[Newton] Newton beta 1.1 (#3508)

Last batch of changes for Newton Beta 1.1

Author: AntoineRichard

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

@@ -1380,8 +1380,8 @@ def _initialize_impl(self):
         generated_pose[:, :2] += wp.to_torch(self._root_newton_view.get_root_transforms(NewtonManager.get_model()))[
             :, :2
         ]
-        self._root_newton_view.set_root_transforms(NewtonManager.get_state_0(), generated_pose, mask=self._ALL_INDICES)
-        self._root_newton_view.set_root_transforms(NewtonManager.get_model(), generated_pose, mask=self._ALL_INDICES)
+        self._root_newton_view.set_root_transforms(NewtonManager.get_state_0(), generated_pose)
+        self._root_newton_view.set_root_transforms(NewtonManager.get_model(), generated_pose)
 
     def _create_buffers(self):
         # constants

source/isaaclab/setup.py

@@ -50,7 +50,7 @@
     "usd-core==25.05.0",
     "mujoco>=3.3.6.dev803126923",
     "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp.git@64bb938f87b6aaf840753ef9ddc198db655020c0",
-    "newton @ git+https://github.com/newton-physics/newton.git@beta-1-0",
+    "newton @ git+https://github.com/newton-physics/newton.git@beta-1-1",
     "imgui-bundle==1.92.0",
 ]
 

source/isaaclab_assets/isaaclab_assets/robots/allegro.py

@@ -29,7 +29,7 @@
     spawn=sim_utils.UsdFileCfg(
         usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/WonikRobotics/AllegroHand/allegro_hand_instanceable.usd",
         articulation_props=sim_utils.ArticulationRootPropertiesCfg(
-            enabled_self_collisions=False,
+            enabled_self_collisions=True,
         ),
     ),
     init_state=ArticulationCfg.InitialStateCfg(