vidurv-nvidia · vidurv-nvidia · Jun 24, 2026 · Jun 24, 2026 · Jun 24, 2026 · Jun 24, 2026
diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -184,6 +184,7 @@ Guidelines for modifications:
 * Tsz Ki GAO
 * Tyler Lum
 * Victor Khaustov
+* Vidur Vij
 * Virgilio Gómez Lambo
 * Vladimir Fokow
 * Wei Yang

diff --git a/source/isaaclab/changelog.d/isaac-rtx-per-env-scene-partition-env-var.rst b/source/isaaclab/changelog.d/isaac-rtx-per-env-scene-partition-env-var.rst
@@ -0,0 +1,7 @@
+Added
+^^^^^
+
+* Added :func:`~isaaclab.utils.renderers.isaac_rtx_per_env_scene_partition_enabled` to
+  query whether per-environment Isaac RTX scene partitioning is enabled. Set
+  ``ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=1`` to enable authoring of
+  ``primvars:omni:scenePartition`` and ``omni:scenePartition`` on the USD stage.
diff --git a/source/isaaclab/changelog.d/jmart-cartpole-rtx.minor.rst b/source/isaaclab/changelog.d/jmart-cartpole-rtx.minor.rst
diff --git a/source/isaaclab/changelog.d/jmart-dr-reset.rst b/source/isaaclab/changelog.d/jmart-dr-reset.rst
diff --git a/source/isaaclab/changelog.d/vidurv-schema-frag-meshcollision.minor.rst b/source/isaaclab/changelog.d/vidurv-schema-frag-meshcollision.minor.rst
@@ -0,0 +1,20 @@
+Added
+^^^^^
+
+* Added the mesh-collision schema-fragment API: the
+  :class:`~isaaclab.sim.schemas.MeshCollisionFragment` marker and
+  :class:`~isaaclab.sim.schemas.UsdPhysicsMeshCollisionCfg` (carrying the standard
+  ``physics:approximation`` token via ``UsdPhysics.MeshCollisionAPI``).
+* Added :func:`~isaaclab.sim.schemas.apply_mesh_collision_properties`, which applies
+  ``UsdPhysics.MeshCollisionAPI`` as the implicit anchor, resolves the
+  ``physics:approximation`` token from whichever cooking fragment is present (validated against
+  :const:`~isaaclab.sim.schemas.MESH_APPROXIMATION_TOKENS`), and dispatches each fragment via its
+  ``func``.
+
+Changed
+^^^^^^^
+
+* Changed the mesh-converter ``mesh_collision_props`` slot
+  (:attr:`~isaaclab.sim.converters.MeshConverterCfg.mesh_collision_props`) to also accept a list of
+  :class:`~isaaclab.sim.schemas.MeshCollisionFragment` fragments. Legacy single cfgs continue to
+  work through a transition bridge in the converter.
diff --git a/source/isaaclab/changelog.d/vidurv-schema-fragments.minor.rst b/source/isaaclab/changelog.d/vidurv-schema-fragments.minor.rst
@@ -0,0 +1,19 @@
+Added
+^^^^^
+
+* Added the single-namespace schema-fragment API: :class:`~isaaclab.sim.schemas.SchemaFragment`,
+  the :class:`~isaaclab.sim.schemas.RigidBodyFragment` marker, and
+  :class:`~isaaclab.sim.schemas.UsdPhysicsRigidBodyCfg`. Each fragment carries
+  ``_usd_namespace`` / ``_usd_applied_schema`` metadata and a ``func`` applier so a prim can
+  carry rigid-body properties from multiple USD namespaces at once.
+* Added :func:`~isaaclab.sim.schemas.apply_namespaced` (generic fragment writer) and
+  :func:`~isaaclab.sim.schemas.apply_rigid_body_properties` (applies a list of rigid-body
+  fragments with ``UsdPhysics.RigidBodyAPI`` as the implicit anchor).
+
+Changed
+^^^^^^^
+
+* Changed the spawner ``rigid_props`` slot
+  (:attr:`~isaaclab.sim.spawners.RigidObjectSpawnerCfg.rigid_props`) to also accept a list of
+  :class:`~isaaclab.sim.schemas.RigidBodyFragment` fragments. Legacy single cfgs continue to
+  work through a transition bridge in the spawn writers.
diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "7.0.5"
+version = "7.1.0"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst
@@ -1,6 +1,37 @@
 Changelog
 ---------
 
+7.1.0 (2026-06-24)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added the :meth:`~isaaclab.physics.physics_manager.PhysicsManager.provides_implicit_damping` and
+  :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.provides_temporal_camera_data` capability
+  classmethods on the runtime backend bases, so physics and renderer backends declare whether a
+  camera observation carries the temporal information a policy needs to infer velocity (used to
+  decide frame stacking). Base defaults: physics has implicit damping (``True``); a renderer
+  provides no temporal data (``False``).
+* Added :meth:`~isaaclab.renderers.Renderer.resolve_class` to resolve a renderer's implementation
+  class from its configuration without instantiating it (so tasks can query the above classmethod
+  before a simulation exists).
+
+Fixed
+^^^^^
+
+* Fixed a crash where :class:`~isaaclab.envs.mdp.randomize_visual_color` used in ``reset`` mode
+  raised ``AttributeError: 'NoneType' object has no attribute 'link_count'`` during environment
+  startup on the PhysX backend. The randomizer authored USD (``SetInstanceable`` and material
+  binding) on the articulation root prim, which invalidated the PhysX articulation view so that
+  the subsequent at-play body-name resolution dereferenced a ``None`` metatype. It now scopes to
+  descendant visual prims, mirroring :class:`~isaaclab.envs.mdp.randomize_visual_texture_material`.
+* Fixed the wheel-builder ``newton[sim]`` dependency pin to use Newton commit
+  ``79e95bf5571d70a0a46c8eaedc80644531d27368``, including the
+  RenderContext triangle-mesh construction fix from `newton-physics/newton#3199
+  <https://github.com/newton-physics/newton/pull/3199>`_.
+
+
 7.0.5 (2026-06-23)
 ~~~~~~~~~~~~~~~~~~