[pull] develop from isaac-sim:develop - #85
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Bumped packages: - isaaclab: 32.0.0 → 32.1.0 - isaaclab_experimental: 0.2.3 → 0.2.4 - isaaclab_newton: 9.1.0 → 9.1.1 - isaaclab_ov: 4.0.0 → 4.1.0 - isaaclab_tasks: 22.0.0 → 23.0.0
# Description Moves Isaac Lab from the published `newton[sim]==1.6.0` wheel to Newton's `release-1.6` Git branch. The regenerated lockfile currently resolves `newton==1.6.1rc1` at `dff29635`. The root uv override, wheel-builder override, install-CI override, install smoke expectation, and version-consistency coverage are updated together. Published wheel metadata keeps the compatible `newton[sim]>=1.2.0` lower bound, while source and CI workflows select the release branch through their resolver overrides. ## Type of change - Bug fix / dependency workflow update (non-breaking) ## Release backport - [x] <!-- backport-active-release --> Backport this pull request to the active release branch after it merges into `develop` ## Screenshots Not applicable. ## Validation - `uv lock --check` - `PYTHONPATH=source/isaaclab uv run --no-project --with pytest --with packaging python -m pytest source/isaaclab/test/cli/test_install.py source/isaaclab/test/cli/test_uv_run_pyproject.py source/isaaclab/test/cli/test_wheel_builder_metadata.py -k 'EnsureNewton or version_single_source or wheel_builder_uv_overrides'` — 5 passed - `uv run --no-project python tools/changelog/cli.py check develop` — passed against the current upstream `develop` base - Changed-file pre-commit hooks — all applicable checks passed ## Checklist - [x] I have read and understood the contribution guidelines - [x] I have run the applicable pre-commit checks (the project-managed `uv run isaaclab -f` entry point is unavailable on macOS because the lockfile intentionally excludes macOS; the equivalent changed-file pre-commit run passed) - [x] Documentation changes are not required for this dependency update - [x] My changes generate no new warnings - [x] Existing metadata and install tests cover the updated dependency contract - [x] I have added a changelog fragment under `source/isaaclab/changelog.d/` - [x] My name already exists in `CONTRIBUTORS.md`
# Description Document Newton MPM tuning and the published comparison recordings without introducing new scripts or APIs. This is a documentation-only PR so the guide can land independently of tutorial implementation. The MPM Solver page covers resolution, timestep, convergence, material comparisons, and interpretation limits. The existing MPM concept page now groups the core scenes and surface-rendering recording; the coupled-solvers page hosts the G1 one-way and two-way recordings and explains their differing proxy geometry. All 18 MP4s are hosted under the verified Isaac Lab /videos/ media path, not in Git. The runnable material, rigid-limit, G1, and surface scripts are in the independent draft PR #8130 under scripts/tutorials/08_mpm/. No commands in this PR require that later PR. ## Type of change - Documentation update ## Validation - Diff against current develop contains only five docs/source files. - `uv run isaaclab -f` passed. - `uv run --isolated --frozen --extra dev -- make -C docs current-docs` passed with warnings treated as errors. - The PR link checker, pre-commit, changelog, and wheel checks passed; remaining CI checks are in progress. ## Release backport - [x] <!-- backport-active-release --> Backport this pull request to the active release branch after it merges into develop ## Checklist - [x] I have read and understood the contribution guidelines - [x] I have run the formatting and link checks - [x] The guide references only APIs and programs already on develop - [x] Media is externally hosted; no encoded videos are committed
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