[Backport release/3.0.0] Towncrier changelog, camera hot-path 7B, and uv docs CLI (#8118, #8105, #8179)

.github/workflows/changelog-check.yml

@@ -51,10 +51,16 @@ jobs:
       - name: Verify changelog fragments
         run: python3 tools/changelog/cli.py check ${{ steps.base.outputs.ref }}
 
+      # The unit tests run the real uv and towncrier (via uvx), as the nightly compile does.
+      - uses: astral-sh/setup-uv@d0cc045d04ccac9d8b7881df0226f9e82c39688e  # v6.8.0
+        with:
+          # Keep equal to the uv in docker/Dockerfile.*.
+          version: "0.12.9"
+
       - name: Run changelog tool unit tests
         # Gates tools/changelog/cli.py itself: regression tests for the
-        # filename rules, fragment parsing, CHANGELOG_HEADER_RE invariant,
-        # and cmd_check / cmd_compile orchestration. Without this, a cli.py
+        # fragment rules, the lock pins, the legacy split, and cmd_check /
+        # cmd_compile orchestration. Without this, a cli.py
         # refactor could silently break the gate above.
         #
         # Skipped when the PR doesn't touch tools/changelog/ — fragment-only

.github/workflows/docs-windows.yaml

@@ -0,0 +1,41 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+name: Windows Docs
+
+on:
+  pull_request:
+    paths:
+      - '.github/workflows/docs-windows.yaml'
+      - 'docs/**'
+      - 'pyproject.toml'
+      - 'uv.lock'
+      - 'source/isaaclab/isaaclab/cli/**'
+
+permissions:
+  contents: read
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number }}
+  cancel-in-progress: true
+
+jobs:
+  build-docs:
+    runs-on: windows-latest
+    timeout-minutes: 45
+    steps:
+      - uses: actions/checkout@v6
+      - uses: astral-sh/setup-uv@d0cc045d04ccac9d8b7881df0226f9e82c39688e  # v6.8.0
+        with:
+          python-version: '3.12'
+          enable-cache: true
+      - name: Build current documentation
+        run: uv run --extra dev isaaclab --docs
+      - name: Verify output
+        shell: pwsh
+        run: |
+          if (-not (Test-Path docs/_build/current/index.html)) {
+            throw 'Documentation index was not generated'
+          }

.github/workflows/nightly-changelog.yml

@@ -4,19 +4,20 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 # Nightly auto-compile: rolls accumulated fragments under
-# ``source/<pkg>/changelog.d/`` into per-package ``CHANGELOG.rst`` entries,
-# bumps each ``extension.toml``, deletes consumed fragments, and pushes the
-# result back to each branch in the configured list. Keeps every tracked
+# ``source/<pkg>/changelog.d/`` into per-package ``CHANGELOG.rst`` entries
+# (towncrier), bumps each package's ``pyproject.toml`` version, re-locks their
+# ``uv.lock`` pins, deletes consumed fragments, and pushes the result back to
+# each branch in the configured list. Keeps every tracked
 # branch's changelog current without requiring a maintainer to run
 # ``compile`` by hand.
 #
 # Scheduled workflow — must live on the repository's default branch for the
 # cron to register. See ``.github/workflows/README.md``.
 #
 # Scheduled runs combine ``env.CRON_BRANCHES`` with every remote
-# ``release/*`` branch that carries ``tools/changelog/cli.py``. This picks up
-# new compiler-enabled release branches automatically while leaving historical
-# branches that predate the fragment system untouched.
+# ``release/*`` branch that carries ``tools/changelog/towncrier.toml``. This picks
+# up release branches as they take the towncrier tooling (by backport) and
+# leaves older branches untouched.
 #
 # The push uses a short-lived GitHub App installation token minted from
 # ``CHANGELOG_APP_ID`` + ``CHANGELOG_APP_PRIVATE_KEY`` (repo secrets). The
@@ -31,7 +32,7 @@
 name: Nightly Changelog Compilation
 
