# Description

the camera config was importing `isaaclab_physx.renderers` because the
default render_cfg was set to that config. this PR sets that to
RendererConfig to remove the import, but provides a
get_default_render_config method to the backend_utils to lazily import
the config if needed. this is called __post_init__ on the camera config
to replace the generic config as soon as possible to avoid downstream
issues referencing the renderer config. this action can be moved to the
factory if downstream references are cleaned up.

## Type of change

- Refactor to remove imports in cfg class

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Co-authored-by: nvsekkin <72572910+nvsekkin@users.noreply.github.com>

…ields (isaac-sim#5275)

# Description

Splits IsaacLab's USD-physics cfg classes into solver-common base
classes and backend-specific subclasses, and refactors the writers
(`modify_*_properties`, `spawn_rigid_body_material`) so that schema
application is data-driven rather than hard-coded per-class. Prepares
the schema layer for multi-backend support (PhysX today, Newton/Mjc
next) without polluting base classes with silently-ignored fields or
stamping backend-specific schemas onto prims that didn't opt in.

## Architecture

Two layered concepts:

1. **Per-declaring-class routing.** Each cfg field's USD namespace is
determined by the class that declares it (walking the MRO). Base-class
fields write under `physics:*`; subclass fields write under their own
namespace (`physxRigidBody:*`, etc.). When a
`PhysxRigidBodyPropertiesCfg` instance is written, base fields still go
under `physics:*` because `_usd_namespace` is read from the declaring
class via `__dict__`, not via `getattr` (which would hit the subclass
override).
2. **Per-field exceptions.** Some "universal physics" fields have no USD
path except through a backend-namespaced attribute today (e.g.,
`disable_gravity` only exists at `physxRigidBody:disableGravity`). These
are declared as `_usd_field_exceptions = {applied_schema: (namespace,
[fields...])}` on the base class; the writer applies the exception
schema only when one of the listed fields is non-None.

The single helper `_apply_namespaced_schemas(prim, cfg, cfg_dict)` in
`schemas.py` does both passes for every writer (rigid body, collision,
articulation root, joint drive, mesh collision, rigid-body material).

## Design constraints

**One cfg class per spawner slot.** Spawners (`UsdFileCfg`,
`MeshCuboidCfg`, etc.) carry a single field for each property group:
`rigid_props: RigidBodyBaseCfg | None`, `collision_props:
CollisionBaseCfg | None`, `joint_drive_props: JointDriveBaseCfg | None`,
etc. The user cannot pass two cfgs into the same slot, so the cfg class
hierarchy must be **single-rooted per spawner field** — one base class
per group, with backend-specific subclasses below.

This rules out a "PhysX cfg sits next to a Newton cfg as siblings"
design and drives several placement decisions:

| Constraint | Consequence |
|---|---|
| Universal-physics fields must be reachable from any backend's cfg |
Goes on the **base** class, not a sibling backend cfg. Users on
Newton-only deployments can use `RigidBodyBaseCfg(disable_gravity=True)`
without importing `isaaclab_physx`. |
| A PhysX-namespaced field whose semantics are universal (e.g.,
`disable_gravity`) | Lives on the base but routes to the PhysX namespace
via `_usd_field_exceptions`. The base stays backend-clean; the writer
dispatches the PhysX write only when the field is non-None. |
| Writer logic must not branch on cfg subclass | Every writer is the
same code path regardless of subclass. The cfg metadata
(`_usd_namespace`, `_usd_applied_schema`, `_usd_field_exceptions`)
drives behavior; the writer is a pure data interpreter. |
| Adding a new backend (Newton, Mjc) | Requires a new subclass with its
own `_usd_namespace` / `_usd_applied_schema`. No spawner-side changes,
no writer-side changes, no base-cfg-side changes. |
| A field has multiple USD paths today (one PhysX-namespaced, one
Newton-namespaced) | Belongs on the **PhysX subclass**, not the base. A
future `NewtonArticulationRootPropertiesCfg` will own the same
conceptual field on the Newton side. ("Rule 2" — e.g.,
`enabled_self_collisions`.) |
| A field has only one USD path today, namespaced under PhysX, but the
conceptual quantity is universal | Belongs on the **base** with an
`_usd_field_exceptions` entry. ("Rule 1" — e.g., `disable_gravity`,
`articulation_enabled`, `contact_offset`, `rest_offset`,
`max_joint_velocity`.) When Newton ships its own native attribute, the
exception namespace switches transparently with no API change. |

