[Backport release/3.0.0] Complete September 17-19 develop backports

[ooctipus]

Description

Backports ten develop PRs to release/3.0.0, including the PyTorch 2.12/CUDA 13.0 upgrade, the near-singular OSC fix, and the complete cfg-first cloning and schema-fragment migrations.

The audit covers September 17, 2026 00:00 UTC through develop commit 4269c29a39e463dd07c74a9704d890d7a5c01e08 (September 19, 23:55 UTC), against release base 970d21ef48057a2efc3d749c0f2abab8e7e0c30e.

Source PR	Included change
#7777	Refresh Newton solver transforms after fixed-root pose writes
#7608	Make direct cloning cfg-first, including assets, callers, templates, tests, and migration documentation
#7895	Apply the existing CI exclusion for Franka cable/cloth/soft kitless rendering tests
#7872	Load the CUDA runtime matching PyTorch for Newton graph capture
#7831	Check authored Newton mesh-collision schema tokens correctly
#7834	Build documentation with the extra that provides Sphinx
#7838	Migrate maintained consumers to physics schema fragments, including readers and overrides
#7840	Consistently name Isaac Lab 3.1 as the deprecation removal release
#7903	Handle near-singular operational-space control
#7674	Upgrade PyTorch to 2.12, TorchVision to 0.27, and the CUDA stack to 13.0, including installer, wheel, and cuRobo compatibility changes

All 305 changed non-lock files match the audited develop snapshot exactly. The remaining file, uv.lock, matches that snapshot after substituting the package versions from the release branch's existing manifests; all 418 package entries were checked. Existing release package versions, compiled changelogs, documentation routing, and OVRTX compatibility code remain intact, including the #7880 revert. Source commit hashes are recorded in the commit messages.

Already present

#7866, #7870, #7867, #7869, and #7868 were included in #7851; #7819 was backported by #7884; #7883, #7885, and #7887 were backported by #7889. #7874, #7888, #7773, #7886, and #7042 were also already present.

The three automatic changelog/version compilation commits are excluded; the release branch compiles its own fragments and maintains its own versions.

Type of change

• Release integration/backport
• Bug fixes and documentation updates
• Breaking changes already accepted for the 3.0 cloning and schema migrations; their migration guidance and changelog fragments are included

Validation

• uv run --no-sync isaaclab -f: all checks passed using the existing shared environment and the release base for changelog validation.
• Focused cloning, OSC feature, schema parity/shim, CLI, and task configuration suite: 283 passed.
• Newton fixed-root updates and CUDA runtime/capture regressions: 14 passed.
• Complete OSC simulation suite: 21 passed.
• Mesh-collision fragments: 17 passed; cfg-first cloning integration: 16 passed; scene construction/ownership: 7 passed.
• The above 358 tests passed with PyTorch 2.11.
• With PyTorch 2.12/CUDA 13.0: installer/metadata/Docker tests 91 passed; CPU/GPU OSC feature tests 17 passed; complete OSC simulation suite 21 passed.
• uv lock --check: passed; release package manifests match their lockfile entries.
• Repository skill validation: 23 skills passed.
• File-by-file source audit, release-metadata preservation checks, and git diff --check: passed.

Local simulation used RTX 5090 and Isaac Sim 6.0.1 with PyTorch 2.11 and 2.12. The full Docker image build and fresh installation matrix were not rerun locally for this backport. Release CI uses its pinned Isaac Sim 6.1 image and remains the authoritative full integration check. Kit-dependent suites run in separate processes to avoid loading standalone USD before Kit.

Release backport

Not applicable: this PR targets release/3.0.0 directly.

Checklist

• Ran the complete pre-commit command.
• Included the original migration documentation, regression tests, and changelog fragments for every changed package.
• Preserved source attribution and recorded every source commit.
• Preserved the release branch's versions and existing release-specific changes.

[greptile-apps]

Confidence Score: 4/5

The PR should not merge until single-fragment task configurations preserve the documented bare-fragment access contract.

Findings

1.  Single fragments become lists ▶
2.  Removal versions still conflict ▶

Summary

This backport consolidates nine develop-branch changes into release/3.0.0, chiefly moving Direct environments to configuration-owned scene construction, migrating physics settings to composable schema fragments, conditioning operational-space inertia solves near singularities, and fixing Newton runtime/state synchronization.

• Moves assets, sensors, markers, terrain, and cloning into InteractiveSceneCfg lifecycles across Direct tasks and templates.
• Migrates maintained asset and task configurations from legacy physics-property classes to schema fragments.
• Adds near-singular OSC damping and dynamically consistent posture handling.
• Updates Newton fixed-root notifications and CUDA-runtime selection.
• Adjusts documentation, deprecation notices, rendering tests, and CI exclusions.
• A few single-fragment task configurations remain list-valued, and some changed deprecation docstrings still announce the wrong removal release.

