Upgrade Arena to Isaac Sim 6.1

[cvolkcvolk]

Summary

Track the coordinated Isaac Sim 6.1 upgrade

Detailed description

• This is a develop-only handoff PR. Arena v0.3 keeps the /physics/tensors/recursiveLeafPatternMatch=False workaround; this draft does not change runtime behavior and is not ready to merge.
• Wait for Isaac Lab #7073, or its successor, to land with an explicitly supported Isaac Sim 6.1/Newton 1.5 pairing. That draft currently targets the validated 6.1.0rc5+release.46926.75ca3138.gl build (nvcr.io/0947644777160149/internal/isaac-sim@sha256:3179d7e4f3801b2e2259675249a3144aafb86a490aead9a5eb3a6156f85c746c) but is blocked by upstream CI. Do not solve this by overriding the Beta 2 Newton 1.2.1 pin.
• Update the stack atomically: pin the Isaac Sim image by immutable digest, update the Isaac Lab gitlink, replace Beta 2-specific Docker installation steps and API patches, update pyproject.toml and uv.lock, and ensure Docker plus native source/wheel installations all use a Physics build containing the fix. origin/peterd/lab_3_ga only moves the gitlink and is not a complete integration.
• Validate the normal Arena image—not the reduced bug-validation image—with the complete Docker test phases, native source/wheel checks, Newton coverage, camera/subprocess tests, and the cuRobo dependency check. The existing microwave regression is isaaclab_arena/tests/test_object_on_microwave_tray.py::test_object_on_microwave_tray_termination.
• Remove the workaround only after every supported installation path is on the fixed Physics runtime. The 6.0.1/Physics 110.1.13 control must reproduce expected 1, found 2 without it; the upgraded stack must initialize the sensor with the default setting, resolve exactly one filter per environment, and pass the microwave regression. The supplied 6.1/Physics 110.3.1 candidate has already passed that focused validation.