pull · Sep 29, 2026 · Sep 29, 2026 · Sep 29, 2026
diff --git a/source/isaaclab/changelog.d/core-cleanup-sim-authoring.skip b/source/isaaclab/changelog.d/core-cleanup-sim-authoring.skip
diff --git a/source/isaaclab/changelog.d/launch-helper-cleanup.major.rst b/source/isaaclab/changelog.d/launch-helper-cleanup.major.rst
diff --git a/source/isaaclab/changelog.d/launch-interrupt-status.rst b/source/isaaclab/changelog.d/launch-interrupt-status.rst
diff --git a/source/isaaclab/changelog.d/launch-one-mechanism.major.rst b/source/isaaclab/changelog.d/launch-one-mechanism.major.rst
diff --git a/source/isaaclab/changelog.d/launch-simulation-scripts.major.rst b/source/isaaclab/changelog.d/launch-simulation-scripts.major.rst
diff --git a/source/isaaclab/changelog.d/usd-exchange-3-provider.minor.rst b/source/isaaclab/changelog.d/usd-exchange-3-provider.minor.rst
diff --git a/source/isaaclab/changelog.d/vidurv-deformable-fragments.minor.rst b/source/isaaclab/changelog.d/vidurv-deformable-fragments.minor.rst
diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst
@@ -1,6 +1,120 @@
 Changelog
 ---------
 
+32.0.0 (2026-09-29)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added the deformable-body fragment families: :class:`~isaaclab.sim.schemas.DeformableBodyFragment`
+  and :class:`~isaaclab.sim.schemas.OmniPhysicsDeformableBodyCfg` with the expression-targeted
+  writers :func:`~isaaclab.sim.schemas.apply_volume_deformable_properties` and
+  :func:`~isaaclab.sim.schemas.apply_surface_deformable_properties`.
+* Added deformable material fragments
+  (:class:`~isaaclab.sim.spawners.materials.OmniPhysicsDeformableMaterialCfg`,
+  :class:`~isaaclab.sim.spawners.materials.OmniPhysicsSurfaceDeformableMaterialCfg`) under the new
+  :class:`~isaaclab.sim.spawners.materials.DeformableMaterialFragment` marker, accepted by the
+  ``physics_material`` spawner fields.
+* Added ``volume_deformable_props`` and ``surface_deformable_props`` mappings to
+  :class:`~isaaclab.sim.spawners.DeformableObjectSpawnerCfg`, applying deformable fragments by
+  target pattern relative to the spawn prim. A bare fragment or list is shorthand for the spawn
+  prim itself. Alongside either slot, ``collision_props`` must be given as collision fragments; a
+  legacy collision cfg raises, since it cannot reach the simulation mesh.
+* Added :meth:`~isaaclab.physics.PhysicsManager.setup_deformable_body` so each physics backend
+  applies its own deformable anchor schemas.
+* Added ``tetrahedralization_edge_length_fac`` to
+  :func:`~isaaclab.sim.schemas.apply_volume_deformable_properties`, so the volume fragment writer
+  controls the automatic tetrahedralization target edge length like
+  :func:`~isaaclab.sim.schemas.define_deformable_body_properties` does.
+* Added ``launcher_type`` to :class:`~isaaclab.physics.PhysicsCfg` and :class:`~isaaclab.renderers.RendererCfg`,
+  defaulting to ``None`` for configs whose runtime needs no launcher.
+
+Changed
+^^^^^^^
+
+* Changed every script, example, tutorial, and benchmark to start the simulation runtime with
+  :func:`~isaaclab.app.launch_simulation` and to construct runtime objects from their configs with
+  :func:`~isaaclab.utils.instantiate`.
+* Changed the ``convert_mesh``, ``convert_urdf``, and ``convert_mjcf`` tools to preview the converted asset in the
+  visualizer selected with ``--viz`` (including ``kit``) instead of a Kit-only viewport.
+* Changed the ``run_usd_camera`` and ``run_ray_caster_camera`` tutorials to save images as PNG files with
+  :func:`~isaaclab.utils.save_images_to_file` instead of Replicator writers.
+* Changed ``pick_and_place.py`` to use :class:`~isaaclab.devices.Se3Keyboard`.
+* Changed :func:`~isaaclab.app.launch_simulation` to end the process with the status of a ``sys.exit(n)`` raised in
+  its block; Kit previously exited with 0.
+* Changed the ``run_usd_camera`` tutorial to also save floating-point outputs, such as depth and normals, as NumPy
+  ``.npy`` files when ``--save`` is passed.
