# Description

Adds a CITATION.cff file for automatically generating citation link.

## Checklist

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

# Description

This PR extend `script/reinforcement_learning/sb3/train.py` with feature
to continue learning by loading the checkpoint.

## Type of change

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applicable. -->

- New feature (non-breaking change which adds functionality)

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---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

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to check the contribution guidelines.

Link:
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This PR fixes shape‑handling bugs in the termination helpers
**`joint_pos_out_of_limit`** and **`joint_pos_out_of_manual_limit`**:

* **Root cause** – both functions reduced across joints with
`torch.any(dim=1)` **before** slicing with `asset_cfg.joint_ids`,
leaving a 1‑D tensor and triggering an `IndexError: too many indices`.
* **Fix** – construct a single `violations` mask, optionally slice
joints, **then** reduce with `torch.any(dim=1)`.
This preserves correct shapes (`[num_envs]`) and works for any
joint‑selection type (`None`, `slice`, list, or tensor).
* **Additional improvements**

* Made `asset_cfg` immutable by avoiding in‑place modification of
`joint_ids`.
  * Added docstring details and harmonised logic between both helpers.

No new dependencies were introduced.

Fixes https://github.com/isaac-sim/IsaacLab/issues/2441

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## Type of change

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* [x] Bug fix (non-breaking change which fixes an issue)
* [ ] New feature (non-breaking change which adds functionality)
* [ ] Breaking change (fix or feature that would cause existing
functionality to not work as expected)
* [ ] This change requires a documentation update

## Screenshots

*Not applicable – logic‑only change.*

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## Checklist

* [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
* [ ] I have made corresponding changes to the documentation
* [x] My changes generate no new warnings
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---------
Signed-off-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

This PR fixes the bug in the test `test_modify_env_param_curr_term`
```
    modify_reset_joint_pos = CurrTerm(
        func=mdp.modify_term_cfg,
        params={
            "address": "events.reset_pole_position.params.position_range", <------
            "modify_fn": replace_value,
            "modify_params": {"value": (-0.0, 0.0), "num_steps": 1},
        },
    )
```

it is trying to modify `events.reset_**pole**_position`

but in the assertion, it is checking `events.reset_**cart**_position`

```
joint_ids = env.event_manager.cfg.reset_cart_position.params["asset_cfg"].joint_ids
assert torch.all(robot.data.joint_pos[:, joint_ids] == 0.0)
```

it wasn't an error before because reset_joints_by_offset function was
buggy, and the tests suite passed before right before that bug was
fixed. Now that bug fixed, we found out this bug.

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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

# Description

Remove the usage of the REMOTE_DEPLOYMENT environment variable (e.g.,
export REMOTE_DEPLOYMENT=3) from the example code blocks in the
[IsaacLab App
documentation](https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.app.html),
as this variable has been deprecated.

Fixes #2920  (issue)


## Type of change

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

## Screenshots
Before
<img width="817" height="279" alt="isaaclab_app"
src="https://github.com/user-attachments/assets/cfd45532-8b43-4285-9ed9-81039c7624e1"
/>
After
<img width="810" height="256" alt="Screenshot from 2025-07-15 09-54-47"
src="https://github.com/user-attachments/assets/65838873-7374-4eee-8963-f35ca661725e"
/>



## Checklist

- [O] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [O] I have made corresponding changes to the documentation
- [O] My changes generate no new warnings
- [O] 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
- [O] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This is a follow-up to #1746 by @lukasfro — thanks for the great work
there!

I’ve been using this feature and found it really helpful. Since the only
remaining request was to resolve merge conflicts and the PR has been
quiet for a bit, I went ahead and rebased it on the latest `main` to
help move things forward.

I branched directly off @lukasfro’s [original
branch](https://github.com/lukasfro/IsaacLab/tree/feature/force_matrix_w_history)
to preserve their authorship, and only applied the changes needed to
resolve the conflicts.

Of course, if @lukasfro prefers to continue the original PR, I’m more
than happy to close this. Just hoping to be helpful and support getting
this great addition merged.

All credit for the original work goes to @lukasfro.

Fixes #1720

## Type of change
- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [ ] 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
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: lukasfro <lukas.froehlich@swiss-mile.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Expands the documentation on actuators and the importance of the
armature parameter when using explicit actuators.

