pv-nvidia · pv-nvidia · May 5, 2026 · May 5, 2026 · May 5, 2026 · May 6, 2026
diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
@@ -47,7 +47,7 @@ To upload images to a PR -- simply drag and drop an image while in edit mode and
 - [ ] 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 a changelog fragment under `source/<pkg>/changelog.d/` for every touched package (do **not** edit `CHANGELOG.rst` or bump `extension.toml` — CI handles that)
 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
 
 <!--

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
@@ -256,6 +256,7 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_tasks"
+        extra-pip-packages: "ovrtx"
         shard-index: "0"
         shard-count: "3"
         container-name: isaac-lab-tasks-1-test
@@ -278,6 +279,7 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_tasks"
+        extra-pip-packages: "ovrtx"
         shard-index: "1"
         shard-count: "3"
         container-name: isaac-lab-tasks-2-test
@@ -300,6 +302,7 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_tasks"
+        extra-pip-packages: "ovrtx"
         shard-index: "2"
         shard-count: "3"
         container-name: isaac-lab-tasks-3-test

diff --git a/.github/workflows/config.yaml b/.github/workflows/config.yaml
@@ -6,5 +6,5 @@
 # Shared image config for CI workflows. Loaded by the `config` job in each
 # workflow via yq and exposed as job outputs (see e.g. .github/workflows/build.yaml).
 isaacsim_image_name: nvcr.io/nvidian/isaac-sim
-isaacsim_image_tag: latest-develop
+isaacsim_image_tag: latest-develop@sha256:0dd49a1121b297dc85eee7777a9c528318683dbe03b29fd01f2059ac1b099301
 isaaclab_image_name: nvcr.io/nvidian/isaac-lab
diff --git a/.github/workflows/daily-compatibility.yml b/.github/workflows/daily-compatibility.yml
@@ -111,6 +111,7 @@ jobs:
         image-tag: ${{ env.DOCKER_IMAGE_TAG }}
         pytest-options: ""
         filter-pattern: "isaaclab_tasks"
+        extra-pip-packages: "ovrtx"
 
     - name: Copy All Test Results from IsaacLab Tasks Container
       run: |

diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -121,6 +121,7 @@ Guidelines for modifications:
 * Louis Le Lay
 * Lukas Fröhlich
 * Manuel Schweiger
+* Marco Alesiani
 * Masoud Moghani
 * Mateo Guaman Castro
 * Maurice Rahme
@@ -135,6 +136,7 @@ Guidelines for modifications:
 * Narendra Dahile
 * Neel Anand Jawale
 * Nicola Loi
+* Nicholas Blauch
 * Norbert Cygiert
 * Nuoyan Chen (Alvin)
 * Nuralem Abizov
@@ -144,6 +146,7 @@ Guidelines for modifications:
 * Patrick Yin
 * Paul Reeves
 * Peter Du
+* Peter Verswyvelen
 * Philipp Reist
 * Piotr Barejko
 * Pulkit Goyal

diff --git a/docs/conf.py b/docs/conf.py
@@ -140,7 +140,8 @@
     "torch": ("https://docs.pytorch.org/docs/2.11/", None),
     "isaacsim": ("https://docs.isaacsim.omniverse.nvidia.com/6.0.0/py/", None),
     "gymnasium": ("https://gymnasium.farama.org/", None),
-    "warp": ("https://nvidia.github.io/warp/", None),
+    # NOTE: pinned to /stable/ because /objects.inv at the root currently 404s
+    "warp": ("https://nvidia.github.io/warp/stable/", None),
     "omniverse": ("https://docs.omniverse.nvidia.com/dev-guide/latest", None),
 }
 
@@ -156,7 +157,6 @@
 autodoc_mock_imports = [
     "torch",
     "torchvision",
-    "numpy",
     "matplotlib",
     "scipy",
     "carb",
@@ -202,8 +202,10 @@
     "toml",
     "pink",
     "pinocchio",
+    "qpsolvers",
     "nvidia.srl",
     "flatdict",
+    "filelock",
     "IPython",
     "cv2",
     "imageio",

diff --git a/docs/source/_static/tasks/drone_arl/arl_robot_1_navigation.jpg b/docs/source/_static/tasks/drone_arl/arl_robot_1_navigation.jpg
diff --git a/docs/source/_static/tasks/manipulation/g1_assemble_trocar.jpg b/docs/source/_static/tasks/manipulation/g1_assemble_trocar.jpg
diff --git a/docs/source/api/index.rst b/docs/source/api/index.rst
@@ -82,6 +82,7 @@ The following modules are available in the ``isaaclab_contrib`` extension:
 
    actuators
    assets
+   controllers
    mdp
    rl
    sensors
@@ -127,10 +128,10 @@ The following modules are available in the ``isaaclab_physx`` extension:
    cloner
    physics
    renderers
-   scene_data_providers
    sensors
    sim.schemas
    sim.spawners
+   sim.views
 
