Add dVRK needle-pass environment to contrib

[chrisvoncsefalvay]

Description

This draft PR replaces #6527, which was closed rather than rewriting its main-based history. It is opened against develop in response to @kellyguo11's maintainer feedback, which asked that the contribution move to develop and that the task use the new isaaclab_tasks/contrib area.

Part of the dVRK Extended Cinematic Universe: best read alongside NVIDIA/IsaacTeleop#769.

This adds a contact-driven dVRK PSM needle-pass environment, its pinned PSM asset configuration, and paired-controller XR teleoperation. The needle is initialised once during reset; runtime transfer is qualified from measured contacts and load without attaching or directly repositioning the needle.

The task now lives under isaaclab_tasks.contrib.needle_pass and is registered as IsaacContrib-NeedlePass-dVRK-IK-Abs. The develop port also adds lazy runtime configuration imports, finite-input and controller-contract validation, fail-safe jaw and pose hold behaviour, and public teleoperation-pipeline coverage.

Main changes

• Add the fixed-base dVRK Patient Side Manipulator asset configuration.
• Add IsaacContrib-NeedlePass-dVRK-IK-Abs, with differential IK, contact observations, load-backed hand-off phases, rewards, termination criteria, and CUDA physics validation.
• Add a task-specific IsaacTeleop pipeline that maps paired XR controllers to the environment's 18-dimensional action interface and holds safe commands when controller data is invalid.
• Add asset-integrity preflight checks and focused CI coverage for the task, physics contracts, and the public IsaacTeleop output pipeline.
• Document the dVRK CloudXR/OpenXR workflow and add changelog fragments for isaaclab_assets and isaaclab_tasks.

Dependency status

NVIDIA/IsaacTeleop#769 is still open, and its dVRK retargeter API is not yet part of a release. The normal package dependency accepts isaacteleop>=1.3.0,<2.0.0. Until a release in that range contains the dVRK API, the focused CI job and documented local-validation helper build the exact PR revision ca175df7afc8198cbba0592cd1b447b11a4f3165. The source-build helper can be removed after that API is released.

Validation

• ./isaaclab.sh -f: all 22 pre-commit hooks passed.
• ./isaaclab.sh -p tools/changelog/cli.py check develop: both modified packages have valid fragments.
• Focused dVRK unit tests: 41 passed.
• Exact pinned IsaacTeleop PR [Bug Report] --device_id can not work #769 public-pipeline tests: 4 passed.
• Headless CUDA physics qualification: 3 selected tests passed, including 32-environment finite-action coverage.
• Qualification MP4: non-empty, with its first frame decoded successfully.
• Documentation build: 226 source files processed successfully.

Type of change

• New feature (non-breaking change which adds functionality)
• Documentation update

Screenshots

Checklist

• I have read and understood the contribution guidelines.
• I have run the pre-commit checks with ./isaaclab.sh -f.
• I have made corresponding changes to the documentation.
• My changes generate no new task warnings.
• I have added tests that prove the fix is effective and the feature works.
• I have added a changelog fragment under source/<pkg>/changelog.d/ for every touched package.
• My name is present in CONTRIBUTORS.md.

Big thanks to @kellyguo11 for the encouragement and advice on repo structure!