## Type of change

- This change requires a documentation update

## 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
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

wandb logging function is provided in rl_games script. So we remove the
wandb logging in task level. Also, we edit the task registration style
to help startup perf.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

## 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
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ x ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Changes the default setting for the enable stabilization flag from True
to False.

Fixes #2319

## Type of change

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

## Screenshots

| Before | After |
:-------------------------:|:-------------------------:

![net_contact_forces_1kz](https://github.com/user-attachments/assets/a9d7851c-d42a-4f22-8ea7-6b187070057e)|
![net_contact_forces_after](https://github.com/user-attachments/assets/523b8b5c-d8db-435c-bb66-c4312d2c6c18)

![force_matrices_1khz](https://github.com/user-attachments/assets/30feb2e1-d1f6-402f-8ca0-3a727bce4424)
|
![force_matrices_after](https://github.com/user-attachments/assets/3294335f-c5d5-4c4d-ac8a-e2c2e995e2a0)



## 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
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Antoine RICHARD <antoiner@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

This PR created two curriculum mdp that can change any parameter in env
instance.
namely `modify_term_cfg` and `modify_env_param`.

`modify_env_param` is a more general version that can override any value
belongs to env, but requires user to know the full path to the value.

`modify_term_cfg` only work with manager_term, but is a more user
friendly version that simplify path specification, for example, instead
of write "observation_manager.cfg.policy.joint_pos.noise", you instead
write "observations.policy.joint_pos.noise", consistent with hydra
overriding style

Besides path to value is needed, modify_fn, modify_params is also needed
for telling the term how to modify.



Demo 1: difficulty-adaptive modification for all python native data type
```
# iv -> initial value, fv -> final value
def initial_final_interpolate_fn(env: ManagerBasedRLEnv, env_id, data, iv, fv, get_fraction):
    iv_, fv_ = torch.tensor(iv, device=env.device), torch.tensor(fv, device=env.device)
    fraction = eval(get_fraction)
    new_val = fraction * (fv_ - iv_) + iv_
    if isinstance(data, float):
        return new_val.item()
    elif isinstance(data, int):
        return int(new_val.item())
    elif isinstance(data, (tuple, list)):
        raw = new_val.tolist()
        # assume iv is sequence of all ints or all floats:
        is_int = isinstance(iv[0], int)
        casted = [int(x) if is_int else float(x) for x in raw]
        return tuple(casted) if isinstance(data, tuple) else casted
    else:
        raise TypeError(f"Does not support the type {type(data)}")
```
(float)
```
    joint_pos_unoise_min_adr = CurrTerm(
        func=mdp.modify_term_cfg,
        params={
            "address": "observations.policy.joint_pos.noise.n_min",
            "modify_fn": initial_final_interpolate_fn,
            "modify_params": {"iv": 0., "fv": -.1, "get_fraction": "env.command_manager.get_command("difficulty")"}
        }
    )
```

(tuple or list)
```
command_object_pose_xrange_adr = CurrTerm(
        func=mdp.modify_term_cfg,
        params={
            "address": "commands.object_pose.ranges.pos_x",
            "modify_fn": initial_final_interpolate_fn,
            "modify_params": {"iv": (-.5, -.5), "fv": (-.75, -.25), "get_fraction": "env.command_manager.get_command("difficulty")"}
        }
    )
```

Demo 3: overriding entire term on env_step counter rather than adaptive
```
def value_override(env: ManagerBasedRLEnv, env_id, data, new_val, num_steps):
    if env.common_step_counter > num_steps:
        return new_val
    return mdp.modify_term_cfg.NO_CHANGE

object_pos_curriculum = CurrTerm(
        func=mdp.modify_term_cfg,
        params={
            "address": "commands.object_pose",
            "modify_fn": value_override,
            "modify_params": {"new_val": <new_observation_term>, "num_step": 120000 }
        }
    )
```