## Field placement

### Base (solver-common) classes — `physics:*` namespace via
`UsdPhysics.*API`

| Cfg class | Field | USD attribute |
|---|---|---|
| `RigidBodyBaseCfg` | `rigid_body_enabled` | `physics:rigidBodyEnabled`
|
| `RigidBodyBaseCfg` | `kinematic_enabled` | `physics:kinematicEnabled`
|
| `CollisionBaseCfg` | `collision_enabled` | `physics:collisionEnabled`
|
| `MassPropertiesCfg` | `mass` | `physics:mass` |
| `MassPropertiesCfg` | `density` | `physics:density` |
| `RigidBodyMaterialBaseCfg` | `static_friction` |
`physics:staticFriction` |
| `RigidBodyMaterialBaseCfg` | `dynamic_friction` |
`physics:dynamicFriction` |
| `RigidBodyMaterialBaseCfg` | `restitution` | `physics:restitution` |
| `JointDriveBaseCfg` | `drive_type` | `drive:<axis>:physics:type` |
| `JointDriveBaseCfg` | `max_force` | `drive:<axis>:physics:maxForce` |
| `JointDriveBaseCfg` | `stiffness` | `drive:<axis>:physics:stiffness` |
| `JointDriveBaseCfg` | `damping` | `drive:<axis>:physics:damping` |
| `MeshCollisionBaseCfg` | `mesh_approximation_name` |
`physics:approximation` (token) |
| `ArticulationRootBaseCfg` | `fix_root_link` | (synthesizes
`UsdPhysics.FixedJoint`) |

`JointDriveBaseCfg` and `MeshCollisionBaseCfg` use the typed
`UsdPhysics.DriveAPI` / `UsdPhysics.MeshCollisionAPI` accessors at the
writer level (multi-instance namespace and `TfToken` with
`allowedTokens`, respectively); all other base fields flow through the
helper's per-class routing.

### PhysX subclasses — `physx*:*` namespaces, `Physx*API` schemas

| Cfg class | `_usd_namespace` | `_usd_applied_schema` | Adds fields |
|---|---|---|---|
| `PhysxRigidBodyPropertiesCfg` | `physxRigidBody` | `PhysxRigidBodyAPI`
| `linear_damping`, `angular_damping`, `max_linear_velocity`,
`max_angular_velocity`, `max_depenetration_velocity`,
`max_contact_impulse`, `enable_gyroscopic_forces`,
`retain_accelerations`, solver iter counts, sleep / stabilization
thresholds |
| `PhysxCollisionPropertiesCfg` | `physxCollision` | `PhysxCollisionAPI`
| `torsional_patch_radius`, `min_torsional_patch_radius` |
| `PhysxArticulationRootPropertiesCfg` | `physxArticulation` |
`PhysxArticulationAPI` | `enabled_self_collisions`, solver iter counts,
sleep / stabilization thresholds |
| `PhysxJointDrivePropertiesCfg` | `physxJoint` | `PhysxJointAPI` |
(currently empty; reserved for future PhysX-only knobs) |
| `PhysxRigidBodyMaterialCfg` | `physxMaterial` | `PhysxMaterialAPI` |
`compliant_contact_stiffness`, `compliant_contact_damping`,
`friction_combine_mode`, `restitution_combine_mode` |
| `PhysxConvexHullPropertiesCfg` | `physxConvexHullCollision` |
`PhysxConvexHullCollisionAPI` | `hull_vertex_limit`, `min_thickness` |
| `PhysxConvexDecompositionPropertiesCfg` |
`physxConvexDecompositionCollision` |
`PhysxConvexDecompositionCollisionAPI` | hull / voxel / shrink-wrap
tunables |
| `PhysxTriangleMeshPropertiesCfg` | `physxTriangleMeshCollision` |
`PhysxTriangleMeshCollisionAPI` | `weld_tolerance` |
| `PhysxTriangleMeshSimplificationPropertiesCfg` |
`physxTriangleMeshSimplificationCollision` |
`PhysxTriangleMeshSimplificationCollisionAPI` | `simplification_metric`,
`weld_tolerance` |
| `PhysxSDFMeshPropertiesCfg` | `physxSDFMeshCollision` |
`PhysxSDFMeshCollisionAPI` | `sdf_margin`, `sdf_narrow_band_thickness`,
`sdf_resolution`, etc. |