 .. toctree::
    :hidden:
@@ -139,10 +140,10 @@ The following modules are available in the ``isaaclab_physx`` extension:
    lab_physx/isaaclab_physx.cloner
    lab_physx/isaaclab_physx.physics
    lab_physx/isaaclab_physx.renderers
-   lab_physx/isaaclab_physx.scene_data_providers
    lab_physx/isaaclab_physx.sensors
    lab_physx/isaaclab_physx.sim.schemas
    lab_physx/isaaclab_physx.sim.spawners
+   lab_physx/isaaclab_physx.sim.views
 
 isaaclab_newton extension
 -------------------------
@@ -158,8 +159,8 @@ The following modules are available in the ``isaaclab_newton`` extension:
    cloner
    physics
    renderers
-   scene_data_providers
    sensors
+   sim.schemas
 
 .. toctree::
    :hidden:
@@ -168,8 +169,8 @@ The following modules are available in the ``isaaclab_newton`` extension:
    lab_newton/isaaclab_newton.cloner
    lab_newton/isaaclab_newton.physics
    lab_newton/isaaclab_newton.renderers
-   lab_newton/isaaclab_newton.scene_data_providers
    lab_newton/isaaclab_newton.sensors
+   lab_newton/isaaclab_newton.sim.schemas
 
 isaaclab_ov extension
 ---------------------

diff --git a/docs/source/api/lab/isaaclab.sensors.rst b/docs/source/api/lab/isaaclab.sensors.rst
@@ -36,6 +36,9 @@
     MultiMeshRayCasterCameraCfg
     Imu
     ImuCfg
+    Pva
+    PvaData
+    PvaCfg
     JointWrenchSensor
     JointWrenchSensorData
     JointWrenchSensorCfg
@@ -193,6 +196,25 @@ Inertia Measurement Unit
     :show-inheritance:
     :exclude-members: __init__, class_type
 
+Pose Velocity Acceleration Sensor
+---------------------------------
+
+.. autoclass:: Pva
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: PvaData
+    :members:
+    :inherited-members:
+    :exclude-members: __init__
+
+.. autoclass:: PvaCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
 Joint Wrench Sensor
 -------------------
 

diff --git a/docs/source/api/lab/isaaclab.sim.schemas.rst b/docs/source/api/lab/isaaclab.sim.schemas.rst
@@ -1,18 +1,31 @@
-isaaclab.sim.schemas
+isaaclab.sim.schemas
 ====================
 
 .. automodule:: isaaclab.sim.schemas
 
-  .. rubric:: Classes
+  .. rubric:: Solver-common base classes
+
+  These base classes carry the universal-physics fields that every backend honors.
+  They live in core ``isaaclab`` and have no backend dependency. For backend-specific
+  knobs, use the matching subclass in :mod:`isaaclab_physx.sim.schemas` or
+  :mod:`isaaclab_newton.sim.schemas`. See :doc:`/source/overview/core-concepts/schema_cfgs`
+  for the full design.
 
   .. autosummary::
 
-    ArticulationRootPropertiesCfg
-    RigidBodyPropertiesCfg
-    CollisionPropertiesCfg
+    ArticulationRootBaseCfg
+    RigidBodyBaseCfg
+    CollisionBaseCfg
+    JointDriveBaseCfg
+    MeshCollisionBaseCfg
     MassPropertiesCfg
-    JointDrivePropertiesCfg
-    FixedTendonPropertiesCfg
+
+  .. rubric:: Mesh collision approximations (USD-only, no PhysX schema)
+
+  .. autosummary::
+
+    BoundingCubePropertiesCfg
+    BoundingSpherePropertiesCfg
 
   .. rubric:: Functions
 
@@ -28,39 +41,60 @@
     define_mass_properties
     modify_mass_properties
     modify_joint_drive_properties
+    define_mesh_collision_properties
+    modify_mesh_collision_properties
     modify_fixed_tendon_properties
+    modify_spatial_tendon_properties
+
+.. currentmodule:: isaaclab.sim.schemas
 
 Articulation Root
 -----------------
 
-.. autoclass:: ArticulationRootPropertiesCfg
+.. autoclass:: ArticulationRootBaseCfg
     :members:
     :exclude-members: __init__
 