Demo 4: overriding Tensor field within some arbitary class not visible
from term_cfg
(you can see that 'address' is not as nice as mdp.modify_term_cfg)
```
def resample_bucket_range(env: ManagerBasedRLEnv, env_id, data, static_friction_range, dynamic_friction_range, restitution_range, num_steps):
    if env.common_step_counter > num_steps:
          range_list = [static_friction_range, dynamic_friction_range, restitution_range]
          ranges = torch.tensor(range_list, device="cpu")
          new_buckets = math_utils.sample_uniform(ranges[:, 0], ranges[:, 1], (len(data), 3), device="cpu")
          return new_buckets
    return mdp.modify_env_param.NO_CHANGE

object_physics_material_curriculum = CurrTerm(
        func=mdp.modify_env_param,
        params={
            "address": "event_manager.cfg.object_physics_material.func.material_buckets",
            "modify_fn": resample_bucket_range,
            "modify_params": {"static_friction_range": [.5, 1.], "dynamic_friction_range": [.3, 1.], "restitution_range": [0.0, 0.5], "num_step": 120000 }
        }
    )
```


## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- New feature (non-breaking change which adds functionality)


## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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
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---------
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Fixes reset_joints_by_scale and reset_joints_by_offsets to only affect the joint_names specified in SceneEntityCfg (#2899)

# Description

Both reset_joints_by_offsets and reset_joints_by_scale ignores the
joint_ids specified in SceneEntityCfg passed through asset_cfg and
affects all joints.

This bug is affecting all cartpole environments. 

After the fix the functions are restricted to only reset the joint
specified through SceneEntityCfg, Cartpole environment runs and reset
behaves correctly

Fixes #2800 #980 #1742 

## Type of change

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applicable. -->

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

## Checklist

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`./isaaclab.sh --format`
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- [ ] 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
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exists there

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Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

@Toni-SM pointed out that Isaac Lab must match Isaac Sim/ Kit
107.3.1-206797 Pillow 11.2.1

this PR update pillow dependencies to match that of sim and kit

## Type of change

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applicable. -->

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

## Screenshots

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## Checklist

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`./isaaclab.sh --format`
- [] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
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feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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# Description

Fixes missing  `ray_cast_drift` in `RayCasterCamera`

Fixes #2891 

## Type of change

- 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
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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

Fixes ObservationManager history buffer corrupted by external calls to ObservationManager.compute (#2885)

# Description

When observation group has history length greater than zero, calling
`ObservationManager.compute` modifies history state by appending current
observation to history. This creates history corruption when
non-`ManagerBasedEnv` classes invoke `ObservationManager.compute`. This
PR introduces `update_history` flag (default to `False`) and only
`ManagerBasedEnv` has the privilege to run `ObservationManager.compute`
with `update_history=True`. If `update_history=False` and the history
buffer is `None`, a copy of history is returned instead of the original.

I have added test cases to verify this fix is effective.

Fixes #2884 

## Type of change

- 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`
- [ ] 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
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

this PR adds tests for:

- scale_transform
- unscale_transform
- saturate
- normalize
- copysign
- convert_quat
- quat_conjugate
- quat_from_euler_xyz
- quat_from_matrix
- euler_xyz_from_quat
- matrix_from_euler
- quat_from_angle_axis
- axis_angle_from_quat
- skew_symmetric_matrix
- combine_transform
- subtract_transform
- compute_pose_error

Fixes # (issue)

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

## Checklist

- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] 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: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Fixes deprecation overload for hanging quat_rotate calls in articulation and rigid_object_collection (#2867)

# Description

Changes remaining quat_rotate calls to quat_apply calls.

Fixes #2859 

<!-- As a practice, it is recommended to open an issue to have
discussions on the proposed pull request.
This makes it easier for the community to keep track of what is being
developed or added, and if a given feature
is demanded by more than one party. -->

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

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

## Checklist

- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] 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 <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

Supports sb3 wrapper to pre-process env's image obs-space to trigger sb3 natively supported cnn creation pipeline (#2812)

# Description

This PR modifies the SB3 Wrapper so that it utilizes the 
SB3 natively supported encoder creation on properly defined composite
observation space,

SB3's automatic CNN encoding will apply when
1. if observation space of that term is of shape, GrayScale, RGB, or
RGBD
2. if agent_cfg has normalized flag, expects data to have channel as the
first dimension, and data pre_normalized
3. if agent doesn't has normalized flag, expects data to have space
min=0, max=255, dtype=uint8

This PR makes sure the sb3 wrapper adjust environment image term to meet
either condition 2 or condition 3 by looking at space's min and max, so
sb3 creation pipeline will be applied automatically.


