[Newton] Pin use_coord_layout_targets = False

[camevor]

Description

Pin use_coord_layout_targets = False to enable migration to Newton 1.6

Newton added a config use_coord_layout_targets in newton-physics/newton/#3617. The default will flip in Newton 1.6, so this change preserves the existing behavior.

Type of change

• Bug fix (non-breaking change which fixes an issue)

Release backport

• Backport this pull request to the active release branch after it merges into develop

Screenshots

Please attach before and after screenshots of the change if applicable.

Checklist

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• 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 added a changelog fragment under source/<pkg>/changelog.d/ for every touched package (do not edit CHANGELOG.rst or bump extension.toml — CI handles that)
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[isaaclab-review-bot]

Isaac Lab Review Bot

The PR explicitly pins Newton’s process-global joint-target layout to the existing DOF-based behavior in both relevant package import paths and adds a focused floating-base regression test that distinguishes coordinate and DOF layouts.

• Design and architecture: The import-time assignment runs before model construction initiated through either integration path. Duplicating the pin across isaaclab.actuators.newton and isaaclab_newton is a deliberate compatibility measure, with the non-blocking maintenance tradeoff that both sites must be removed together during migration to coordinate-layout targets.
• API: No Isaac Lab public symbols, signatures, exports, or return types change. The pin intentionally preserves the existing target-array compatibility contract across Newton’s upcoming default change, and .skip fragments cover both touched packages.
• Implementation: Both assignments occur before the packages import model-related integration modules. The regression test constructs an articulation containing a free joint, confirms coordinate and DOF counts differ, and verifies joint_target_q remains DOF-sized. A residual maintenance risk is that Newton may eventually remove the deprecated flag, at which point the test remains important for detecting lost behavior.

No blocking issues. No inline issue met the actionable-evidence threshold; the assessment above records the review feedback.

Automated review; human maintainers own approval decisions.

[greptile-apps]

Greptile Summary

Pins Newton’s joint-position target storage to the existing per-DOF layout before model construction, preserving compatibility when Newton 1.6 changes its default.

• Applies the compatibility pin at both Newton integration entry points.
• Adds a floating-base model test that distinguishes coordinate and DOF target layouts.
• Adds skip changelog fragments for both touched packages.

Confidence Score: 5/5

The PR appears safe to merge, with the compatibility pin applied before supported Isaac Lab model-building paths and a focused regression test covering the intended layout.

The changed initializers preserve the per-DOF target layout expected by actuator consumers, and the reviewed import chains apply the pin before Newton models are constructed.

Important Files Changed

Filename	Overview
source/isaaclab/isaaclab/actuators/newton/init.py	Applies the Newton target-layout compatibility pin when the shared Newton actuator integration is imported.
source/isaaclab_newton/isaaclab_newton/init.py	Applies the compatibility pin at the Newton backend package entry point before backend model construction.
source/isaaclab_newton/test/physics/test_joint_target_layout.py	Verifies that a floating-base articulation retains DOF-shaped joint-position targets after package import.

_{Reviews (1): Last reviewed commit: "[Newton] Pin `use_coord_layout_targets =..." | Re-trigger Greptile}