Migrates CI to GitHub Action Workflows from CodeBuild (#521)

# Description

This PR migrates our CI/CD pipelines from AWS CodeBuild to GitHub
Actions, providing better integration, improved visibility, and enhanced
developer experience.

# What's New

1. Pre-Merge CI Pipeline (build.yml)

- Parallel Test Execution: IsaacLab Tasks and General Tests run in
parallel
- Test Result Reporting: Integrated dorny/test-reporter for PR-level
test summaries
- Artifact Management: Automatic test result collection and combination
- PR Comments: Detailed test results posted directly to PRs

2. Post-Merge CI Pipeline (postmerge-ci.yml)

- Multi-Version Docker Builds: Builds images for multiple IsaacSim
versions
- Efficient Tagging: Single build with multiple tags (combined +
build-numbered)
- Docker Hub Integration: Automatic push to Docker Hub with proper
authentication
- Cached Builds: GitHub Actions cache for faster subsequent builds

3. Daily Compatibility Tests (daily-compatibility.yml)

- Backwards Compatibility: Tests against different IsaacSim versions
- Scheduled Execution: Daily runs at 2 AM UTC (6 PM PST)
- Manual Trigger: Support for manual testing with custom IsaacSim
versions
- Comprehensive Reporting: Detailed compatibility reports and artifacts

4. Repository Mirroring (mirror-repository.yml)

- Post-Merge Mirroring: Automatically mirrors main branch to target
repository
- Admin-Only Access: Environment protection for secure mirroring
- Conditional Execution: Only runs on specific repository

# Technical Improvements
**Docker Build Optimization**

- Single Build, Multiple Tags: Eliminated duplicate builds for
efficiency
- Buildx Integration: Modern Docker buildx for better caching and
multi-platform support
- GitHub Actions Cache: Faster builds with intelligent layer caching

**Test Infrastructure**

- Modular Actions: Reusable composite actions for Docker build, test
execution, and result processing
- Robust Error Handling: Graceful handling of missing artifacts and test
failures
- XML Report Combination: Merges multiple test suites into unified
reports

**Security & Permissions**

- Environment Protection: Admin-only access for sensitive operations
- Granular Permissions: Proper token and permission management
- Secure Authentication: NGC and Docker Hub integration with secrets

.aws/mirror-buildspec.yml

-version: 0.2
-
-phases:
-  install:
-    runtime-versions:
-      nodejs: 14
-  pre_build:
-    commands:
-      - git config --global user.name "Isaac LAB CI Bot"
-      - git config --global user.email "isaac-lab-ci-bot@nvidia.com"
-  build:
-    commands:
-      - git remote set-url origin https://github.com/${TARGET_REPO}.git
-      - git checkout $SOURCE_BRANCH
-      - git push --force https://$GITHUB_TOKEN@github.com/${TARGET_REPO}.git $SOURCE_BRANCH:$TARGET_BRANCH

.aws/postmerge-ci-buildspec.yml

-version: 0.2
-
-phases:
-  build:
-    commands:
-      - echo "Building and pushing Docker image"
-      - |
-        # Determine branch name or use fallback
-        if [ -n "$CODEBUILD_WEBHOOK_HEAD_REF" ]; then
-          BRANCH_NAME=$(echo $CODEBUILD_WEBHOOK_HEAD_REF | sed 's/refs\/heads\///')
-        elif [ -n "$CODEBUILD_SOURCE_VERSION" ]; then
-          BRANCH_NAME=$CODEBUILD_SOURCE_VERSION
-        else
-          BRANCH_NAME="unknown"
-        fi
-
-        # Replace '/' with '-' and remove any invalid characters for Docker tag
-        SAFE_BRANCH_NAME=$(echo $BRANCH_NAME | sed 's/[^a-zA-Z0-9._-]/-/g')
-
-        # Use "latest" if branch name is empty or only contains invalid characters
-        if [ -z "$SAFE_BRANCH_NAME" ]; then
-          SAFE_BRANCH_NAME="latest"
-        fi
-
-        # Get the git repository short name
-        REPO_SHORT_NAME=$(basename -s .git `git config --get remote.origin.url`)
-        if [ -z "$REPO_SHORT_NAME" ]; then
-          REPO_SHORT_NAME="verification"
-        fi
-
-        # Parse the env variable string into an array
-        mapfile -d ' ' -t IMAGE_BASE_VERSIONS <<< "$ISAACSIM_BASE_VERSIONS_STRING"
-        for IMAGE_BASE_VERSION in "${IMAGE_BASE_VERSIONS[@]}"; do
-          IMAGE_BASE_VERSION=$(echo "$IMAGE_BASE_VERSION" | tr -d '[:space:]')
-          # Combine repo short name and branch name for the tag
-          COMBINED_TAG="${REPO_SHORT_NAME}-${SAFE_BRANCH_NAME}-${IMAGE_BASE_VERSION}"
-
-          docker login -u \$oauthtoken -p $NGC_TOKEN nvcr.io
-          docker build -t $IMAGE_NAME:$COMBINED_TAG \
-            --build-arg ISAACSIM_BASE_IMAGE_ARG=$ISAACSIM_BASE_IMAGE \
-            --build-arg ISAACSIM_VERSION_ARG=$IMAGE_BASE_VERSION \
-            --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
-            --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
-            --build-arg DOCKER_USER_HOME_ARG=/root \
-            -f docker/Dockerfile.base .
-          docker push $IMAGE_NAME:$COMBINED_TAG
-          docker tag $IMAGE_NAME:$COMBINED_TAG $IMAGE_NAME:$COMBINED_TAG-b$CODEBUILD_BUILD_NUMBER
-          docker push $IMAGE_NAME:$COMBINED_TAG-b$CODEBUILD_BUILD_NUMBER
-        done