### `_usd_field_exceptions` table

These fields are declared on a *base* class but the only USD path today
goes through a non-base namespace. Each entry says: "if any listed field
on this cfg is non-None, apply the exception schema and write that one
attribute under the exception namespace." All other fields on the cfg
follow the per-declaring-class routing rule.

| Base cfg class | Exception schema | Namespace | Field(s) | Why on the
base |
|---|---|---|---|---|
| `RigidBodyBaseCfg` | `PhysxRigidBodyAPI` | `physxRigidBody` |
`disable_gravity` | Per-body gravity exclusion is universal physics;
PhysX honors per-body, Newton consumes the same attribute via the bridge
resolver (scene-level today; per-body fix is a Newton-side kernel
change, not a cfg-API change) |
| `CollisionBaseCfg` | `PhysxCollisionAPI` | `physxCollision` |
`contact_offset`, `rest_offset` | Collision-pair generation distance and
rest gap are universal physics; Newton importer consumes both via PhysX
bridge to populate `Model.shape_collision_radius` / `_thickness`
(`import_usd.py:2104, 2111`) |
| `ArticulationRootBaseCfg` | `PhysxArticulationAPI` |
`physxArticulation` | `articulation_enabled` | PhysX honors at sim time;
IsaacLab Newton wrapper reads it as a spawn-time guard at
`rigid_object.py:1035`. Universal user-facing intent |
| `JointDriveBaseCfg` | `PhysxJointAPI` | `physxJoint` |
`max_joint_velocity` | Sole USD path to `Model.joint_velocity_limit` in
Newton (no `newton:*` equivalent today). The exception namespace
switches transparently when Newton ships `newton:maxJointVelocity` as a
registered applied API |

When any exception field is non-None, the corresponding `Physx*API`
schema is applied to the prim. When all exception fields are None, no
PhysX schema is stamped — Newton-targeted prims authored from `*BaseCfg`
stay free of PhysX schemas they didn't opt in to.

## Field renames (with deprecation aliases)

To enforce the convention that python `snake_case` cfg field names map
identity-style to USD `camelCase` attribute names, two legacy fields
were renamed. Both keep the old name as a deprecation alias forwarded
via `__post_init__` (emits `DeprecationWarning`, scheduled for removal
in 5.0).

| Old name | New name | USD attribute |
|---|---|---|
| `JointDriveBaseCfg.max_velocity` | `max_joint_velocity` |
`physxJoint:maxJointVelocity` |
| `JointDriveBaseCfg.max_effort` | `max_force` |
`drive:<axis>:physics:maxForce` |

## Type of change

- New feature (non-breaking change which adds functionality)
- Breaking change (existing functionality will not work without user
modification)