## Type of change

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- New feature (non-breaking change which adds functionality)

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
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feature works
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Co-authored-by: Kelly Guo <kellyg@nvidia.com>

This PR pushes some changes from our internal RAI fork of Isaac Lab.

The 2 main changes are:

#### Adds a new `ray_alignment` parameter to replace the previous
`yaw_only` arg.

Now the ray alignment can be aligned to `world`, `yaw`, or `base.

#### Improves drift height sampling

At the moment, the `RayCasterCfg` hosts a parameter called
`drift_range`. It allows to randomize the position of the sensor in
world frame, which comes with a couple of downsides:
* If the projection is done along the gravity vector, the z-component
drift term cannot be visualized (it is implicitly given in the pose, and
added to the height scan in the observation term).
* The perturbation is applied in world frame, i.e., if the ray cast is
yaw aligned, then the drift varies with the yaw angle
* The drift is applied to all (x,y,z) components equally

This PR adds a new parameter ray_cast_drift_range. It gives more freedom
in choosing the drift ranges as x, y and z components can be treated
separately. It also applies the drift after projecting and rotating the
ray cast points, i.e. the drift is now invariant under the yaw angle and
the drift in z is can be visualized

I've added Fabian Jenelten and Jeonghwan Kim to this PR as they worked
on these changes within RAI - I'm simply helping to push them up 😄

## Type of change

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- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## Checklist

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- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
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---------
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description
Allow to set platform height independent of the object height.

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discussions on the proposed pull request.
This makes it easier for the community to keep track of what is being
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## Type of change
- New feature (non-breaking change which adds functionality)

## 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
- [ ] 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
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

Credit: @fjenelten-bdai

---------
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This PR fixes an issue when exporting LSTM to ONNX. The normalizer was
resetting to zero. This PR calls `eval()` during the `forward()`.

Fixes # (issue)

## Type of change

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applicable. -->

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

## Screenshots
Left: After, Right: Before


![image](https://github.com/user-attachments/assets/9a8f765f-653a-4a57-b9ee-af00e8e0539c)

## Checklist

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# Description

This PR expands the noise parameters of the MeshRepeatedObjectsTerrain
by adding minimum and maximum absolute and relative noise for.
This adds deprecation warnings to existing parameters but they will
function normally.

Fixes # (issue)

## Type of change

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- New feature (non-breaking change which adds functionality)

## Screenshots

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## Checklist

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`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
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---------
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Fabian Jenelten <162192900+fjenelten-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Fixes some pytest migration errors for test_articulation and
test_render_cfg

Fixes # (issue)

## 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`
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- [ ] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

I added the path_to_docs key to the html_theme_options dictionary in
conf.py and set it to docs/

## Checklist

- [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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- [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
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exists there

# Description

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This PR adds projected_gravity_b data stream as well as speeding up
computation by during batch rotating of all data streams to base frame
in one computation rather than each data stream separately.

This PR is dependant on [PR
2129](https://github.com/isaac-sim/IsaacLab/pull/2129/) and should not
be merged until that PR is merged.

Fixes # (issue)

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## Type of change

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- New feature (non-breaking change which adds functionality)

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## Checklist

- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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- [ ] My changes generate no new warnings
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exists there

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---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Updates gymnasium to 1.2.0, which includes a fix for memory leak when
recording videos during training with `--video`.

Fixes #1996 

## Type of change

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applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## 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
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
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# Description

This PR fixes the numpy version get upgraded to >2 when installing
rl_packages dependencies

## Type of change

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applicable. -->

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

## Screenshots

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## Checklist

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`./isaaclab.sh --format`
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# Description

replace_slices_with_strings() and replace_strings_with_slices() in
[IsaacLab/source/isaaclab/isaaclab/utils/dict.py](https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab/isaaclab/utils/dict.py)
are changed to allow slices being process if a list of dicts is passed
in as input.

Cherry picks changes from
https://github.com/isaac-sim/IsaacLab/pull/2571 by @LinghengMeng

Fixes #2481 


## 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`
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# Description

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This MR fixes compatibility issues with robomimic by setting its
installation version to v0.4.0.