+* Changed :attr:`~isaaclab.sim.spawners.meshes.MeshCfg.edge_refinement` to apply to the
+  ``volume_deformable_props`` and ``surface_deformable_props`` slots as well, not only the legacy
+  ``deformable_props`` field.
+* Changed physics-material fragment lists to allow mixing rigid-body and deformable material
+  fragments on one material prim; the ``UsdPhysics.MaterialAPI`` anchor is applied only when a
+  rigid-body fragment is present. The writer is now named
+  :func:`~isaaclab.sim.spawners.materials.spawn_physics_material_from_fragments` accordingly.
+* Changed :func:`~isaaclab.sim.schemas.apply_volume_deformable_properties` and
+  :func:`~isaaclab.sim.schemas.apply_surface_deformable_properties` to skip matched prims that are
+  already authored as the other deformable type. Such a prim is reported with a warning and drags
+  the return value to ``False`` instead of receiving a family it does not simulate with. Target the
+  prim through the writer matching its authored type.
+* **Breaking:** Changed ``--viz none`` to parse to an empty list instead of ``None``, so ``args_cli.visualizer is None``
+  means no ``--viz`` was passed and ``[]`` means all visualizers are disabled. The ``visualizer_explicit`` and
+  ``visualizer_disable_all`` launcher arguments are removed; check ``args_cli.visualizer`` instead.
+* Changed :func:`~isaaclab.app.launch_simulation` to also detect a ``newton_rtx`` visualizer listed in
+  ``visualizer_cfgs``, so the OVRTX runtime starts and the Kit conflict check applies.
+* **Breaking:** Changed the pinned standalone OpenUSD provider from ``usd-exchange`` 2.3.0 to
+  3.0.0. In kit-less installs ``pxr`` is now OpenUSD **26.08** instead of 25.05. Environments
+  that pin Isaac Lab against OpenUSD 25.05 outside Kit must re-resolve, and any code compiled
+  or generated against the 25.05 ``pxr`` ABI must be rebuilt against 26.08. Kit-backed runs are
+  unaffected: Kit serves its own OpenUSD from its extension roots.
+* :meth:`~isaaclab.sim.SimulationContext.initialize_visualizers` accepts an optional ``config_filter``
+  selecting which pending visualizers to initialize.
+* :meth:`~isaaclab.sim.SimulationContext.get_physics_dt` returns :attr:`~isaaclab.sim.SimulationCfg.dt`
+  directly.
+* :class:`~isaaclab.sim.SimulationContext` expects canonical visualizer names in the
+  ``/isaaclab/visualizer/types`` setting. The deprecated ``newton`` name is still accepted by ``--visualizer``
+  and by :func:`~isaaclab.sim.build_simulation_context`, which map it to ``newton_gl``.
+
+Deprecated
+^^^^^^^^^^
+
+* Deprecated :func:`~isaaclab.sim.spawners.materials.spawn_rigid_body_material_from_fragments` in
+  favor of :func:`~isaaclab.sim.spawners.materials.spawn_physics_material_from_fragments`, which
+  also accepts deformable material fragments. The old name still forwards to the new writer and
+  emits a ``DeprecationWarning``; it is scheduled for removal in 3.2.
+
+Removed
+^^^^^^^
+
+* **Breaking:** Reduced the deprecated ``isaaclab.app.AppLauncher`` to a shim for scripts that still use it.
+  ``AppLauncher(args).app`` still starts Isaac Sim / Kit through :func:`~isaaclab.app.launch_simulation` and
+  ``app.close(exit_code=n)`` ends the process with ``n``, and
+  ``AppLauncher.add_app_launcher_args`` still adds the launcher arguments. ``is_available``, ``has_gui``,
+  ``has_window``, and ``device`` were removed: use ``isaaclab_physx.app.KitLauncher.is_available()``,
+  :attr:`~isaaclab.sim.SimulationContext.has_gui`, and the simulation config's ``device``.
+* Removed the ``check_*`` scripts under the core and PhysX test folders, which duplicated pytest coverage.
+* **Breaking:** Renamed ``SimulationContext.is_headless_or_exist_active_visualizer`` to
+  :meth:`~isaaclab.sim.SimulationContext.is_running`, which also returns False once every started visualizer is
+  closed instead of treating the emptied visualizer list as a headless run. Replace the calls.
+* **Breaking:** Removed ``SettingsManager.instance()``. Use :func:`~isaaclab.app.get_settings_manager`.
+* **Breaking:** Removed ``SettingsManager.set_bool``, ``set_int``, ``set_float``, and ``set_string``. Use
+  :meth:`~isaaclab.app.SettingsManager.set`, which dispatches on the value type.