The split is non-breaking at the spawner-cfg level — every base-class
type accepts any subclass via polymorphism, and every legacy
`RigidBodyPropertiesCfg` / `JointDrivePropertiesCfg` /
`CollisionPropertiesCfg` / `ArticulationRootPropertiesCfg` /
`MeshCollisionPropertiesCfg` / `RigidBodyMaterialCfg` /
`FixedTendonPropertiesCfg` / `SpatialTendonPropertiesCfg` import path
continues to work via deprecation-alias subclasses and `__getattr__`
shims on `isaaclab.sim`, `isaaclab.sim.schemas`, and
`isaaclab.sim.schemas.schemas_cfg`. Direct attribute access to the
renamed fields still works through deprecation aliases. Removal
scheduled for 5.0.

The breaking aspect: cfg classes in `isaaclab_physx.sim.schemas` and
`isaaclab_physx.sim.spawners.materials` are physically relocated. Anyone
importing from internal paths (rather than `isaaclab.sim`) needs to
update.

## Migration

```python
# Before
import isaaclab.sim as sim_utils
rigid_props = sim_utils.RigidBodyPropertiesCfg(disable_gravity=True, linear_damping=0.1)
joint_props = sim_utils.JointDrivePropertiesCfg(max_effort=80.0, max_velocity=5.0)
collision_props = sim_utils.CollisionPropertiesCfg(contact_offset=0.02, torsional_patch_radius=1.0)
material = sim_utils.RigidBodyMaterialCfg(static_friction=0.7, compliant_contact_stiffness=1000.0)

# After (PhysX-targeted)
import isaaclab.sim as sim_utils
from isaaclab_physx.sim.schemas import (
    PhysxRigidBodyPropertiesCfg,
    PhysxJointDrivePropertiesCfg,
    PhysxCollisionPropertiesCfg,
)
from isaaclab_physx.sim.spawners.materials import PhysxRigidBodyMaterialCfg

rigid_props = PhysxRigidBodyPropertiesCfg(disable_gravity=True, linear_damping=0.1)
joint_props = PhysxJointDrivePropertiesCfg(max_force=80.0, max_joint_velocity=5.0)
collision_props = PhysxCollisionPropertiesCfg(contact_offset=0.02, torsional_patch_radius=1.0)
material = PhysxRigidBodyMaterialCfg(static_friction=0.7, compliant_contact_stiffness=1000.0)

# After (Newton-targeted — base classes only, no PhysX schemas applied)
from isaaclab.sim.schemas import RigidBodyBaseCfg, JointDriveBaseCfg, CollisionBaseCfg
from isaaclab.sim.spawners.materials import RigidBodyMaterialBaseCfg

rigid_props = RigidBodyBaseCfg(disable_gravity=True)  # only base + exception fields available
joint_props = JointDriveBaseCfg(max_force=80.0, max_joint_velocity=5.0)
material = RigidBodyMaterialBaseCfg(static_friction=0.7)
```

Spawner type annotations remain unchanged — they accept any subclass via
polymorphism.

## Internal helper

```python
def _apply_namespaced_schemas(prim, cfg, cfg_dict):
    # 1. Per-field exceptions: pop listed fields, apply exception schema if any non-None,
    #    write under exception namespace.
    # 2. Per-declaring-class routing: walk MRO to find each remaining field's owner class;
    #    write under that class's _usd_namespace; apply that class's _usd_applied_schema.
```

Used by all five `modify_*_properties` writers and
`spawn_rigid_body_material`. Replaced ~125 lines of duplicated gating
logic with a single ~30-line helper.

## Side change: configclass

`source/isaaclab/isaaclab/utils/configclass.py:_process_mutable_types`
now detects string-form `ClassVar` annotations under PEP 563 (`from
__future__ import annotations`) so it doesn't wrap `ClassVar[dict]`
defaults in `field(default_factory=...)`. Matches Python stdlib
`dataclasses` semantics. No pre-existing IsaacLab class used `ClassVar`
inside a `@configclass` block, so the change has no effect on existing
code; it enables the `ClassVar` metadata pattern this PR introduces.

