, USB-C and
+  case halves -- becoming collision shapes. This applies on **both** backends, so the PhysX contact
+  behaviour of the Digit tasks changes: those 32 shapes no longer collide.
+* Fixed Franka deformable lift tasks to select the Menagerie robot's MuJoCo physics payload under
+  Newton while retaining its PhysX payload for PhysX presets.
+
+
 20.3.0 (2026-09-12)
 ~~~~~~~~~~~~~~~~~~~
 

diff --git a/source/isaaclab_tasks/pyproject.toml b/source/isaaclab_tasks/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab_tasks"
-version = "20.3.0"
+version = "20.3.1"
 description = "Extension containing suite of environments for robot learning."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]