Add proxy-coupled MJWarp+VBD solver and Franka cable lifting task

.gitignore

@@ -86,5 +86,8 @@ _build
 # Isaac Lab CI environments in native mode
 **/_isaaclab_install_ci_*
 
+# Tuning results (raw run data, plots, writeup)
+/tuning_results/
+
 # Superpowers (Claude Code plugin artifacts)
 docs/superpowers/

docs/source/api/index.rst

@@ -83,6 +83,7 @@ The following modules are available in the ``isaaclab_contrib`` extension:
 
    actuators
    assets
+   cable
    controllers
    deformable
    mdp

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

@@ -50,6 +50,7 @@ Shapes
   .. autosummary::
 
     ShapeCfg
+    CableCfg
     CapsuleCfg
     ConeCfg
     CuboidCfg
@@ -60,6 +61,13 @@ Shapes
     :members:
     :exclude-members: __init__, func
 
+.. autofunction:: spawn_cable
+
+.. autoclass:: CableCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
 .. autofunction:: spawn_capsule
 
 .. autoclass:: CapsuleCfg

docs/source/api/lab_contrib/isaaclab_contrib.cable.rst

@@ -0,0 +1,54 @@
+isaaclab_contrib.cable
+======================
+
+.. automodule:: isaaclab_contrib.cable
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    cable_object.CableObject
+    cable_object.CableRegistryEntry
+    cable_object_cfg.CableObjectCfg
+
+  .. rubric:: Replicate-hook plumbing
+
+  .. autosummary::
+
+    cable_object.add_cable_entry_to_builder
+    cable_object.add_registered_cables_to_builder
+    cable_object.install_cable_builder_hooks
+
+Cable Object
+------------
+
+.. autoclass:: isaaclab_contrib.cable.cable_object.CableObject
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+.. autoclass:: isaaclab_contrib.cable.cable_object_cfg.CableObjectCfg
+  :members:
+  :show-inheritance:
+  :exclude-members: __init__
+
+Replicate-Hook Plumbing
+-----------------------
+
+The cable registry / per-world builder hook mirrors the deformable contrib
+pattern: :class:`CableObject` constructor appends a
+:class:`CableRegistryEntry` to ``SimulationManager._cable_registry``, and the
+hook installed by :func:`install_cable_builder_hooks` walks that registry once
+per world during ``add_to_builder`` to call
+:meth:`newton.ModelBuilder.add_rod_graph`.
+
+.. autoclass:: isaaclab_contrib.cable.cable_object.CableRegistryEntry
+  :members:
+  :show-inheritance:
+  :exclude-members: __init__
+
+.. autofunction:: isaaclab_contrib.cable.cable_object.add_cable_entry_to_builder
+
+.. autofunction:: isaaclab_contrib.cable.cable_object.add_registered_cables_to_builder
+
+.. autofunction:: isaaclab_contrib.cable.cable_object.install_cable_builder_hooks

docs/source/api/lab_newton/isaaclab_newton.sim.spawners.rst

@@ -10,6 +10,7 @@ isaaclab_newton.sim.spawners
     NewtonDeformableBodyMaterialCfg
     NewtonDeformableMaterialCfg
     NewtonSurfaceDeformableBodyMaterialCfg
+    NewtonCableMaterialCfg
 
 Deformable Materials
 --------------------
@@ -31,3 +32,16 @@ Newton provides the backend-specific deformable material cfgs. Deformable materi
     :members:
     :show-inheritance:
     :exclude-members: __init__, func
+
+Cable Material
+--------------
+
+Cable rod material parameters for :class:`~isaaclab.sim.spawners.shapes.CableCfg`
+and :class:`~isaaclab_contrib.cable.CableObject`. Authored as a
+``UsdShade.Material`` with ``newton:*`` attributes via the same
+:func:`isaaclab.sim.spawners.materials.spawn_deformable_body_material` helper.
+
+.. autoclass:: NewtonCableMaterialCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func

docs/source/overview/core-concepts/physical-backends/newton/index.rst

@@ -50,6 +50,7 @@ new backend, see :doc:`../../multi_backend_architecture`.
   mjwarp-solver
   kamino-solver
   using-vbd-solver
+  using-cables
   newton-manager-abstraction
   warp-environments
   warp-env-migration