## Test plan

- [x] `test_schemas.py` (38 → 40 tests): all schema-cfg classes write
correct attributes under the right namespace; PhysX schemas are NOT
applied when only base/UsdPhysics fields are set; deprecation aliases
(`max_velocity` → `max_joint_velocity`, `max_effort` → `max_force`)
forward correctly and emit `DeprecationWarning`. **40 passed.**
- [x] `test_schemas_shim.py`: legacy import paths
(`isaaclab.sim.schemas.RigidBodyPropertiesCfg` etc.) resolve via
`__getattr__` shims. **All passing.**
- [x] `test_articulation.py`, `test_rigid_object_iface.py`,
`test_valid_configs.py`, `test_spawn_*` — no regressions.
- [x] Full suite (`./isaaclab.sh -t`): 8768/9205 pass, 437 unrelated
baseline failures (rendering, `omni.physics.tensors.api` missing, OSC
controller, `install_ci`, `pyglet`, Newton env-path, Anymal-C
determinism). Zero new regressions; +123 passing tests vs. earlier
state.
- [x] `./isaaclab.sh -f` (pre-commit) clean.

## Supersedes

Together with isaac-sim#5276, supersedes isaac-sim#4847 and isaac-sim#5203 with a cleaner
schema-layer design.

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation (changelog
fragments under `source/isaaclab/changelog.d/`)
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog (fragment-based system) and the
corresponding version in the extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Co-authored-by: ooctipus <zhengyuz@nvidia.com>

…c-sim#5301)

Updates docs for using nurec background in locomanipulation sdg

## Type of change

- Documentation update

## Checklist

- [ ] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) 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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

---------

Co-authored-by: Kelly Guo <kellyg@nvidia.com>

## Summary

Bumps the Newton pin to
[`v1.2.0rc2`](https://pypi.org/project/newton/1.2.0rc2/), which pulls in
IsaacLab-relevant fixes plus the upstream tendon-scoping fix.

## What's new in Newton v1.2.0rc2 vs IsaacLab's current pin (`a27277e`)

The current IsaacLab Newton pin is from late April; v1.2.0rc2 is the
latest release-candidate cut. Notable fixes pulled in:

-
**[newton-physics/newton#2659](newton-physics/newton#2659
\"Scope USD custom-frequency parsing\" — `parse_usd` now scopes the
custom-frequency walk to `root_path` natively.
-
**[newton-physics/newton#2678](newton-physics/newton#2678
Regression fix.
-
**[newton-physics/newton#2720](newton-physics/newton#2720
`SolverKamino` reset under `world_mask`.
-
**[newton-physics/newton#2710](newton-physics/newton#2710
VRAM leak fix on example reset.
- Plus 16 other smaller fixes between rc1 and rc2.

## Required dep bumps

Newton 1.2.0rc2's \`pyproject.toml\` requires:

- \`warp-lang==1.13.0\`
- \`mujoco==3.8.0\` (was 3.6.0)
- \`mujoco-warp==3.8.0.1\` (was 3.6.0)

Pins updated in:

| File | Change |
|---|---|
| \`source/isaaclab/setup.py\` | \`warp-lang==1.12.0\` → \`==1.13.0\`;
\`mujoco==3.6.0\` → \`==3.8.0\`; \`mujoco-warp==3.6.0\` → \`==3.8.0.1\`
|
| \`source/isaaclab_newton/setup.py\` | mujoco / mujoco-warp bumps;
Newton pin → \`v1.2.0rc2\` |
| \`source/isaaclab_visualizers/setup.py\` | 3× Newton pin →
\`v1.2.0rc2\` |
| \`tools/wheel_builder/res/python_packages.toml\` | All four pins
mirrored |

## Code adapts

\`warp-lang\` 1.13 removed the \`wp.math\` namespace. Two IsaacLab call
sites use it:

-
\`source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py:72\`
-
\`source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_kernels.py:330\`

Both rewritten as \`wp.math.transform_to_matrix(...)\` →
\`wp.transform_to_matrix(...)\`. That's the only IsaacLab-side adapt
needed.

