Bump mujoco-warp to 3.10.0.3 (#3635)

Co-authored-by: Viktor Reutskyy <vreutskyy@nvidia.com>

Author: adenzler-nvidia

asv.conf.json

@@ -16,7 +16,7 @@
   "build_command": ["python -m build --wheel -o {build_cache_dir} {build_dir}"],
   "install_command": [
     "in-dir={env_dir} python -m pip install {wheel_file}[dev] --extra-index-url=https://pypi.nvidia.com/",
-    "in-dir={env_dir} python -m pip install {wheel_file}[sim] warp-lang==1.16.0.dev20260716 mujoco==3.10.0 mujoco-warp==3.10.0.2 --extra-index-url=https://pypi.nvidia.com/",
+    "in-dir={env_dir} python -m pip install {wheel_file}[sim] warp-lang==1.16.0.dev20260716 mujoco==3.10.0 mujoco-warp==3.10.0.3 --extra-index-url=https://pypi.nvidia.com/",
     "python -m pip install torch==2.10.0+cu130 --index-url https://download.pytorch.org/whl/cu130"
   ]
 }

newton/tests/test_menagerie_mujoco.py

@@ -644,8 +644,6 @@ def compare_mass_matrix_layouts(
     np.testing.assert_array_equal(newton_model.M_fullm_i.numpy(), native_model.M_fullm_i.numpy())
     np.testing.assert_array_equal(newton_model.M_fullm_j.numpy(), native_model.M_fullm_j.numpy())
 
-    newton_simple = newton_model.qLD_dof_simple.numpy().astype(bool)
-    native_simple = native_model.qLD_dof_simple.numpy().astype(bool)
     newton_mass = newton_data.M.numpy()
     native_mass = native_data.M.numpy()
 
@@ -655,11 +653,9 @@ def compare_mass_matrix_layouts(
         if newton_entries.keys() == native_entries.keys():
             continue
 
-        assert newton_simple[row] != native_simple[row], (
-            f"DOF {row}: different mass-matrix layouts are not explained by simple-body classification"
-        )
-
-        if newton_simple[row]:
+        # A simple (diagonal-only) row on one side may be stored expanded on the
+        # other; any other layout difference is a real mismatch.
+        if newton_entries.keys() == {row}:
             simple_entries = newton_entries
             general_entries = native_entries
             general_mass = native_mass
@@ -668,7 +664,7 @@ def compare_mass_matrix_layouts(
             general_entries = newton_entries
             general_mass = newton_mass
 
-        assert set(simple_entries) == {row}, f"DOF {row}: simple mass-matrix row is not diagonal"
+        assert set(simple_entries) == {row}, f"DOF {row}: different mass-matrix layouts and neither row is diagonal"
         assert set(simple_entries) < set(general_entries), f"DOF {row}: general row does not expand simple row"
 
         extra_addresses = [general_entries[column] for column in sorted(general_entries.keys() - simple_entries.keys())]
@@ -2495,7 +2491,9 @@ class TestMenagerie_AnyboticsAnymalC(TestMenagerieMJCF):
 
     robot_folder = "anybotics_anymal_c"
     num_steps = 20
-    dynamics_tolerance = 1e-4
+    # MJWarp 3.10.0.3's compact/full small-block factorization paths produce
+    # deterministic CPU qvel differences up to 1.09e-4 for this model.
+    dynamics_tolerance = 2e-4
     fk_enabled = True
     backfill_model = True