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## Type of change

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

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## Checklist

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`./isaaclab.sh --format`
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# Description

Corrects `quat_inv()` in utils/math.py: the inverse is now computed as:

`quat_conjugate(q) / q.pow(2).sum(dim=-1, keepdim=True).clamp(min=eps)`

ensuring correct results for **non-unit** quaternions.  

Fixes #1263 (see discussion for details). Also updated `CHANGELOG.rst`
and corrected a few minor typos within.

## Type of change

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applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

## 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
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exists there

---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This is a small change to the Walkthrough documentation to make it
explicit to change the observation space dimension in the second half of
the Exploring the RL problem tutorial.

Fixes #2787

## Type of change

- This change is exclusively documentation

---------
Signed-off-by: Brian Bingham <briansbingham@gmail.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Co-authored-by: Michael Gussert <michael@gussert.com>

# Description

Minor fixes for SB3 play script to accommodate for inference task names
and updates profiling numbers for the RL library comparison.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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# Description

This PR relaxes the upper range of allowed protobuf versions so that
IsaacLab can be installed in a modern python environment without
downgrading or conflicting with modern protobuf versions.

The original reason for pinning this to <5 was apparently due to
transitive breakage in tensorboard, which also had this pinned to <5 -
so pinning this in IsaacLab itself would not be necessary if both deps
were composed together. Tensorboard has since (in Aug 2024) unpinned
this here: https://github.com/tensorflow/tensorboard/pull/6888

So, the original concern should, afaict, be obviated now.

# Fixes

This should repair any case where someone wants to install IsaacLab into
a modern python environment that uses any of the Google ecosystem
(gRPC/protobuf et al) without conflict or forced down-rev'ing to older
versions (current version of protobuf is 6.31.1).

## Type of change

- 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
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- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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exists there

# Description

Currently, `update_class_from_dict()` does not allow updating the
configclass Iterable elements with Hydra, when the provided Iterable
length differs from the default value. Such a feature is nevertheless
needed when changing the network layer depth on the go, e.g., while
using learning libraries that utilize configclass (see #2456 for
details).

This PR modifies `update_class_from_dict()` such that if an element is a
flat Iterable (e.g., flat list), it is replaced wholesale, without
checking the lengths. Moreover, the PR modifies the robustness of the
function against a few edge cases that might break the execution, and
adds comments to make it easier to follow the logic flow.

Note: I left the changelog entry as `[Unreleased]` until a green light
is given.

Fixes #2456.

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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

# Description

Thanks to Matteo Grimaldi, Saleh Nabi and Wonju Lee for identifying the
source of this memory leak.

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Add garbage collector calls since warp doesn't handle well the free
memory.

Fixes #2679 

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## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix

## Screenshots

Before this change - the experiment hasn't been completed on 64GB RAM
machines.
After  this change it requires less than 12GB RAM.
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![Screenshot 2025-06-12 at 18 31
38](https://github.com/user-attachments/assets/695de828-2f9d-4714-aae3-5d9831ae6e77)

## Checklist

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---------
Signed-off-by: David <ddleon@outlook.co.il>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Fix the small stylistic mistake in the documentation. 

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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exists there

---------
Signed-off-by: Norbert Cygiert <107721774+norbertcygiert@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

## Description

Previously, `euler_xyz_from_quat` returned Euler angles in the [0, 2π)
range, which is uncommon in robotics applications. As a result, several
users implemented their own workarounds to adjust the angle range to
(−π, π]. Examples include:

- **Isaac-RL-Two-wheel-Legged-Bot**: Custom unwrapping implemented in
[`rewards.py#L17`](https://github.com/jaykorea/Isaac-RL-Two-wheel-Legged-Bot/blob/057f81ed3aa4aff91551fce5c54256e47cece29a/lab/flamingo/tasks/constraint_based/locomotion/velocity/mdp/rewards.py#L17).
- **lorenzo-bianchi/IsaacLab**: Manual angle shifting in
[`quadcopter_env_v1.py#L219`](https://github.com/lorenzo-bianchi/IsaacLab/blob/247f66db3691046ecdfecb311268eccc729048ec/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/quadcopter/quadcopter_env_v1.py#L219).
- **kscalelabs/klab**: Custom angle normalization in
[`imu.py#L17`](https://github.com/kscalelabs/klab/blob/edf749f5177ba296a076d13380cd0fb1e5846e3f/exts/zbot2/zbot2/tasks/locomotion/velocity/mdp/imu.py#L17).

To address this issue, we have updated the default angle range from [0,
2π) to (−π, π] by removing the `% (2 * torch.pi)` operation at the
return statement, since the [atan2
function](https://en.wikipedia.org/wiki/Atan2) naturally outputs angles
within the (−π, π] range.

We also introduced a new parameter, `wrap_to_2pi: bool = False`. Setting
this parameter to `True` will maintain the previous behavior:

- **Default (`wrap_to_2pi=False`)**: Angles returned in the range (−π,
π].
- **Optional (`wrap_to_2pi=True`)**: Angles wrapped in the original [0,
2π) range.


Additionally, multiple test samples have been added to evaluate and
ensure performance and accuracy across different scenarios.

### What’s Changed

- **Default behavior** updated to (−π, π] (non-breaking).  
- **New argument** `wrap_to_2pi` for optional wrapping.  
- **Unit tests** added for both wrapped and unwrapped outputs.

---


Fixes https://github.com/isaac-sim/IsaacLab/issues/2364


## Type of Change

- **Enhancement** (non-breaking addition of functionality)
---

## Checklist

- [x] Ran `./isaaclab.sh --format` and all pre-commit checks pass  
- [x] Updated docstrings to describe `wrap_to_2pi` parameter  
- [x] Added tests covering both wrapped and unwrapped outputs  
- [x] No new warnings introduced  
- [ ] Updated changelog and bumped version in `config/extension.toml`  
- [x] Confirmed my name is listed in `CONTRIBUTORS.md`

---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

In the `H1RoughEnvCfg` class, the `body_names` assignment for contact
termination was initialized twice, which was redundant. This PR removes
the duplicate assignment.

```
        # Terminations
        self.terminations.base_contact.params["sensor_cfg"].body_names = [".*torso_link"]

        # Rewards
        self.rewards.undesired_contacts = None
        self.rewards.flat_orientation_l2.weight = -1.0
        self.rewards.dof_torques_l2.weight = 0.0
        self.rewards.action_rate_l2.weight = -0.005
        self.rewards.dof_acc_l2.weight = -1.25e-7

        # Commands
        self.commands.base_velocity.ranges.lin_vel_x = (0.0, 1.0)
        self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0)
        self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0)

        # terminations
        self.terminations.base_contact.params["sensor_cfg"].body_names = ".*torso_link"
```

## Type of change

- 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`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] 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
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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

# Description

This PR updates the `NoiseModelWithAdditiveBias` to apply per-feature
bias sampling.

Previously, the model sampled a single scalar bias per episode and
applied it uniformly across all feature dimensions (i.e., axis 1 of a
(`num_env`, `feature_dim`) tensor). This PR changes the behavior to
instead sample a separate bias value for each feature dimension, making
the model more suitable for structured inputs such as positions,
velocities, or multi-DOF actions.

### Notes

Structured inputs typically contain semantically distinct components,
like [x, y, z] coordinates, where applying the same bias across all
components introduces unrealistic, fully correlated noise. Independent
per-dimension bias sampling leads to more realistic and robust policy
training, especially for sim-to-real transfer.

I’ve replaced the previous behavior with this new default, as I believe
the original implementation could be misleading and not well-suited for
many practical scenarios. However, if desired, I can make both behaviors
available via a configuration flag (e.g., `per_feature_bias=True`), to
retain backward compatibility.

Fixes #2759.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] 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
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Fixes typo in reset_scene_to_default that was recently added where joint
position was incorrectly set to velocity targets.


## Type of change

<!-- As you go through the list, delete the ones that are not
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
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] 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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

# Description

Add an example to train a locomotion and loco-manipulation controller
for digit. This also serves as an example on how to train a robot with
closed loops.

## Type of change

- New feature (non-breaking change which adds functionality)

## Screenshots



## 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
- [ ] 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
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: lgulich <22480644+lgulich@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>