## Test plan

- [x] \`./isaaclab.sh -i newton\` clean install against the bumped pins.
- [x] \`pip list\` confirms \`newton 1.2.0rc2\`, \`warp-lang 1.13.0\`,
\`mujoco 3.8.0\`, \`mujoco-warp 3.8.0.1\`.
- [x] Sanity smoke: Shadow-Hand-Over MAPPO (4 envs, 1 iter) runs clean —
simulation init through CUDA graph capture through one training step +
checkpoint save, no errors.
- [x] Pre-commit clean.

## Caveat

Smoke covered Shadow-Hand-Over MAPPO. Other envs with different sensors
/ renderers / collision setups could surface warp 1.13 or mujoco 3.8
differences the smoke didn't exercise; full PR CI catches them.

---------

Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Bumped packages:
- isaaclab: 4.7.0 → 4.8.0
- isaaclab_mimic: 1.2.5 → 1.2.6
- isaaclab_newton: 0.6.0 → 0.7.0
- isaaclab_ov: 0.1.4 → 0.1.5
- isaaclab_physx: 0.6.0 → 0.6.1

# Description

Clarifies the articulation joint friction API docs across the base,
PhysX, and Newton implementations.

The base API now warns that joint friction semantics are
backend-specific. The PhysX docs distinguish legacy
unitless coefficients from PhysX 5 static/dynamic friction efforts and
viscous coefficients. The Newton docs now
identify joint friction as an absolute force/torque value and include an
MJWarp example mapping the value to
MuJoCo Warp's `dof_frictionloss`.

Fixes isaac-sim/IsaacLab-Internal#875

## Type of change

- Documentation update

## Screenshots

Not applicable.

## Checklist

- [ ] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works (not applicable: docs-only change)
- [x] 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)
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Reduce higher-level dependency on packed state tensors in targeted
IsaacLab call sites without changing existing task observation keys.

This PR:
- changes Pink IK to read `body_link_pose_w` directly instead of slicing
`body_link_state_w`;
- changes Dexsuite orientation rewards to use `root_link_quat_w`
directly instead of slicing `root_state_w`;
- adds explicit pick-place helpers for robot link pose and velocity;
- keeps `get_all_robot_link_state()` available for compatibility, but
marks it deprecated for removal in IsaacLab 4.0;
- keeps existing `robot_links_state` task config entries unchanged.

Fixes # (issue)

## Type of change

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

## Screenshots

N/A

## Test Plan

- `./isaaclab.sh -p -m py_compile
source/isaaclab/isaaclab/envs/mdp/__init__.pyi
source/isaaclab/isaaclab/envs/mdp/actions/pink_task_space_actions.py
source/isaaclab/isaaclab/envs/mdp/observations.py
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/mdp/__init__.pyi
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/mdp/observations.py
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/mdp/rewards.py`
- `./isaaclab.sh -f`
- `git diff --check origin/develop..HEAD`
- `rg -n "body_link_state_w|root_state_w"
source/isaaclab/isaaclab/envs/mdp/actions/pink_task_space_actions.py
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/mdp/observations.py
source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/mdp/rewards.py`
(no matches)
- Existing/new MDP pytest not run locally. Per review, new MDP tests
were removed and should be added in a separate PR. Local pytest
collection is also blocked in this worktree because `./isaaclab.sh -p`
selects `/usr/bin/python3.12` without `torch`.

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] 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
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

Notes:
- The unchecked warning item is intentional: this PR adds a
`DeprecationWarning` to `get_all_robot_link_state()` so users can
migrate before IsaacLab 4.0.
- The unchecked test item follows review feedback: MDP tests should be
added in a separate PR.