.github/actions/combine-results/action.yml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+name: 'Combine XML Test Results'
+description: 'Combines multiple XML test result files into a single file'
+
+inputs:
+  tests-dir:
+    description: 'Directory containing test result files'
+    default: 'tests'
+    required: false
+  output-file:
+    description: 'Output combined XML file path'
+    required: true
+  reports-dir:
+    description: 'Directory to store the combined results'
+    default: 'reports'
+    required: false
+
+runs:
+  using: composite
+  steps:
+    - name: Combine XML Test Results
+      shell: sh
+      run: |
+        # Function to combine multiple XML test results
+        combine_xml_results() {
+          local tests_dir="$1"
+          local output_file="$2"
+          local reports_dir="$3"
+
+          echo "Combining test results from: $tests_dir"
+          echo "Output file: $output_file"
+          echo "Reports directory: $reports_dir"
+
+          # Check if reports directory exists
+          if [ ! -d "$reports_dir" ]; then
+            echo "⚠️ Reports directory does not exist: $reports_dir"
+            mkdir -p "$reports_dir"
+          fi
+
+          # Check if tests directory exists
+          if [ ! -d "$tests_dir" ]; then
+            echo "⚠️ Tests directory does not exist: $tests_dir"
+            echo "Creating fallback XML..."
+            echo '<?xml version="1.0" encoding="utf-8"?><testsuite name="combined" tests="0" failures="0" errors="1" time="0"><testcase classname="setup" name="no_tests_dir"><error message="Tests directory not found">Tests directory was not found</error></testcase></testsuite>' > "$output_file"
+            return
+          fi
+
+          # Find all XML files in the tests directory
+          echo "Searching for XML files in: $tests_dir"
+          xml_files=$(find "$tests_dir" -name "*.xml" -type f 2>/dev/null | sort)
+
+          if [ -z "$xml_files" ]; then
+            echo "⚠️ No XML files found in: $tests_dir"
+            echo "Creating fallback XML..."
+            echo '<?xml version="1.0" encoding="utf-8"?><testsuite name="combined" tests="0" failures="0" errors="1" time="0"><testcase classname="setup" name="no_xml_files"><error message="No XML files found">No XML test result files were found</error></testcase></testsuite>' > "$output_file"
+            return
+          fi
+
+          # Count XML files found
+          file_count=$(echo "$xml_files" | wc -l)
+          echo "✅ Found $file_count XML file(s):"
+          echo "$xml_files" | while read -r file; do
+            echo "  - $file ($(wc -c < "$file") bytes)"
+          done
+
+          # Create combined XML
+          echo "🔄 Combining $file_count XML files..."
+          echo '<?xml version="1.0" encoding="utf-8"?>' > "$output_file"
+          echo '<testsuites>' >> "$output_file"
+
+          # Process each XML file
+          combined_count=0
+          echo "$xml_files" | while read -r file; do
+            if [ -f "$file" ]; then
+              echo "  Processing: $file"
+              # Remove XML declaration and outer testsuites wrapper from each file
+              # Remove first line (XML declaration) and strip outer <testsuites>/</testsuites> tags
+              sed '1d; s/^<testsuites>//; s/<\/testsuites>$//' "$file" >> "$output_file" 2>/dev/null || {
+                echo "  ⚠️ Warning: Could not process $file, skipping..."
+              }
+              combined_count=$((combined_count + 1))
+            fi
+          done
+
+          echo '</testsuites>' >> "$output_file"
+          echo "✅ Successfully combined $combined_count files into: $output_file"
+
+          # Verify output file was created
+          if [ -f "$output_file" ]; then
+            echo "✅ Final output file created: $output_file"
+            echo "📊 Output file size: $(wc -c < "$output_file") bytes"
+          else
+            echo "❌ Failed to create output file: $output_file"
+            exit 1
+          fi
+        }
+
+        # Call the function with provided parameters
+        combine_xml_results "${{ inputs.tests-dir }}" "${{ inputs.output-file }}" "${{ inputs.reports-dir }}"

.github/actions/docker-build/action.yml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+name: 'Build Docker Image'
+description: 'Builds a Docker image with IsaacSim and IsaacLab dependencies'
+
+inputs:
+  image-tag:
+    description: 'Docker image tag to use'
+    required: true
+  isaacsim-base-image:
+    description: 'IsaacSim base image'
+    required: true
+  isaacsim-version:
+    description: 'IsaacSim version'
+    required: true
+  dockerfile-path:
+    description: 'Path to Dockerfile'
+    default: 'docker/Dockerfile.base'
+    required: false
+  context-path:
+    description: 'Build context path'
+    default: '.'
+    required: false
+
+runs:
+  using: composite
+  steps:
+    - name: NGC Login
+      shell: sh
+      run: |
+        docker login -u \$oauthtoken -p ${{ env.NGC_API_KEY }} nvcr.io
+
+    - name: Build Docker Image
+      shell: sh
+      run: |
+        # Function to build Docker image
+        build_docker_image() {
+          local image_tag="$1"
+          local isaacsim_base_image="$2"
+          local isaacsim_version="$3"
+          local dockerfile_path="$4"
+          local context_path="$5"
+
+          echo "Building Docker image: $image_tag"
+          echo "Using Dockerfile: $dockerfile_path"
+          echo "Build context: $context_path"
+
+          # Build Docker image
+          docker buildx build --progress=plain --platform linux/amd64 \
+            -t isaac-lab-dev \
+            -t $image_tag \
+            --build-arg ISAACSIM_BASE_IMAGE_ARG="$isaacsim_base_image" \
+            --build-arg ISAACSIM_VERSION_ARG="$isaacsim_version" \
+            --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
+            --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
+            --build-arg DOCKER_USER_HOME_ARG=/root \
+            --cache-from type=gha \
+            --cache-to type=gha,mode=max \
+            -f $dockerfile_path \
+            --load $context_path
+
+          echo "✅ Docker image built successfully: $image_tag"
+          docker images | grep isaac-lab-dev
+        }
+
+        # Call the function with provided parameters
+        build_docker_image "${{ inputs.image-tag }}" "${{ inputs.isaacsim-base-image }}" "${{ inputs.isaacsim-version }}" "${{ inputs.dockerfile-path }}" "${{ inputs.context-path }}"

.github/actions/process-results/action.yml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+name: 'Process Test Results'
+description: 'Processes XML test results and comments on PR with summary'
+
+inputs:
+  results-file:
+    description: 'Path to the XML test results file'
+    required: true
+    default: 'reports/combined-results.xml'
+  github-token:
+    description: 'GitHub token for API access'
+    required: true
+  issue-number:
+    description: 'PR issue number to comment on'
+    required: true
+  repo-owner:
+    description: 'Repository owner'
+    required: true
+  repo-name:
+    description: 'Repository name'
+    required: true
+
+runs:
+  using: composite
+  steps:
+    - name: Process Test Results and Comment on PR
+      uses: actions/github-script@v6
+      with:
+        github-token: ${{ inputs.github-token }}
+        script: |
+          const fs = require('fs');
+
+          let summary;
+          let shouldFail = false;
+
+          try {
+            // Read the test results XML
+            const xmlContent = fs.readFileSync('${{ inputs.results-file }}', 'utf8');
+
+            // Find all <testsuite ...> tags
+            const testsuitePattern = /<testsuite[^>]*>/g;
+            const testsuiteMatches = xmlContent.match(testsuitePattern);
+
+            if (testsuiteMatches && testsuiteMatches.length > 0) {
+              let totalTests = 0;
+              let totalFailures = 0;
+              let totalErrors = 0;
+              let totalSkipped = 0;
+
+              testsuiteMatches.forEach((tag, idx) => {
+                const testsMatch = tag.match(/tests="([^"]*)"/);
+                const failuresMatch = tag.match(/failures="([^"]*)"/);
+                const errorsMatch = tag.match(/errors="([^"]*)"/);
+                const skippedMatch = tag.match(/skipped="([^"]*)"/);
+
+                const tests = testsMatch ? parseInt(testsMatch[1]) : 0;
+                const failures = failuresMatch ? parseInt(failuresMatch[1]) : 0;
+                const errors = errorsMatch ? parseInt(errorsMatch[1]) : 0;
+                const skipped = skippedMatch ? parseInt(skippedMatch[1]) : 0;
+
+                totalTests += tests;
+                totalFailures += failures;
+                totalErrors += errors;
+                totalSkipped += skipped;
+              });
+
+              const passed = totalTests - totalFailures - totalErrors - totalSkipped;
+
+              summary = `## Combined Test Results\n\n- Total Tests: ${totalTests}\n- Passed: ${passed}\n- Failures: ${totalFailures}\n- Errors: ${totalErrors}\n- Skipped: ${totalSkipped}\n- Test Suites: ${testsuiteMatches.length}\n\n${totalFailures + totalErrors === 0 ? '✅ All tests passed!' : '❌ Some tests failed.'}\n\nDetailed test results are available in the workflow artifacts.`;
+
+              // Set flag to fail if there are any failures or errors
+              if (totalFailures > 0 || totalErrors > 0) {
+                console.error('❌ Tests failed or had errors');
+                shouldFail = true;
+              } else {
+                console.log('✅ All tests passed successfully');
+              }
+            } else {
+              summary = `## Combined Test Results\n❌ Could not parse XML structure. Raw content preview:\n\`\`\`\n${xmlContent.substring(0, 200)}...\n\`\`\`\n\nPlease check the workflow logs for more details.`;
+              shouldFail = true;
+            }
+          } catch (error) {
+            summary = `## Combined Test Results
+            ❌ Failed to read test results: ${error.message}
+
+            Please check the workflow logs for more details.`;
+            shouldFail = true;
+          }
+
+          // Comment on the PR with the test results
+          await github.rest.issues.createComment({
+            issue_number: ${{ inputs.issue-number }},
+            owner: '${{ inputs.repo-owner }}',
+            repo: '${{ inputs.repo-name }}',
+            body: summary
+          });
+
+          // Fail the workflow after commenting if needed
+          if (shouldFail) {
+            process.exit(1);
+          }

.github/actions/run-tests/action.yml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+name: 'Run Tests in Docker Container'
+description: 'Runs pytest tests in a Docker container with GPU support and result collection'
+
+inputs:
+  test-path:
+    description: 'Path to test directory or pytest arguments'
+    required: true
+  result-file:
+    description: 'Name of the result XML file'
+    required: true
+  container-name:
+    description: 'Name for the Docker container'
+    required: true
+  image-tag:
+    description: 'Docker image tag to use'
+    required: true
+  reports-dir:
+    description: 'Directory to store test results'
+    default: 'reports'
+    required: false
+  pytest-options:
+    description: 'Additional pytest options (e.g., -k filter)'
+    default: ''
+    required: false
+  filter-pattern:
+    description: 'Pattern to filter test files (e.g., isaaclab_tasks)'
+    default: ''
+    required: false
+
+runs:
+  using: composite
+  steps:
+    - name: Run Tests in Docker Container
+      shell: sh
+      run: |
+        # Function to run tests in Docker container
+        run_tests() {
+          local test_path="$1"
+          local result_file="$2"
+          local container_name="$3"
+          local image_tag="$4"
+          local reports_dir="$5"
+          local pytest_options="$6"
+          local filter_pattern="$7"
+
+          echo "Running tests in: $test_path"
+          if [ -n "$pytest_options" ]; then
+            echo "With pytest options: $pytest_options"
+          fi
+          if [ -n "$filter_pattern" ]; then
+            echo "With filter pattern: $filter_pattern"
+          fi
+
+          # Create reports directory
+          mkdir -p "$reports_dir"
+
+          # Clean up any existing container
+          docker rm -f $container_name 2>/dev/null || true
+
+          # Build Docker environment variables
+          docker_env_vars="-e CUDA_VISIBLE_DEVICES=0 -e OMNI_KIT_ACCEPT_EULA=yes -e OMNI_KIT_DISABLE_CUP=1 -e ISAAC_SIM_HEADLESS=1 -e ISAAC_SIM_LOW_MEMORY=1 -e PYTHONUNBUFFERED=1 -e PYTHONIOENCODING=utf-8 -e TEST_RESULT_FILE=$result_file"
+
+          if [ -n "$filter_pattern" ]; then
+            if [[ "$filter_pattern" == not* ]]; then
+              # Handle "not pattern" case
+              exclude_pattern="${filter_pattern#not }"
+              docker_env_vars="$docker_env_vars -e TEST_EXCLUDE_PATTERN=$exclude_pattern"
+              echo "Setting exclude pattern: $exclude_pattern"
+            else
+              # Handle positive pattern case
+              docker_env_vars="$docker_env_vars -e TEST_FILTER_PATTERN=$filter_pattern"
+              echo "Setting include pattern: $filter_pattern"
+            fi
+          else
+            echo "No filter pattern provided"
+          fi
+
+          echo "Docker environment variables: '$docker_env_vars'"
+
+          # Run tests in container with error handling
+          echo "🚀 Starting Docker container for tests..."
+          if docker run --name $container_name \
+            --entrypoint bash --gpus all --network=host \
+            --security-opt=no-new-privileges:true \
+            --memory=$(echo "$(free -m | awk '/^Mem:/{print $2}') * 0.8 / 1" | bc)m \
+            --cpus=$(echo "$(nproc) * 0.8" | bc) \
+            --oom-kill-disable=false \
+            --ulimit nofile=65536:65536 \
+            --ulimit nproc=4096:4096 \
+            $docker_env_vars \
+            $image_tag \
+            -c "
+              set -e
+              cd /workspace/isaaclab
+              mkdir -p tests
+              echo 'Environment variables in container:'
+              echo 'TEST_FILTER_PATTERN: '\"'\"'$TEST_FILTER_PATTERN'\"'\"''
+              echo 'TEST_EXCLUDE_PATTERN: '\"'\"'$TEST_EXCLUDE_PATTERN'\"'\"''
+              echo 'TEST_RESULT_FILE: '\"'\"'$TEST_RESULT_FILE'\"'\"''
+              echo 'Starting pytest with path: $test_path'
+              /isaac-sim/python.sh -m pytest $test_path $pytest_options -v || echo 'Pytest completed with exit code: $?'
+            "; then
+            echo "✅ Docker container completed successfully"
+          else
+            echo "⚠️ Docker container failed, but continuing to copy results..."
+          fi
+
+          # Copy test results with error handling
+          echo "📋 Attempting to copy test results..."
+          if docker cp $container_name:/workspace/isaaclab/tests/$result_file "$reports_dir/$result_file" 2>/dev/null; then
+            echo "✅ Test results copied successfully"
+          else
+            echo "❌ Failed to copy specific result file, trying to copy all test results..."
+            if docker cp $container_name:/workspace/isaaclab/tests/ "$reports_dir/" 2>/dev/null; then
+              echo "✅ All test results copied successfully"
+              # Look for any XML files and use the first one found
+              if [ -f "$reports_dir/full_report.xml" ]; then
+                mv "$reports_dir/full_report.xml" "$reports_dir/$result_file"
+                echo "✅ Found and renamed full_report.xml to $result_file"
+              elif [ -f "$reports_dir/test-reports-"*".xml" ]; then
+                # Combine individual test reports if no full report exists
+                echo "📊 Combining individual test reports..."
+                echo '<?xml version="1.0" encoding="utf-8"?><testsuites>' > "$reports_dir/$result_file"
+                for xml_file in "$reports_dir"/test-reports-*.xml; do
+                  if [ -f "$xml_file" ]; then
+                    echo "  Processing: $xml_file"
+                    sed '1d; /^<testsuite/d; /^<\/testsuite/d' "$xml_file" >> "$reports_dir/$result_file" 2>/dev/null || true
+                  fi
+                done
+                echo '</testsuites>' >> "$reports_dir/$result_file"
+                echo "✅ Combined individual test reports into $result_file"
+              else
+                echo "❌ No test result files found, creating fallback"
+                echo "<?xml version=\"1.0\" encoding=\"utf-8\"?><testsuite name=\"$container_name\" tests=\"0\" failures=\"0\" errors=\"1\" time=\"0\"><testcase classname=\"setup\" name=\"no_results_found\"><error message=\"No test results found\">Container may have failed to generate any results</error></testcase></testsuite>" > "$reports_dir/$result_file"
+              fi
+            else
+              echo "❌ Failed to copy any test results, creating fallback"
+              echo "<?xml version=\"1.0\" encoding=\"utf-8\"?><testsuite name=\"$container_name\" tests=\"0\" failures=\"0\" errors=\"1\" time=\"0\"><testcase classname=\"setup\" name=\"copy_failed\"><error message=\"Failed to copy test results\">Container may have failed to generate results</error></testcase></testsuite>" > "$reports_dir/$result_file"
+            fi
+          fi
+
+          # Clean up container
+          echo "🧹 Cleaning up Docker container..."
+          docker rm $container_name 2>/dev/null || echo "⚠️ Container cleanup failed, but continuing..."
+        }
+
+        # Call the function with provided parameters
+        run_tests "${{ inputs.test-path }}" "${{ inputs.result-file }}" "${{ inputs.container-name }}" "${{ inputs.image-tag }}" "${{ inputs.reports-dir }}" "${{ inputs.pytest-options }}" "${{ inputs.filter-pattern }}"

.github/stale.yml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 # Configuration for probot-stale - https://github.com/probot/stale
 
 # Number of days of inactivity before an Issue or Pull Request becomes stale

.github/workflows/build.yml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+name: Build and Test
+
+on:
+  pull_request:
+    branches:
+      - devel
+      - main
+
+# Concurrency control to prevent parallel runs on the same PR
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: read
+  pull-requests: write
+  checks: write
+
+env:
+  NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
+  ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE }}
+  ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION }}
+  DOCKER_IMAGE_TAG: isaac-lab-dev:${{ github.event_name == 'pull_request' && format('pr-{0}', github.event.pull_request.number) || github.ref_name }}-${{ github.sha }}
+
+jobs:
+  test-isaaclab-tasks:
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 180
+    continue-on-error: true
+    env:
+        CUDA_VISIBLE_DEVICES: all
+        NVIDIA_VISIBLE_DEVICES: all
+        NVIDIA_DRIVER_CAPABILITIES: all
+        CUDA_HOME: /usr/local/cuda
+        LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
+        DOCKER_HOST: unix:///var/run/docker.sock
+        DOCKER_TLS_CERTDIR: ""
+    container:
+      image: docker:dind
+      options: --gpus all --security-opt=no-new-privileges:true --privileged
+
+    steps:
+    - name: Install Git LFS
+      run: |
+        apk update
+        apk add --no-cache git-lfs
+        git lfs install
+
+    - name: Checkout Code
+      uses: actions/checkout@v3
+      with:
+        fetch-depth: 0
+        lfs: true
+
+    - name: Build Docker Image
+      uses: ./.github/actions/docker-build
+      with:
+        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
+        isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
+        isaacsim-version: ${{ env.ISAACSIM_BASE_VERSION }}
+
+    - name: Run IsaacLab Tasks Tests
+      uses: ./.github/actions/run-tests
+      with:
+        test-path: "tools"
+        result-file: "isaaclab-tasks-report.xml"
+        container-name: "isaac-lab-tasks-test-$$"
+        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
+        pytest-options: ""
+        filter-pattern: "isaaclab_tasks"
+
+    - name: Copy All Test Results from IsaacLab Tasks Container
+      run: |
+        CONTAINER_NAME="isaac-lab-tasks-test-$$"
+        if docker ps -a | grep -q $CONTAINER_NAME; then
+          echo "Copying all test results from IsaacLab Tasks container..."
+          docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/isaaclab-tasks-report.xml reports/ 2>/dev/null || echo "No test results to copy from IsaacLab Tasks container"
+        fi
+
+    - name: Upload IsaacLab Tasks Test Results
+      uses: actions/upload-artifact@v4
+      if: always()
+      with:
+        name: isaaclab-tasks-test-results
+        path: reports/isaaclab-tasks-report.xml
+        retention-days: 1
+        compression-level: 9
+
+  test-general:
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 180
+    env:
+        CUDA_VISIBLE_DEVICES: all
+        NVIDIA_VISIBLE_DEVICES: all
+        NVIDIA_DRIVER_CAPABILITIES: all
+        CUDA_HOME: /usr/local/cuda
+        LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
+        DOCKER_HOST: unix:///var/run/docker.sock
+        DOCKER_TLS_CERTDIR: ""
+    container:
+      image: docker:dind
+      options: --gpus all --security-opt=no-new-privileges:true --privileged
+
+    steps:
+    - name: Install Git LFS
+      run: |
+        apk update
+        apk add --no-cache git-lfs
+        git lfs install
+
+    - name: Checkout Code
+      uses: actions/checkout@v3
+      with:
+        fetch-depth: 0
+        lfs: true
+
+    - name: Build Docker Image
+      uses: ./.github/actions/docker-build
+      with:
+        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
+        isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
+        isaacsim-version: ${{ env.ISAACSIM_BASE_VERSION }}
+
+    - name: Run General Tests
+      uses: ./.github/actions/run-tests
+      with:
+        test-path: "tools"
+        result-file: "general-tests-report.xml"
+        container-name: "isaac-lab-general-test-$$"
+        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
+        pytest-options: ""
+        filter-pattern: "not isaaclab_tasks"
+
+    - name: Copy All Test Results from General Tests Container
+      run: |
+        CONTAINER_NAME="isaac-lab-general-test-$$"
+        if docker ps -a | grep -q $CONTAINER_NAME; then
+          echo "Copying all test results from General Tests container..."
+          docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/general-tests-report.xml reports/ 2>/dev/null || echo "No test results to copy from General Tests container"
+        fi
+
+    - name: Upload General Test Results
+      uses: actions/upload-artifact@v4
+      if: always()
+      with:
+        name: general-test-results
+        path: reports/general-tests-report.xml
+        retention-days: 1
+        compression-level: 9
+
+  combine-results:
+    needs: [test-isaaclab-tasks, test-general]
+    runs-on: [self-hosted, gpu]
+    if: always()
+    env:
+        DOCKER_HOST: unix:///var/run/docker.sock
+        DOCKER_TLS_CERTDIR: ""
+    container:
+      image: docker:dind
+      options: --security-opt=no-new-privileges:true --privileged
+
+    steps:
+    - name: Install Git LFS
+      run: |
+        apk update
+        apk add --no-cache git-lfs
+        git lfs install
+
+    - name: Checkout Code
+      uses: actions/checkout@v3
+      with:
+        fetch-depth: 0
+        lfs: false
+
+    - name: Configure Git Safe Directory
+      run: |
+        git config --global --add safe.directory ${{ github.workspace }}
+        git config --global --add safe.directory /workspace/isaaclab
+        git config --global --add safe.directory .
+
+    - name: Create Reports Directory
+      run: |
+        mkdir -p reports
+        chmod 777 reports
+        ls -la reports/
+        echo "Current user: $(whoami)"
+        echo "Current directory: $(pwd)"
+
+    - name: Download Test Results
+      uses: actions/download-artifact@v4
+      with:
+        name: isaaclab-tasks-test-results
+        path: /tmp/reports/
+      continue-on-error: true
+
+    - name: Download General Test Results
+      uses: actions/download-artifact@v4
+      with:
+        name: general-test-results
+        path: reports/
+
+    - name: Combine All Test Results
+      uses: ./.github/actions/combine-results
+      with:
+        tests-dir: "reports"
+        output-file: "reports/combined-results.xml"
+
+    - name: Upload Combined Test Results
+      uses: actions/upload-artifact@v4
+      if: always()
+      with:
+        name: pr-${{ github.event.pull_request.number }}-combined-test-results
+        path: reports/combined-results.xml
+        retention-days: 7
+        compression-level: 9
+
+    - name: Report Test Results
+      uses: dorny/test-reporter@v1
+      if: always()
+      with:
+        name: IsaacLab Tests
+        path: reports/combined-results.xml
+        reporter: java-junit
+        fail-on-error: false
+
+    - name: Process Combined Test Results
+      uses: ./.github/actions/process-results
+      with:
+        results-file: "reports/combined-results.xml"
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        issue-number: ${{ github.event.pull_request.number }}
+        repo-owner: ${{ github.repository_owner }}
+        repo-name: ${{ github.event.repository.name }}

.github/workflows/daily-compatibility.yml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+name: Daily Backwards Compatibility Tests
+
+on:
+  schedule:
+    # Run daily at 8 PM PST (4 AM UTC)
+    - cron: '0 4 * * *'
+  workflow_dispatch:
+    inputs:
+      isaacsim_version:
+        description: 'IsaacSim version image tag to test'
+        required: true
+        default: '4.5.0'
+        type: string
+
+# Concurrency control to prevent parallel runs
+concurrency:
+  group: daily-compatibilit y-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: read
+  pull-requests: write
+
+env:
+  NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
+  ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
+  ISAACSIM_DEFAULT_VERSION: '4.5.0'
+  DOCKER_IMAGE_TAG: isaac-lab-compat:${{ github.ref_name }}-${{ github.sha }}
+
+jobs:
+  test-isaaclab-tasks-compat:
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 180
+    continue-on-error: true
+    env:
+        CUDA_VISIBLE_DEVICES: all
+        NVIDIA_VISIBLE_DEVICES: all
+        NVIDIA_DRIVER_CAPABILITIES: all
+        CUDA_HOME: /usr/local/cuda
+        LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
+        DOCKER_HOST: unix:///var/run/docker.sock
+        DOCKER_TLS_CERTDIR: ""
+    container:
+      image: docker:dind
+      options: --gpus all --security-opt=no-new-privileges:true --privileged
+
+    steps:
+    - name: Install Git LFS
+      run: |
+        apk update
+        apk add --no-cache git-lfs
+        git lfs install
+
+    - name: Checkout Code
+      uses: actions/checkout@v3
+      with:
+        fetch-depth: 0
+        lfs: true
+
+    - name: Build Docker Image
+      uses: ./.github/actions/docker-build
+      with:
+        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
+        isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
+        isaacsim-version: ${{ github.event.inputs.isaacsim_version || env.ISAACSIM_DEFAULT_VERSION }}
+
+    - name: Run IsaacLab Tasks Tests
+      uses: ./.github/actions/run-tests
+      with:
+        test-path: "tools"
+        result-file: "isaaclab-tasks-compat-report.xml"
+        container-name: "isaac-lab-tasks-compat-test-$$"
+        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
+        pytest-options: ""
+        filter-pattern: "isaaclab_tasks"
+
+    - name: Copy All Test Results from IsaacLab Tasks Container
+      run: |
+        CONTAINER_NAME="isaac-lab-tasks-compat-test-$$"
+        if docker ps -a | grep -q $CONTAINER_NAME; then
+          echo "Copying all test results from IsaacLab Tasks container..."
+          docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/isaaclab-tasks-compat-report.xml reports/ 2>/dev/null || echo "No test results to copy from IsaacLab Tasks container"
+        fi
+
+    - name: Upload IsaacLab Tasks Test Results
+      uses: actions/upload-artifact@v4
+      if: always()
+      with:
+        name: isaaclab-tasks-compat-results
+        path: reports/isaaclab-tasks-compat-report.xml
+        retention-days: 7
+        compression-level: 9
+
+  test-general-compat:
+    runs-on: [self-hosted, gpu]
+    timeout-minutes: 180
+    env:
+        CUDA_VISIBLE_DEVICES: all
+        NVIDIA_VISIBLE_DEVICES: all
+        NVIDIA_DRIVER_CAPABILITIES: all
+        CUDA_HOME: /usr/local/cuda
+        LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
+        DOCKER_HOST: unix:///var/run/docker.sock
+        DOCKER_TLS_CERTDIR: ""
+    container:
+      image: docker:dind
+      options: --gpus all --security-opt=no-new-privileges:true --privileged
+
+    steps:
+    - name: Install Git LFS
+      run: |
+        apk update
+        apk add --no-cache git-lfs
+        git lfs install
+
+    - name: Checkout Code
+      uses: actions/checkout@v3
+      with:
+        fetch-depth: 0
+        lfs: true
+
+    - name: Build Docker Image
+      uses: ./.github/actions/docker-build
+      with:
+        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
+        isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
+        isaacsim-version: ${{ github.event.inputs.isaacsim_version || env.ISAACSIM_DEFAULT_VERSION }}
+
+    - name: Run General Tests
+      uses: ./.github/actions/run-tests
+      with:
+        test-path: "tools"
+        result-file: "general-tests-compat-report.xml"
+        container-name: "isaac-lab-general-compat-test-$$"
+        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
+        pytest-options: ""
+        filter-pattern: "not isaaclab_tasks"
+
+    - name: Copy All Test Results from General Tests Container
+      run: |
+        CONTAINER_NAME="isaac-lab-general-compat-test-$$"
+        if docker ps -a | grep -q $CONTAINER_NAME; then
+          echo "Copying all test results from General Tests container..."
+          docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/general-tests-compat-report.xml reports/ 2>/dev/null || echo "No test results to copy from General Tests container"
+        fi
+
+    - name: Upload General Test Results
+      uses: actions/upload-artifact@v4
+      if: always()
+      with:
+        name: general-tests-compat-results
+        path: reports/general-tests-compat-report.xml
+        retention-days: 7
+        compression-level: 9
+
+  combine-compat-results:
+    needs: [test-isaaclab-tasks-compat, test-general-compat]
+    runs-on: [self-hosted, gpu]
+    if: always()
+    env:
+        DOCKER_HOST: unix:///var/run/docker.sock
+        DOCKER_TLS_CERTDIR: ""
+    container:
+      image: docker:dind
+      options: --security-opt=no-new-privileges:true --privileged
+
+    steps:
+    - name: Install Git LFS
+      run: |
+        apk update
+        apk add --no-cache git-lfs
+        git lfs install
+
+    - name: Checkout Code
+      uses: actions/checkout@v3
+      with:
+        fetch-depth: 0
+        lfs: false
+
+    - name: Create Reports Directory
+      run: |
+        mkdir -p reports
+        chmod 777 reports
+        ls -la reports/
+        echo "Current user: $(whoami)"
+        echo "Current directory: $(pwd)"
+
+    - name: Download Test Results
+      uses: actions/download-artifact@v4
+      with:
+        name: isaaclab-tasks-compat-results
+        path: reports/
+      continue-on-error: true
+
+    - name: Download General Test Results
+      uses: actions/download-artifact@v4
+      with:
+        name: general-tests-compat-results
+        path: reports/
+      continue-on-error: true
+
+    - name: Combine All Test Results
+      uses: ./.github/actions/combine-results
+      with:
+        tests-dir: "reports"
+        output-file: "reports/combined-compat-results.xml"
+
+    - name: Upload Combined Test Results
+      uses: actions/upload-artifact@v4
+      if: always()
+      with:
+        name: daily-compat-${{ github.run_id }}-combined-test-results
+        path: reports/combined-compat-results.xml
+        retention-days: 30
+        compression-level: 9
+
+    - name: Process Combined Test Results
+      uses: ./.github/actions/process-results
+      with:
+        results-file: "reports/combined-compat-results.xml"
+        github-token: ${{ secrets.GH_TOKEN }}
+        issue-number: 0  # No PR for scheduled runs
+        repo-owner: ${{ github.repository_owner }}
+        repo-name: ${{ github.event.repository.name }}
+
+  notify-compatibility-status:
+    needs: [combine-compat-results]
+    runs-on: [self-hosted, gpu]
+    if: always()
+    container:
+      image: docker:dind
+      options: --security-opt=no-new-privileges:true --privileged
+
+    steps:
+    - name: Install Git LFS
+      run: |
+        apk update
+        apk add --no-cache git-lfs
+        git lfs install
+
+    - name: Checkout Code
+      uses: actions/checkout@v3
+      with:
+        fetch-depth: 0
+        lfs: false
+
+    - name: Create Compatibility Report
+      run: |
+        ISAACSIM_VERSION_USED="${{ github.event.inputs.isaacsim_version || env.ISAACSIM_DEFAULT_VERSION }}"
+        echo "## Daily Backwards Compatibility Test Results" > compatibility-report.md
+        echo "" >> compatibility-report.md
+        echo "**IsaacSim Version:** $ISAACSIM_VERSION_USED" >> compatibility-report.md
+        echo "**Branch:** ${{ github.ref_name }}" >> compatibility-report.md
+        echo "**Commit:** ${{ github.sha }}" >> compatibility-report.md
+        echo "**Run ID:** ${{ github.run_id }}" >> compatibility-report.md
+        echo "" >> compatibility-report.md
+        echo "### Test Status:" >> compatibility-report.md
+        echo "- Results: ${{ needs.combine-compat-results.result }}" >> compatibility-report.md
+        echo "" >> compatibility-report.md
+        echo "### Artifacts:" >> compatibility-report.md
+        echo "- [Combined Test Results](https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }})" >> compatibility-report.md
+        echo "" >> compatibility-report.md
+        echo "---" >> compatibility-report.md
+        echo "*This report was generated automatically by the daily compatibility workflow.*" >> compatibility-report.md
+
+    - name: Upload Compatibility Report
+      uses: actions/upload-artifact@v4
+      if: always()
+      with:
+        name: compatibility-report-${{ github.run_id }}
+        path: compatibility-report.md
+        retention-days: 30

.github/workflows/docs.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 name: Build & deploy docs
 
 on:

.github/workflows/mirror-repository.yml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+name: Mirror Repository
+
+on:
+  push:
+    branches:
+      - main
+
+# Concurrency control to prevent parallel runs
+concurrency:
+  group: mirror-repository-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: write
+
+jobs:
+  mirror-repository:
+    runs-on: ubuntu-latest
+    timeout-minutes: 30
+    # Only run on specific repository
+    if: github.repository == 'isaac-sim/IsaacLab'
+    environment:
+      name: mirror-production
+      url: https://github.com/${{ vars.TARGET_REPO }}
+
+    steps:
+    - name: Install Git LFS
+      run: |
+        curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
+        sudo apt-get install git-lfs
+        git lfs install
+
+    - name: Checkout Code
+      uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+        lfs: true
+
+    - name: Configure Git
+      run: |
+        git config --global user.name "Isaac LAB CI Bot"
+        git config --global user.email "isaac-lab-ci-bot@nvidia.com"
+
+    - name: Set Target Repository URL
+      run: |
+        echo "TARGET_REPO=${{ vars.TARGET_REPO }}" >> $GITHUB_ENV
+        echo "TARGET_BRANCH=${{ vars.TARGET_BRANCH || 'main' }}" >> $GITHUB_ENV
+
+    - name: Mirror to Target Repository
+      run: |
+        # Remove existing target remote if it exists
+        git remote remove target 2>/dev/null || true
+
+        # Add target remote with authentication
+        git remote add target https://${{ secrets.GH_TOKEN }}@github.com/${TARGET_REPO}.git
+
+        # Fetch latest from target to avoid conflicts
+        git fetch target $TARGET_BRANCH 2>/dev/null || true
+
+        # Push to target repository and branch (source is always main)
+        git push --force target main:$TARGET_BRANCH
+
+        echo "✅ Successfully mirrored main to ${TARGET_REPO}:$TARGET_BRANCH"

.github/workflows/postmerge-ci.yml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+name: Post-Merge CI
+
+on:
+  push:
+    branches:
+      - main
+      - devel
+
+# Concurrency control to prevent parallel runs
+concurrency:
+  group: postmerge-ci-${{ github.ref }}
+  cancel-in-progress: true
+
+permissions:
+  contents: read
+
+env:
+  NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
+  ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
+  ISAACSIM_BASE_VERSIONS_STRING: ${{ vars.ISAACSIM_BASE_VERSIONS_STRING || 'latest-base-4.5' }}
+  ISAACLAB_IMAGE_NAME: ${{ vars.ISAACLAB_IMAGE_NAME || 'isaac-lab-base' }}
+
+jobs:
+  build-and-push-images:
+    runs-on: ubuntu-latest
+    timeout-minutes: 180
+    environment:
+      name: postmerge-production
+      url: https://github.com/${{ github.repository }}
+
+    steps:
+    - name: Install Git LFS
+      run: |
+        curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
+        sudo apt-get install git-lfs
+        git lfs install
+
+    - name: Checkout Code
+      uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+        lfs: true
+
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v3
+
+    - name: Login to NGC
+      run: |
+        docker login -u \$oauthtoken -p ${{ env.NGC_API_KEY }} nvcr.io
+
+    - name: Build and Push Docker Images
+      run: |
+        # Determine branch name
+        BRANCH_NAME="${{ github.ref_name }}"
+
+        # Replace '/' with '-' and remove any invalid characters for Docker tag
+        SAFE_BRANCH_NAME=$(echo $BRANCH_NAME | sed 's/[^a-zA-Z0-9._-]/-/g')
+
+        # Use "latest" if branch name is empty or only contains invalid characters
+        if [ -z "$SAFE_BRANCH_NAME" ]; then
+          SAFE_BRANCH_NAME="latest"
+        fi
+
+        # Get the git repository short name
+        REPO_SHORT_NAME="${{ github.event.repository.name }}"
+        if [ -z "$REPO_SHORT_NAME" ]; then
+          REPO_SHORT_NAME="verification"
+        fi
+
+        echo "Building images for branch: $BRANCH_NAME"
+        echo "Safe branch name: $SAFE_BRANCH_NAME"
+        echo "Repository name: $REPO_SHORT_NAME"
+        echo "IsaacSim versions: ${{ env.ISAACSIM_BASE_VERSIONS_STRING }}"
+
+        # Parse the env variable string into an array
+        mapfile -d ' ' -t IMAGE_BASE_VERSIONS <<< "${{ env.ISAACSIM_BASE_VERSIONS_STRING }}"
+
+        for IMAGE_BASE_VERSION in "${IMAGE_BASE_VERSIONS[@]}"; do
+          IMAGE_BASE_VERSION=$(echo "$IMAGE_BASE_VERSION" | tr -d '[:space:]')
+
+          # Skip empty versions
+          if [ -z "$IMAGE_BASE_VERSION" ]; then
+            continue
+          fi
+
+          # Combine repo short name and branch name for the tag
+          COMBINED_TAG="${REPO_SHORT_NAME}-${SAFE_BRANCH_NAME}-${IMAGE_BASE_VERSION}"
+          BUILD_TAG="${COMBINED_TAG}-b${{ github.run_number }}"
+
+          echo "Building image: ${{ env.ISAACLAB_IMAGE_NAME }}:$COMBINED_TAG"
+          echo "IsaacSim version: $IMAGE_BASE_VERSION"
+
+          # Build Docker image once with both tags
+          docker buildx build \
+            --platform linux/amd64 \
+            --progress=plain \
+            -t ${{ env.ISAACLAB_IMAGE_NAME }}:$COMBINED_TAG \
+            -t ${{ env.ISAACLAB_IMAGE_NAME }}:$BUILD_TAG \
+            --build-arg ISAACSIM_BASE_IMAGE_ARG=${{ env.ISAACSIM_BASE_IMAGE }} \
+            --build-arg ISAACSIM_VERSION_ARG=$IMAGE_BASE_VERSION \
+            --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
+            --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
+            --build-arg DOCKER_USER_HOME_ARG=/root \
+            --cache-from type=gha \
+            --cache-to type=gha,mode=max \
+            -f docker/Dockerfile.base \
+            --push .
+
+          echo "✅ Successfully built and pushed: ${{ env.ISAACLAB_IMAGE_NAME }}:$COMBINED_TAG"
+          echo "✅ Successfully built and pushed: ${{ env.ISAACLAB_IMAGE_NAME }}:$BUILD_TAG"
+        done

.github/workflows/pre-commit.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 name: Run linters using pre-commit
 
 on:

.pre-commit-config.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 repos:
   - repo: https://github.com/python/black
     rev: 24.3.0
@@ -55,7 +60,7 @@ repos:
     rev: v1.5.1
     hooks:
       - id: insert-license
-        files: \.py$
+        files: \.(py|ya?ml)$
         args:
           # - --remove-header    # Remove existing license headers. Useful when updating license.
           - --license-filepath

docker/docker-compose.cloudxr-runtime.patch.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 services:
   cloudxr-runtime:
     image: ${CLOUDXR_RUNTIME_BASE_IMAGE_ARG}:${CLOUDXR_RUNTIME_VERSION_ARG}

docker/docker-compose.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 # Here we set the parts that would
 # be re-used between services to an
 # extension field

docker/x11.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 services:
   isaac-lab-base:
     environment:

environment.yml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 channels:
   - conda-forge
   - defaults

source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/data/configs/dex-retargeting/fourier_hand_left_dexpilot.yml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 retargeting:
   finger_tip_link_names:
   - GR1T2_fourier_hand_6dof_L_thumb_distal_link

source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/data/configs/dex-retargeting/fourier_hand_right_dexpilot.yml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 retargeting:
   finger_tip_link_names:
   - GR1T2_fourier_hand_6dof_R_thumb_distal_link

source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/agents/rl_games_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/agents/skrl_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/ant/agents/rl_games_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/direct/ant/agents/skrl_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/rl_games_flat_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/rl_games_rough_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/skrl_flat_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/skrl_rough_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/automate/agents/rl_games_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 0
   algo:

source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/rl_games_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_ippo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_mappo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/rl_games_camera_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/rl_games_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/sb3_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 # Reference: https://github.com/DLR-RM/rl-baselines3-zoo/blob/master/hyperparams/ppo.yml#L32
 seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/skrl_camera_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/skrl_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/agents/skrl_box_box_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/agents/skrl_box_discrete_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/agents/skrl_box_multidiscrete_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/agents/skrl_dict_box_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/agents/skrl_dict_discrete_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/agents/skrl_dict_multidiscrete_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/agents/skrl_discrete_box_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/agents/skrl_discrete_discrete_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/agents/skrl_discrete_multidiscrete_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/agents/skrl_multidiscrete_box_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/agents/skrl_multidiscrete_discrete_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/agents/skrl_multidiscrete_multidiscrete_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/agents/skrl_tuple_box_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/agents/skrl_tuple_discrete_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole/agents/skrl_tuple_multidiscrete_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole_camera/agents/skrl_box_box_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole_camera/agents/skrl_box_discrete_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole_camera/agents/skrl_box_multidiscrete_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole_camera/agents/skrl_dict_box_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole_camera/agents/skrl_dict_discrete_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole_camera/agents/skrl_dict_multidiscrete_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole_camera/agents/skrl_tuple_box_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole_camera/agents/skrl_tuple_discrete_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole_showcase/cartpole_camera/agents/skrl_tuple_multidiscrete_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/factory/agents/rl_games_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 0
   algo:

source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/agents/rl_games_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/agents/skrl_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/agents/rl_games_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/agents/skrl_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_dance_amp_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_run_amp_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_walk_amp_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/agents/rl_games_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/agents/skrl_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/rl_games_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/rl_games_ppo_ff_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/rl_games_ppo_lstm_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/rl_games_ppo_vision_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/skrl_ff_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/skrl_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/rl_games_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_ippo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_mappo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/agents/rl_games_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/agents/sb3_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 # Reference: https://github.com/DLR-RM/rl-baselines3-zoo/blob/master/hyperparams/ppo.yml#L161
 seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/agents/skrl_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/agents/rl_games_camera_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/agents/rl_games_feature_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/agents/rl_games_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/agents/sb3_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 # Reference: https://github.com/DLR-RM/rl-baselines3-zoo/blob/master/hyperparams/ppo.yml#L32
 seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/agents/skrl_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/agents/rl_games_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/agents/sb3_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 # Adapted from rsl_rl config
 seed: 42
 policy: "MlpPolicy"

source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/agents/skrl_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/sb3_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 # Adapted from rsl_rl config
 seed: 42
 n_timesteps: !!float 5e7

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/skrl_flat_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/skrl_rough_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/agents/skrl_flat_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/agents/skrl_rough_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 seed: 42
 
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/agents/rl_games_flat_ppo_cfg.yaml

+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 params:
   seed: 42