 # Static branches the nightly cron compiles. The resolver also discovers every
-# remote ``release/*`` branch that carries ``tools/changelog/cli.py``. Every
+# remote ``release/*`` branch that carries ``tools/changelog/towncrier.toml``. Every
 # resolved branch must allow the isaaclab-bot App to bypass its ruleset.
 env:
   CRON_BRANCHES: develop
@@ -46,9 +47,9 @@ on:
         # Manual trigger is always a single branch. Free-text on purpose
         # — scales to any branch (e.g. a new ``release/*`` cut from
         # develop) without needing to update the workflow. A branch
-        # that lacks ``tools/changelog/cli.py`` fails the verify step
+        # that lacks ``tools/changelog/towncrier.toml`` fails the verify step
         # below with a clear error, which is the desired failure mode.
-        description: 'Branch to compile (e.g. develop, release/3.0.0). Must carry tools/changelog/cli.py.'
+        description: 'Branch to compile (e.g. develop, release/3.0.0). Must carry tools/changelog/towncrier.toml.'
         required: true
         type: string
       dry_run:
@@ -94,10 +95,10 @@ jobs:
                 --header "Authorization: Bearer $API_TOKEN" \
                 --header 'Accept: application/vnd.github+json' \
                 --header 'X-GitHub-Api-Version: 2022-11-28' \
-                "https://api.github.com/repos/$REPOSITORY/contents/tools/changelog/cli.py?ref=$encoded_branch")
+                "https://api.github.com/repos/$REPOSITORY/contents/tools/changelog/towncrier.toml?ref=$encoded_branch")
               case "$http_status" in
                 200) branches=$(printf '%s\n%s\n' "$branches" "$branch") ;;
-                404) echo "::notice::Skipping $branch because it predates the changelog compiler." ;;
+                404) echo "::notice::Skipping $branch because it predates the towncrier changelog tooling." ;;
                 *)
                   echo "::error::GitHub Contents API returned HTTP $http_status for $branch."
                   exit 1
@@ -165,8 +166,7 @@ jobs:
           # ``isaaclab-bot`` — the bypass identity — and downstream CI
           # workflows DO trigger on the resulting commit.
           token: ${{ steps.app-token.outputs.token }}
-          # Full history so the compiler can resolve each fragment's merge
-          # time via ``git log --diff-filter=A --first-parent``.
+          # Full history for the rebase before push.
           fetch-depth: 0
 
       - name: Verify changelog tooling exists on target branch
@@ -175,17 +175,19 @@ jobs:
         run: |
           # Loud-fail this matrix entry (not the whole run — ``fail-fast:
           # false`` keeps siblings going) when the target branch lacks
-          # ``tools/changelog/cli.py``. A red tile is the desired signal:
+          # ``tools/changelog/towncrier.toml``. A red tile is the desired signal:
           # a branch in the nightly set without the compile tooling is a
           # configuration error, not a "no-op" condition.
-          if [ ! -f tools/changelog/cli.py ]; then
-            echo "::error::Branch '$TARGET_BRANCH' is missing tools/changelog/cli.py — drop it from env.CRON_BRANCHES (or the dispatch input) or restore the tooling on that branch."
+          if [ ! -f tools/changelog/towncrier.toml ]; then
+            echo "::error::Branch '$TARGET_BRANCH' is missing tools/changelog/towncrier.toml — drop it from env.CRON_BRANCHES (or the dispatch input) or backport the tooling to that branch."
             exit 1
           fi
 
-      - uses: actions/setup-python@a309ff8b426b58ec0e2a45f0f869d46889d02405  # v6.2.0
+      - uses: astral-sh/setup-uv@d0cc045d04ccac9d8b7881df0226f9e82c39688e  # v6.8.0
         with:
-          python-version: "3.12"
+          # Keep equal to the uv in docker/Dockerfile.*: another uv release can
+          # re-serialize the whole lockfile, which ``compile`` then refuses.
+          version: "0.12.9"
 
       - name: Compile fragments
         # Capture the compile exit code so the next step can commit/push
@@ -195,19 +197,16 @@ jobs:
         # which is exactly the wedge mode that motivated this design.
         id: compile
         continue-on-error: true
+        # A dry run compiles in this throwaway checkout; the commit step below is skipped.
         run: |
-          ARGS="--all"
-          if [ "${{ inputs.dry_run }}" = "true" ]; then
-            ARGS="$ARGS --dry-run"
-          fi
-          echo "Running: python3 tools/changelog/cli.py compile $ARGS"
-          python3 tools/changelog/cli.py compile $ARGS
+          python3 tools/changelog/cli.py compile
+          git diff HEAD --stat
 
       - name: Commit and push if fragments were compiled
         # ``always()`` lets this step run even when the compile step above
         # reported partial failure (one package's malformed file fails, the
         # rest still wrote their CHANGELOG.rst / deleted fragments / bumped
-        # extension.toml). The staged-diff check below short-circuits cleanly
+        # pyproject.toml). The staged-diff check below short-circuits cleanly
         # if the failed package was the only one with pending work.
         if: ${{ always() && !inputs.dry_run }}
         env:
@@ -223,9 +222,7 @@ jobs:
           # them correctly. ID 282401363 is isaaclab-bot[bot]'s user ID.
           git config user.name "isaaclab-bot[bot]"
           git config user.email "282401363+isaaclab-bot[bot]@users.noreply.github.com"
-          git add source/*/changelog.d/ \
-                  source/*/docs/CHANGELOG.rst \
-                  source/*/pyproject.toml
+          # ``compile`` staged exactly its outputs (fragments, CHANGELOG.rst, pyproject.toml, uv.lock).
           if git diff --staged --quiet; then
             echo "No changelog fragments found — nothing to commit."
           else

docs/README.md

@@ -3,60 +3,28 @@
 We use [Sphinx](https://www.sphinx-doc.org/en/master/) with the [Book Theme](https://sphinx-book-theme.readthedocs.io/en/stable/) for maintaining and generating our documentation.
 