Diagram

%%{init: {'theme': 'neutral'}}%%
flowchart LR
    Cfg[Direct environment configuration] --> SceneCfg[InteractiveSceneCfg]
    SceneCfg --> Plan[Publish clone plan]
    Plan --> Construct[Construct assets, sensors, and markers]
    Construct --> Replicate[Replicate USD and physics state]
    Replicate --> Scene[Registered InteractiveScene]
    Scene --> Env[Direct environment task logic]
    Env --> Control[Actions and OSC]
    Control --> Backend[PhysX, Newton, or OV backend]
    Backend --> State[Asset and sensor state]
    State --> Env

Loading

_{Reviews (1) · Last reviewed commit: "Backport September 17-19 develop changes..."}

[greptile-apps]

Single fragments become lists

This stores one PhysxRigidBodyCfg as a list and later assigns it to rigid_props, even though the migration contract keeps single-fragment slots bare. Code following that contract, such as cfg.scene.toy_truck.spawn.rigid_props.disable_gravity, now gets an AttributeError because rigid_props is a list. The same pattern appears in _CUBE_PROPERTIES and ASSEMBLY_PLUG_RIGID_BODY_PROPS_CFG. The new AST test does not catch these cases because the lists are assigned through variables rather than directly in keyword arguments.

Knowledge Base Used: Scene and asset composition

[greptile-apps]

Removal versions still conflict

This changed docstring says the alias will be removed in 4.0, while the warning emitted by the same alias says 3.1. The same contradiction remains in physics_materials_cfg.py. This undermines the deprecation sweep's goal and makes generated API documentation disagree with runtime guidance; update the remaining changed alias docstrings to 3.1.

Suggested change

	.. deprecated:: 4.6.x
	``DeformableBodyPropertiesCfg`` has moved to
	:class:`PhysxDeformableBodyPropertiesCfg` for PhysX-specific deformable properties
	and is scheduled for removal in 5.0.
	and is scheduled for removal in 4.0.
	.. deprecated:: 4.6.x
	``DeformableBodyPropertiesCfg`` has moved to
	:class:`PhysxDeformableBodyPropertiesCfg` for PhysX-specific deformable properties
	and is scheduled for removal in 3.1.

Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!

[ooctipus]

run-ci

[isaaclab-review-bot]

Isaac Lab Review Bot

The backport consistently propagates the cfg-first cloning and scene-ownership changes across core APIs, tasks, templates, documentation, and tests, but two internal inconsistencies remain: Warp Direct environments still invoke a scene hook that this patch removes, and several deprecation docstrings disagree with their runtime warnings about the removal release.

• Design and architecture: The cfg-first lifecycle is broadly coherent: InteractiveScene constructs declared entities within one published ClonePlan, Direct environments delegate scene construction through cfg.scene.class_type, and maintained task implementations no longer own cloning. However, DirectRLEnvWarp still calls self._setup_scene() after this patch deletes its fallback implementation and the relevant derived overrides, leaving Warp Direct environment construction without the invoked hook.
• API: The breaking cloning and Asset API changes include migration guidance, changelog fragments, exports, and API documentation. The deprecation-release sweep remains inconsistent in isaaclab_physx: affected alias docstrings state removal in 4.0 while their warnings state 3.1, contradicting the stated goal of presenting one removal release.
• Implementation: The OSC conditioning, Newton fixed-root notifications, CUDA runtime selection, and schema-fragment producer/consumer migrations are backed by focused implementation paths and regression tests. Before merge, either remove the remaining DirectRLEnvWarp _setup_scene() invocation or restore a compatible hook, and align the affected deprecation docstrings with the 3.1 runtime warnings.

Minor fixes needed. Posted 2 actionable findings inline.

The full PR diff was reviewed; some supplemental surrounding file context was omitted.

Automated review; human maintainers own approval decisions.

[isaaclab-review-bot]

🟡 Warning · Implementation — Warp direct env still calls removed scene hook

The constructor still calls self._setup_scene() on the next line, but this diff deletes this class's no-op _setup_scene and also removes the overrides from CartpoleWarpEnv, LocomotionWarpEnv and ReorientDirectWarpEnv. Unless this class inherits the hook from DirectRLEnv, every Warp direct environment now raises AttributeError during construction. Either drop the remaining call or keep a no-op hook.

[isaaclab-review-bot]

🟡 Warning · Api — Deprecation docstrings contradict runtime warnings

This sweep changes the alias docstrings from 5.0 to 4.0 while changing the matching warnings.warn text to 3.1 (also at 304/309, 620/625, 1032/1037, and in physx/sim/spawners/materials/physics_materials_cfg.py 119/124, 294/299). Each deprecated symbol now advertises two removal releases, which is exactly the inconsistency the changelog says this change eliminates. Set the docstrings to 3.1.

[ooctipus]

run-ci

[StafaH]

run-ci