+* **Breaking:** Removed ``isaaclab.app.make_physics_cfg``. Select the backend with the ``physics`` launcher
+  argument of :func:`~isaaclab.app.launch_simulation`, or construct the physics config directly.
+* **Breaking:** Removed ``isaaclab.app.logging_utils.resolve_python_logging_level``.
+  :func:`~isaaclab.app.launch_simulation` applies the ``--verbose`` / ``--info`` level itself.
+* **Breaking:** Removed ``isaaclab.sim.simulation_context.SettingsHelper``. Use
+  :meth:`~isaaclab.sim.SimulationContext.set_setting` and :meth:`~isaaclab.sim.SimulationContext.get_setting`,
+  or :func:`~isaaclab.app.get_settings_manager`.
+* Removed the Isaac Sim < 5.0 no-op fallback of :func:`~isaaclab.sim.utils.use_stage`.
+
+Fixed
+^^^^^
+
+* Fixed :func:`~isaaclab.app.launch_simulation` passing a successful exit status to runtime launchers
+  after an unhandled Ctrl+C; it now passed exit status 130.
+
+
 31.0.0 (2026-09-28)
 ~~~~~~~~~~~~~~~~~~~
 

diff --git a/source/isaaclab/pyproject.toml b/source/isaaclab/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab"
-version = "31.0.0"
+version = "32.0.0"
 description = "Extension providing main framework interfaces and abstractions for robot learning."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]

diff --git a/source/isaaclab_contrib/changelog.d/admm-contact-capacity.minor.rst b/source/isaaclab_contrib/changelog.d/admm-contact-capacity.minor.rst
diff --git a/source/isaaclab_contrib/docs/CHANGELOG.rst b/source/isaaclab_contrib/docs/CHANGELOG.rst
@@ -1,6 +1,19 @@
 Changelog
 ---------
 
+3.1.0 (2026-09-29)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added ``CouplerAdmmCfg.contact_max_triangle_pairs`` and
+  ``contact_reduction_hashtable_size_factor`` to configure the internal ADMM collision
+  buffers independently of the outer Newton collision pipeline, preserving Newton's
+  defaults. Validation rejected triangle-pair capacities at or above ``2**20`` with
+  ``"latest"`` or ``"sticky"`` matching and explicit overrides unsupported by Newton.
+
+
 3.0.0 (2026-09-28)
 ~~~~~~~~~~~~~~~~~~
 

diff --git a/source/isaaclab_contrib/pyproject.toml b/source/isaaclab_contrib/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab_contrib"
-version = "3.0.0"
+version = "3.1.0"
 description = "An extension used to stage and integrate externally contributed features and implementations."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]

diff --git a/source/isaaclab_newton/changelog.d/core-cleanup-sim-authoring.skip b/source/isaaclab_newton/changelog.d/core-cleanup-sim-authoring.skip
diff --git a/source/isaaclab_newton/changelog.d/fabric-review-regressions.skip b/source/isaaclab_newton/changelog.d/fabric-review-regressions.skip
@@ -0,0 +1 @@
+Covered nested articulation root-pose rendering and rigid-body rendering alongside cables.
diff --git a/source/isaaclab_newton/changelog.d/newton-coordinate-targets.skip b/source/isaaclab_newton/changelog.d/newton-coordinate-targets.skip
diff --git a/source/isaaclab_newton/changelog.d/vidurv-deformable-fragments.minor.rst b/source/isaaclab_newton/changelog.d/vidurv-deformable-fragments.minor.rst
diff --git a/source/isaaclab_newton/docs/CHANGELOG.rst b/source/isaaclab_newton/docs/CHANGELOG.rst
@@ -1,6 +1,20 @@
 Changelog
 ---------
 
+9.1.0 (2026-09-29)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added the Newton deformable material fragments
+  :class:`~isaaclab_newton.sim.spawners.materials.NewtonVolumeDeformableMaterialCfg` and
+  :class:`~isaaclab_newton.sim.spawners.materials.NewtonSurfaceDeformableMaterialCfg`, authoring the
+  ``newton:*`` attributes read by the Newton deformable-body builder hooks.
+* Added :meth:`~isaaclab_newton.physics.NewtonManager.setup_deformable_body`, applying Newton's
+  token deformable anchor schemas and syncing the visual mesh geometry from the simulation mesh.
+
+
 9.0.0 (2026-09-28)
 ~~~~~~~~~~~~~~~~~~
 

diff --git a/source/isaaclab_newton/pyproject.toml b/source/isaaclab_newton/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab_newton"
-version = "9.0.0"
+version = "9.1.0"
 description = "Extension providing IsaacLab with Newton specific abstractions."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		Covered nested articulation root-pose rendering and rigid-body rendering alongside cables.