 .. autofunction:: define_articulation_root_properties
 .. autofunction:: modify_articulation_root_properties
 
+For PhysX-specific articulation properties (self-collisions, TGS solver iterations,
+sleep/stabilization thresholds), see
+:class:`~isaaclab_physx.sim.schemas.PhysxArticulationRootPropertiesCfg`. For
+Newton-native self-collisions, see
+:class:`~isaaclab_newton.sim.schemas.NewtonArticulationRootPropertiesCfg`.
+
 Rigid Body
 ----------
 
-.. autoclass:: RigidBodyPropertiesCfg
+.. autoclass:: RigidBodyBaseCfg
     :members:
     :exclude-members: __init__
 
 .. autofunction:: define_rigid_body_properties
 .. autofunction:: modify_rigid_body_properties
 .. autofunction:: activate_contact_sensors
 
+For PhysX-specific rigid body properties (damping, max velocities, solver iterations,
+sleep/stabilization), see :class:`~isaaclab_physx.sim.schemas.PhysxRigidBodyPropertiesCfg`.
+For MuJoCo-specific gravity compensation, see
+:class:`~isaaclab_newton.sim.schemas.MujocoRigidBodyPropertiesCfg`.
+
 Collision
 ---------
 
-.. autoclass:: CollisionPropertiesCfg
+.. autoclass:: CollisionBaseCfg
     :members:
     :exclude-members: __init__
 
 .. autofunction:: define_collision_properties
 .. autofunction:: modify_collision_properties
 
+For PhysX torsional patch friction, see
+:class:`~isaaclab_physx.sim.schemas.PhysxCollisionPropertiesCfg`. For Newton-native
+contact margin/gap, see
+:class:`~isaaclab_newton.sim.schemas.NewtonCollisionPropertiesCfg`.
+
 Mass
 ----
 
@@ -74,20 +108,52 @@ Mass
 Joint Drive
 -----------
 
-.. autoclass:: JointDrivePropertiesCfg
+.. autoclass:: JointDriveBaseCfg
     :members:
     :exclude-members: __init__
 
 .. autofunction:: modify_joint_drive_properties
 
-Fixed Tendon
-------------
+For PhysX-specific drive properties, see
+:class:`~isaaclab_physx.sim.schemas.PhysxJointDrivePropertiesCfg`. For MuJoCo
+actuator gravity compensation, see
+:class:`~isaaclab_newton.sim.schemas.MujocoJointDrivePropertiesCfg`.
+
+Mesh Collision
+--------------
 
-.. autoclass:: FixedTendonPropertiesCfg
+.. autoclass:: MeshCollisionBaseCfg
     :members:
     :exclude-members: __init__
 
+.. autoclass:: BoundingCubePropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: BoundingSpherePropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autofunction:: define_mesh_collision_properties
+.. autofunction:: modify_mesh_collision_properties
+
+For PhysX cooking schemas (convex hull / decomposition / triangle mesh / SDF),
+see the ``Physx*PropertiesCfg`` family in :mod:`isaaclab_physx.sim.schemas`.
+For Newton hull-vertex limit, see
+:class:`~isaaclab_newton.sim.schemas.NewtonMeshCollisionPropertiesCfg`.
+
+Tendon
+------
+
 .. autofunction:: modify_fixed_tendon_properties
+.. autofunction:: modify_spatial_tendon_properties
+
+Tendon cfg classes are PhysX-only and live in
+:mod:`isaaclab_physx.sim.schemas`
+(:class:`~isaaclab_physx.sim.schemas.PhysxFixedTendonPropertiesCfg`,
+:class:`~isaaclab_physx.sim.schemas.PhysxSpatialTendonPropertiesCfg`).
 
 Deformable Body
 ---------------

diff --git a/docs/source/api/lab/isaaclab.utils.rst b/docs/source/api/lab/isaaclab.utils.rst
@@ -188,3 +188,16 @@ Warp operations
    :members:
    :imported-members:
    :show-inheritance:
+
+Warp Fabric kernels
+^^^^^^^^^^^^^^^^^^^
+
+Warp kernels for reading and writing Fabric ``Matrix4d`` attributes
+(``omni:fabric:worldMatrix`` / ``omni:fabric:localMatrix``) via
+:class:`wp.fabricarray` and :class:`wp.indexedfabricarray`.  Used by
+:class:`~isaaclab_physx.sim.views.FabricFrameView` to keep child world and
+local matrices consistent without round-tripping through USD.
+
+.. automodule:: isaaclab.utils.warp.fabric
+   :members:
+   :show-inheritance: