- Breaking: Removed late task-preset resolution from environment construction and the :func:`isaaclab.utils.resolve_cfg_presets` helper. Compose registered tasks with :func:`isaaclab_tasks.utils.resolve_task_config` or :func:`isaaclab_tasks.utils.parse_env_cfg` before constructing an environment.
- Breaking: Replaced
run_config_from_presetswithrun_config_from_env_cfgin benchmark capture. Pass the concrete composed environment configuration instead of inferring backends from selector strings.