feat(schemas): articulation-root schema-fragment API (additive)

.agents/skills/isaaclab-building-environments

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+../../skills/user/create-environments

.agents/skills/isaaclab-converting-direct-to-manager

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+../../skills/user/convert-direct-to-manager

.agents/skills/isaaclab-debugging-rl-training

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+../../skills/user/debug-rl-training

.agents/skills/isaaclab-diagnosing-joint-poses

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+../../skills/user/diagnose-joint-poses

.agents/skills/isaaclab-following-coding-style

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+../../skills/developer/coding-style

.agents/skills/isaaclab-migrating-2x-to-3x

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+../../skills/user/migrate-2x-to-3x

.agents/skills/isaaclab-migrating-from-isaac-gym

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+../../skills/user/migrate-from-isaac-gym

.agents/skills/isaaclab-planning-manipulation-tasks

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+../../skills/user/plan-manipulation-tasks

.agents/skills/isaaclab-preparing-assets-for-newton

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+../../skills/user/prepare-assets-for-newton

.agents/skills/isaaclab-preparing-pr-workflow

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+../../skills/developer/pr-workflow

.agents/skills/isaaclab-randomizing-with-events

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+../../skills/user/domain-randomization-events

.agents/skills/isaaclab-selecting-backends

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+../../skills/user/select-backends

.agents/skills/isaaclab-setup-troubleshooting

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+../../skills/user/setup-troubleshooting

.agents/skills/isaaclab-training-rl-agents

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+../../skills/user/train-rl-agents

.agents/skills/isaaclab-using-presets

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+../../skills/user/use-presets

.agents/skills/isaaclab-using-sensors-actuators

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+../../skills/user/use-sensors-actuators

.agents/skills/isaaclab-writing-changelog-fragments

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+../../skills/developer/changelog-fragments

.claude/skills

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+../.agents/skills

.github/actions/_lib/compute-deps-hash/action.yml

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+# 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: 'Compute deps hash'
+description: >
+  Compute the deps-cache hash for the Isaac Lab Docker build. Shared by the
+  docker-build (local-store check) and ecr-build-push-pull (registry check)
+  actions so a local hit and a registry hit always agree on the same
+  `deps-<hash>` tag. Hashes the install-relevant files, resolved base image
+  digest, and target platform.
+
+inputs:
+  dockerfile-path:
+    description: 'Path to Dockerfile'
+    required: true
+  isaacsim-base-image:
+    description: 'IsaacSim base image'
+    required: true
+  isaacsim-version:
+    description: 'IsaacSim version'
+    required: true
+  platform:
+    description: 'Target platform included in the dependency-cache identity'
+    default: 'linux/amd64'
+    required: false
+
+outputs:
+  hash:
+    description: '16-char deps-cache hash'
+    value: ${{ steps.compute.outputs.hash }}
+
+runs:
+  using: composite
+  steps:
+    - id: compute
+      shell: bash
+      env:
+        DOCKERFILE_PATH: ${{ inputs.dockerfile-path }}
+        ISAACSIM_BASE_IMAGE: ${{ inputs.isaacsim-base-image }}
+        ISAACSIM_VERSION: ${{ inputs.isaacsim-version }}
+        TARGET_PLATFORM: ${{ inputs.platform }}
+      run: |
+        set -euo pipefail
+
+        # Exact files/dirs whose full content is hashed. The Dockerfile is first.
+        deps_files=(
+          "${DOCKERFILE_PATH}"
+          isaaclab.sh
+          environment.yml
+          source/isaaclab/isaaclab/cli
+        )
+        deps_manifest_pattern='(setup\.py|pyproject\.toml|setup\.cfg|extension\.toml|requirements[^/]*\.txt|uv\.lock)$'
+
+        # Resolve the actual base image digest so a new push of a mutable tag
+        # (e.g. latest-develop) invalidates the deps cache automatically.
+        base_image_digest=$(docker buildx imagetools inspect \
+          "${ISAACSIM_BASE_IMAGE}:${ISAACSIM_VERSION}" \
+          --format '{{json .Manifest.Digest}}' 2>/dev/null | tr -d '"' || true)
+        if [ -n "${base_image_digest}" ]; then
+          base_image_uniq_id="${ISAACSIM_BASE_IMAGE}:${ISAACSIM_VERSION}:${base_image_digest}"
+        else
+          echo "🟠 Could not resolve base image digest, falling back to tag string"
+          base_image_uniq_id="${ISAACSIM_BASE_IMAGE}:${ISAACSIM_VERSION}"
+        fi
+
+        mapfile -t manifest_files < <(git ls-files | grep -E "${deps_manifest_pattern}" || true)
+        file_hash=$(git ls-files -s "${deps_files[@]}" "${manifest_files[@]}" 2>/dev/null \
+          | sha256sum | cut -c1-16)
+        deps_hash=$(printf '%s %s %s' "${file_hash}" "${base_image_uniq_id}" "${TARGET_PLATFORM}" \
+          | sha256sum | cut -c1-16)
+
+        echo "🔵 Deps hash: ${deps_hash}"
+        echo "hash=${deps_hash}" >> "$GITHUB_OUTPUT"

.github/actions/_lib/setup-docker-config/action.yml

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+# 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: 'Setup docker config'
+description: >
+  Point DOCKER_CONFIG at a temp config with the credential helper disabled and
+  log into nvcr.io. Shared by the docker-build and ecr-build-push-pull actions.
+  Idempotent: re-invoking it in the same job is a no-op, so callers (e.g.
+  ecr-build-push-pull delegating to docker-build) don't need to coordinate.
+  Reads NGC_API_KEY from the environment (optional; warns when missing).
+
+runs:
+  using: composite
+  steps:
+    - shell: bash
+      run: |
+        # The runner's credential helper backend is broken ("not implemented")
+        # and causes docker login calls to fail unless we point DOCKER_CONFIG at
+        # a temp config with credsStore disabled. The value is written to
+        # $GITHUB_ENV so subsequent steps in the job inherit it; a second
+        # invocation sees it already set and short-circuits.
+        if [ -n "${DOCKER_CONFIG:-}" ] && [ -f "${DOCKER_CONFIG}/config.json" ]; then
+          echo "🟢 Docker config already set up at ${DOCKER_CONFIG}, skipping"
+          exit 0
+        fi
+
+        DOCKER_CONFIG_DIR=$(mktemp -d)
+        if [ -f "${HOME}/.docker/config.json" ]; then
+          python3 -c "import json; cfg=json.load(open('${HOME}/.docker/config.json')); cfg['credsStore']=''; cfg.pop('credHelpers',None); json.dump(cfg,open('${DOCKER_CONFIG_DIR}/config.json','w'))"
+        else
+          echo '{"credsStore":""}' > "${DOCKER_CONFIG_DIR}/config.json"
+        fi
+        export DOCKER_CONFIG="${DOCKER_CONFIG_DIR}"
+        echo "DOCKER_CONFIG=${DOCKER_CONFIG_DIR}" >> "$GITHUB_ENV"
+
+        if [ -n "${NGC_API_KEY:-}" ]; then
+          echo "🔵 Logging into nvcr.io..."
+          docker login -u '$oauthtoken' -p "${NGC_API_KEY}" nvcr.io
+        else
+          echo "🟠 NGC_API_KEY not set - skipping nvcr.io login (normal for fork PRs)"
+        fi