# Description

This change adds a call to `update_articulations_kinematic()` after
performing reset in an environment to ensure that non-render sensors are
updated after performing reset.

## Type of change

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applicable. -->

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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---------

Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>

The kernel-level fix (reset_envs_kernel setting is_outdated=False) broke
FrameTransformer's refetch-on-reset behavior that PR isaac-sim#1276 relies on,
causing test_outdated_sensor.py to fail in CI. Move the fix into each
step-dependent sensor's reset() so it only affects the four sensors that
genuinely have a staleness problem (contact / IMU / PVA / joint-wrench
across PhysX and Newton); FrameTransformer / RayCaster / Camera keep
their original refetch-on-reset semantics.

* Revert reset_envs_kernel back to is_outdated=True (PR isaac-sim#1276 contract).
* Add clear_outdated_envs_kernel + SensorBase._mark_envs_up_to_date()
  helper for sensors to opt out of the refetch.
* Each affected sensor's reset() now calls _mark_envs_up_to_date(mask)
  after zeroing _data, so subsequent data access returns those zeros
  rather than refetching the unstepped physics buffer.
* Simplify Newton ContactSensor.reset() to use the shared
  _resolve_indices_and_mask helper instead of its custom resolution.
* Add per-package changelog fragments (isaaclab / isaaclab_physx /
  isaaclab_newton).

Replace the SensorBase opt-out scaffolding from the previous attempt with
a kernel-level check: each step-dependent sensor's update kernel now
takes the sensor timestamp and early-returns for envs where it is still
0 (the existing reset_envs_kernel signal that no physics step has
occurred since the last reset). Reading the physics buffer for those
envs would inject pre-reset values; the kernel skip keeps the data that
the sensor's reset() populated.

This is a single added argument and a single conditional per affected
kernel — no shared kernel, helper method, or class attribute. Touches:

  PhysX:  update_net_forces_kernel, imu_update_kernel,
          pva_update_kernel, joint_wrench_split_kernel.
  Newton: copy_from_newton_kernel, imu_copy_kernel,
          pva_update_kernel, joint_wrench_to_incoming_joint_frame_kernel.

FrameTransformer / RayCaster / Camera kernels are untouched so they
continue to refetch right after reset (the path PR isaac-sim#1276 set up).