 Install [uv](https://docs.astral.sh/uv/getting-started/installation/) before continuing.
-Run all commands below from the repository root. The `--isolated` option creates
-a temporary environment for the `test` extra, which combines test and
-documentation requirements, leaving the repository's `.venv` unchanged.
+Run the build commands below from the repository root. The Isaac Lab CLI runs
+Sphinx in the repository's `.venv` with the `dev` extra, syncing documentation
+dependencies into that environment. The project selects Python 3.12.
 
 ## Current-Version Documentation
 
 This section describes how to build the documentation for the current version of the project.
 
-<details open>
-<summary><strong>Linux</strong></summary>
-
 ```bash
-# 1. Build the current documentation
-uv run --isolated --extra dev -- make -C docs current-docs
-
-# 2. Open the current docs
-xdg-open docs/_build/current/index.html
-```
-</details>
-
-<details> <summary><strong>Windows</strong></summary>
-
-```batch
-:: 1. Build the current documentation
-uv run --isolated --extra dev -- cmd /c docs\make.bat current-docs
-
-:: 2. Open the current docs
-start docs\_build\current\index.html
+uv run --extra dev isaaclab --docs
 ```
-</details>
 
+Open `docs/_build/current/index.html` in a browser after the build completes.
 
 ## Multi-Version Documentation
 
 This section describes how to build the multi-version documentation, which includes previous tags and the main branch.
 
-<details open> <summary><strong>Linux</strong></summary>
-
 ```bash
-# 1. Build the multi-version documentation
-uv run --isolated --extra dev -- make -C docs multi-docs
-
-# 2. Open the multi-version docs
-xdg-open docs/_build/index.html
+uv run --extra dev isaaclab --docs_multi
 ```
-</details>
-
-<details> <summary><strong>Windows</strong></summary>
 
-```batch
-:: 1. Build the multi-version documentation
-uv run --isolated --extra dev -- cmd /c docs\make.bat multi-docs
-
-:: 2. Open the multi-version docs
-start docs\_build\index.html
-```
-</details>
+This build requires the Git tags for the versions to include. It checks for
+`v3.0.0-EA/index.html` by default; set `DOCS_DEFAULT_REF` to another built ref
+if needed. Open `docs/_build/index.html` in a browser after the build completes.

docs/conf.py

@@ -192,7 +192,10 @@ def _read_pinned_versions() -> dict:
     # pinned to the release version because /docs/stable/objects.inv currently 404s
     "torch": (f"https://docs.pytorch.org/docs/{torch_docs_version}/", None),
     # Versioned documentation can lag a newly published Isaac Sim package release.
-    "isaacsim": ("https://docs.isaacsim.omniverse.nvidia.com/latest/py/", None),
+    "isaacsim": (
+        "https://docs.isaacsim.omniverse.nvidia.com/latest/py/",
+        "https://docs.isaacsim.omniverse.nvidia.com/latest/py/objects.inv",
+    ),
     "gymnasium": ("https://gymnasium.farama.org/", None),
     # NOTE: pinned to /stable/ because /objects.inv at the root currently 404s
     "warp": ("https://nvidia.github.io/warp/stable/", None),

docs/source/api/lab/isaaclab.sim.spawners.rst

@@ -301,7 +301,6 @@ Materials
     RigidBodyMaterialBaseCfg
     RigidBodyMaterialFragment
     UsdPhysicsRigidBodyMaterialCfg
-    RigidBodyMaterialCfg
     DeformableMaterialFragment
     OmniPhysicsDeformableMaterialCfg
     OmniPhysicsSurfaceDeformableMaterialCfg
@@ -371,9 +370,11 @@ Physical Materials
     :show-inheritance:
     :exclude-members: __init__, func
 
-.. autoclass:: RigidBodyMaterialCfg
-    :members:
-    :exclude-members: __init__, func
+.. deprecated:: 3.0.0
+
+    ``RigidBodyMaterialCfg`` is an alias for
+    :class:`~isaaclab_physx.sim.spawners.materials.PhysxRigidBodyMaterialCfg`.
+    Use the PhysX configuration directly.
 
 .. autoclass:: DeformableMaterialFragment
     :members:

docs/source/refs/changelog.rst

@@ -17,5 +17,6 @@ framework releases.
 * :isaaclab-source:`isaaclab_ppisp <source/isaaclab_ppisp/docs/CHANGELOG.rst>`
 * :isaaclab-source:`isaaclab_rl <source/isaaclab_rl/docs/CHANGELOG.rst>`
 * :isaaclab-source:`isaaclab_tasks <source/isaaclab_tasks/docs/CHANGELOG.rst>`
+* :isaaclab-source:`isaaclab_tasks_experimental <source/isaaclab_tasks_experimental/docs/CHANGELOG.rst>`
 * :isaaclab-source:`isaaclab_teleop <source/isaaclab_teleop/docs/CHANGELOG.rst>`
 * :isaaclab-source:`isaaclab_visualizers <source/isaaclab_visualizers/docs/CHANGELOG.rst>`