Merge remote-tracking branch 'upstream/develop' into agent/cable-routing-latest-develop-review

# Conflicts:
#	uv.lock

Author: maxkra15

.github/CODEOWNERS

@@ -41,9 +41,7 @@
 /source/isaaclab_newton/ @AntoineRichard @StafaH @hujc7 @kellyguo11
 /source/isaaclab_newton/isaaclab_newton/physics/kamino_manager.py @david-cao-mueller @aserifi @rubengrandia @AntoineRichard
 
-/source/isaaclab_ov/ @huidongc @rilei-nvidia @pbarejko @kellyguo11
-
-/source/isaaclab_ovphysx/ @AntoineRichard @marcodiiga @kellyguo11
+/source/isaaclab_ov/ @huidongc @rilei-nvidia @pbarejko @AntoineRichard @marcodiiga
 
 /source/isaaclab_physx/ @AntoineRichard @ooctipus @kellyguo11
 /source/isaaclab_ppisp/ @moennen @pbarejko @kellyguo11

.github/actions/multi-gpu/multi_gpu_shard_runner.sh

@@ -33,7 +33,7 @@
 
 set +e  # keep going on errors; per-shard exit codes are aggregated at the end
 cd /workspace/isaaclab
-unset HUB__ARGS__DETECT_ONLY DISPLAY  # clear vars that would force Kit into detect-only / headed (X11) mode
+unset DISPLAY  # clear the var that would force Kit into headed (X11) mode
 
 # Container-level HOME + PYTHONUSERBASE for pip --user installs. The image
 # runs as --user $host_uid:$host_gid with no matching /etc/passwd entry, so

.github/actions/run-tests/run_tests.sh

@@ -321,10 +321,6 @@ run_tests() {
       mkdir -p tests
       rm _isaac_sim || true
       ln -s /isaac-sim _isaac_sim
-      # Allow OmniHub to start in the test container. Some base images
-      # set this detect-only flag, which makes cold asset downloads
-      # fall back to slow repeated retries.
-      unset HUB__ARGS__DETECT_ONLY
       ./isaaclab.sh -p -m pip install pytest pytest-mock junitparser flaky \"coverage>=7.6.1\"
       if [ -n \"\${WARP_CACHE_PATH:-}\" ]; then
         ./isaaclab.sh -p tools/verify_warp_cache.py

.github/actions/validate-kitless-image/action.yml

@@ -54,10 +54,8 @@ runs:
       print("ovrtx renderer initialized")
       '
 
-      # The Newton training probe is the shared one architecture CI also runs, so
-      # the command and its assertions live in one place. pytest goes only into
-      # this disposable layer; reinstalling the workspace would fail against the
-      # read-only source mount.
+      # Discover files by grep, not by pointing pytest at a directory: this image has no Isaac
+      # Sim, and collecting a directory imports every module to read its markers.
       docker run --rm --gpus all --network host \
         "${mount_args[@]}" \
         "$IMAGE_TAG" \
@@ -67,6 +65,8 @@ runs:
       python -m pytest \
         source/isaaclab/test/install_ci/misc/cartpole_training_smoke.py::test_train_cartpole_state_completes \
         source/isaaclab/test/benchmark/test_asset_suite_runtime_semantics.py \
+        source/isaaclab/test/sim/test_urdf_converter.py \
+        source/isaaclab/test/sim/test_mjcf_converter.py \
         -q -p no:cacheprovider
       '
 

.github/workflows/build.yaml

@@ -552,6 +552,27 @@ jobs:
         filter-pattern: "isaaclab_assets"
         container-name: isaac-lab-assets-test
 
+  test-isaaclab-experimental:
+    name: isaaclab_experimental
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 180
+    needs: [build, config]
+    if: >-
+      github.event_name != 'push' &&
+      needs.build.result == 'success'
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        fetch-depth: 1
+        lfs: true
+    - uses: ./.github/actions/run-package-tests
+      with:
+        image-tag: ${{ needs.config.outputs.ci_image_tag }}
+        isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
+        isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
+        filter-pattern: "isaaclab_experimental"
+        container-name: isaac-lab-experimental-test
+
   test-isaaclab-newton:
     name: isaaclab_newton
     runs-on: [self-hosted, gpu]

.github/workflows/config.yaml

@@ -10,6 +10,6 @@
 # which the CI credential can reach.
 isaacsim_image_name: nvcr.io/0947644777160149/internal/isaac-sim
 # Pinned to Isaac Sim 6.1.0-alpha.47 (commit 0d707bba) for reproducible CI.
-isaacsim_image_tag: latest-develop@sha256:dc49acc482221d5302cc7095771b6a807de97a17c7835064f812dd013ff2b806
+isaacsim_image_tag: latest-develop@sha256:a0fe646aa0d2c717a51231589eb210a8f59db7d3e6ccb8e8ba8b11f9ae13ed85
 isaaclab_image_name: nvcr.io/0947644777160149/internal/isaac-lab
 ovphysx_wheelhouse_image: ""

.github/workflows/kitless-docker.yml

@@ -57,7 +57,7 @@ jobs:
           ^source/[^/]+/pyproject\.toml$ :: Package manifests
           ^source/isaaclab/isaaclab/cli/ :: Install CLI implementation
           ^source/isaaclab/isaaclab/test/fixtures/ :: Isolated asset fixture implementation
-          ^source/isaaclab_(physx|newton|ovphysx)/isaaclab_.*/test/fixtures/ :: Backend fixture implementation
+          ^source/isaaclab_(physx|newton|ov)/isaaclab_.*/test/fixtures/ :: Backend fixture implementation
           ^source/isaaclab/test/benchmark/test_asset_suite_runtime_semantics\.py$ :: Kit-less pytest subset
           ^\.github/workflows/kitless-docker\.yml$ :: This workflow file
           ^\.github/actions/detect-changes/ :: Change-detection action

.github/workflows/pre-commit.yaml

@@ -22,3 +22,7 @@ jobs:
       with:
         python-version: "3.12"
     - uses: pre-commit/action@v3.0.0
+      # The local fragment hook needs a full base-branch history. The
+      # dedicated changelog-check workflow supplies that authoritative gate.
+      env:
+        SKIP: check-changelog-fragments

.gitignore

@@ -71,6 +71,10 @@ _build
 # Teleop Recorded Dataset
 /datasets/
 
+# Local Franka Pour reset-generator references retained while the public one-file workflow is slimmed.
+/scripts/tools/generate_franka_pour_reset_dataset_legacy.py
+/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/reset_dataset_generator_legacy.py
+
 # Tests
 /tests/
 

.pre-commit-config.yaml

@@ -77,6 +77,12 @@ repos:
       - id: rst-inline-touching-normal
   - repo: local
     hooks:
+      - id: check-changelog-fragments
+        name: check changelog fragments
+        entry: python tools/changelog/cli.py check --include-worktree
+        language: python
+        always_run: true
+        pass_filenames: false
       - id: check-git-lfs-pointers
         name: check Git LFS pointers
         entry: tools/pre_commit/check_git_lfs_pointers.sh