Updates ecosystem docs

.github/workflows/wheel.yml

@@ -8,12 +8,6 @@ name: Build PIP Wheel
 on:
   pull_request:
     types: [opened, synchronize, reopened]
-    paths:
-      - 'apps/**'
-      - 'VERSION'
-      - 'source/**'
-      - 'tools/wheel_builder/**'
-      - '.github/workflows/wheel.yml'
   push:
     branches:
       - main
@@ -26,6 +20,7 @@ concurrency:
 
 permissions:
   contents: read
+  pull-requests: read
 
 jobs:
   build-wheel:
@@ -34,13 +29,103 @@ jobs:
     timeout-minutes: 5
 
     steps:
+      - name: Detect wheel-relevant changes
+        id: changes
+        env:
+          GH_TOKEN: ${{ github.token }}
+          PR_NUMBER: ${{ github.event.pull_request.number }}
+          EVENT_NAME: ${{ github.event_name }}
+          REPO: ${{ github.repository }}
+        run: |
+          set -euo pipefail
+
+          # Keep this workflow unconditionally triggered on PRs so required
+          # branch-protection checks are always reported. The build steps below
+          # run only when inputs that can affect the wheel have changed.
+          patterns=(
+            $'^apps/\tStandalone apps packaged in the wheel'
+            $'^VERSION$\tPackage version'
+            $'^source/\tPython packages'
+            $'^tools/wheel_builder/\tWheel build tooling'
+            $'^\.github/workflows/wheel\.yml$\tThis workflow file'
+          )
+
+          render_table() {
+            local files="$1" entry regex desc count sample
+            echo "| Pattern | What it covers | Matched files |"
+            echo "|---|---|---|"
+            for entry in "${patterns[@]}"; do
+              IFS=$'\t' read -r regex desc <<< "$entry"
+              count=$(printf '%s\n' "$files" | grep -cE "$regex" || true)
+              if [ "$count" -gt 0 ]; then
+                sample=$(printf '%s\n' "$files" | grep -E "$regex" | head -3 | paste -sd ', ' -)
+                [ "$count" -gt 3 ] && sample="$sample (and $((count - 3)) more)"
+                echo "| \`$regex\` | $desc | $sample |"
+              else
+                echo "| \`$regex\` | $desc | - |"
+              fi
+            done
+          }
+
+          any_match() {
+            local files="$1" entry regex
+            for entry in "${patterns[@]}"; do
+              IFS=$'\t' read -r regex _ <<< "$entry"
+              if printf '%s\n' "$files" | grep -qE "$regex"; then
+                return 0
+              fi
+            done
+            return 1
+          }
+
+          decide() {
+            local decision="$1" reason="$2" files="${3:-}"
+            echo "run_build=$decision" >> "$GITHUB_OUTPUT"
+            {
+              echo "## Wheel build gating"
+              echo ""
+              if [ "$decision" = "true" ]; then
+                echo "The wheel build will **run**: $reason."
+              else
+                echo "The wheel build will be **skipped**: $reason."
+              fi
+              if [ -n "$files" ]; then
+                echo ""
+                render_table "$files"
+              fi
+            } >> "$GITHUB_STEP_SUMMARY"
+          }
+
+          if [ "$EVENT_NAME" != "pull_request" ]; then
+            decide true "non-PR event ($EVENT_NAME)"
+            exit 0
+          fi
+
+          if ! changed_files="$(gh api --paginate "repos/$REPO/pulls/$PR_NUMBER/files" --jq '.[].filename')"; then
+            echo "::warning::Could not list changed files; defaulting to building the wheel"
+            decide true "fail-safe (could not list changed files)"
+            exit 0
+          fi
+
+          if any_match "$changed_files"; then
+            decide true "wheel-relevant paths changed" "$changed_files"
+          else
+            decide false "no wheel-relevant paths changed" "$changed_files"
+          fi
+
+      - name: Skip wheel build
+        if: steps.changes.outputs.run_build == 'false'
+        run: echo "Skipping wheel build because this PR does not change wheel inputs."
+
       - name: Checkout code
+        if: steps.changes.outputs.run_build == 'true'
         uses: actions/checkout@v6
         with:
           fetch-depth: 1
           lfs: true
 
       - name: Setup Python
+        if: steps.changes.outputs.run_build == 'true'
         uses: actions/setup-python@v5
         with:
           python-version: "3.12"
@@ -51,6 +136,7 @@ jobs:
       # isaaclab-<VERSION>-build<RUN_NUMBER>-<SHA7>. The wheel inside follows
       # PEP 440 (VERSION+buildN.SHA7) since pip requires that format.
       - name: Compute wheel metadata
+        if: steps.changes.outputs.run_build == 'true'
         id: meta
         run: |
           set -euo pipefail
@@ -59,12 +145,14 @@ jobs:
           echo "artifact_name=isaaclab-${version}-build${{ github.run_number }}-${sha_slug}" >> "$GITHUB_OUTPUT"
 
       - name: Build wheel
+        if: steps.changes.outputs.run_build == 'true'
         env:
           WHEEL_BUILD_NUMBER: ${{ github.run_number }}
           WHEEL_SHA: ${{ github.sha }}
         run: bash tools/wheel_builder/build.sh
 
       - name: Upload wheel artifact
+        if: steps.changes.outputs.run_build == 'true'
         uses: actions/upload-artifact@v7
         with:
           name: ${{ steps.meta.outputs.artifact_name }}

docs/index.rst

@@ -143,6 +143,7 @@ Table of Contents
 
    source/experimental-features/bleeding-edge
    source/experimental-features/newton-physics-integration/index
+   source/experimental-features/visuo_tactile_sensor
 
 .. toctree::
    :maxdepth: 1