# Description

This PR ensures all imports follows the string import style.
String import style avoid pulling of unnecessary packages that is
related to other environments, this pr makes sure all environments are
using this import.

## Type of change

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

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>

# Description

When running Ray directly from tuner.py, Ray is not correctly
initialized within `invoke_tuning_run()`. The two problems associated
with this are discussed in #3532. To solve them, this PR:

1. Removes `ray_init()` from `util.get_gpu_node_resources()`. Now, ray
needs to be initialized before calling `util.get_gpu_node_resources()`.
This change actually reverses #3350, which was merged to add the missing
initialization when using `tuner.py`, but it is safer to explicitly
initialize Ray with the correct arguments outside of the
`util.get_gpu_node_resources()`.
2. Moves Ray initialization within `invoke_tuning_run()` to be before
`util.get_gpu_node_resources()` so we explicitly initialize it before
and do not raise an exception later.
3. Adds a warning when calling `ray_init()` if Ray was already
initialized.

Fixes #3532

## Type of change

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


## Screenshots

Change 1:
<img width="901" height="62" alt="Screenshot 2025-09-23 at 16 52 55"
src="https://github.com/user-attachments/assets/59fdb69d-fc29-41c4-980f-1af450ef5036"
/>

Change 2:
<img width="520" height="339" alt="Screenshot 2025-09-23 at 16 52 33"
src="https://github.com/user-attachments/assets/04f51cd6-9e76-485b-b162-ce4662aec417"
/>

Change 3:
<img width="784" height="60" alt="Screenshot 2025-09-23 at 16 55 21"
src="https://github.com/user-attachments/assets/6187b513-24ce-48cb-bac9-50cd665c185a"
/>


## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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
- [ ] 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: garylvov <67614381+garylvov@users.noreply.github.com>

# Description

Due to previous changes, the `rl_games` workflow's `log_root_path` is no
longer the absolute path if the pbt option is not used, causing further
issues. This PR fixes this by making it an absolute path again.

Fixes #3530 

## Type of change

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

## Screenshots

Before:

https://github.com/isaac-sim/IsaacLab/blob/3a0db9d761982dc65417e6c6d0714cec61ceadb3/scripts/reinforcement_learning/rl_games/train.py#L129-L135

After:
```
log_root_path = os.path.join("logs", "rl_games", config_name)
if "pbt" in agent_cfg and agent_cfg["pbt"]["directory"] != ".":
    log_root_path = os.path.join(agent_cfg["pbt"]["directory"], log_root_path)
else:
    log_root_path = os.path.abspath(log_root_path)
```

## Note

While this fixes the path to be absolute when pbt is not used, I am not
sure if

`log_root_path = os.path.join(agent_cfg["pbt"]["directory"],
log_root_path)`

is correct or absolute, as I do not use pbt. Should it not be something
like the following?

`log_root_path = os.path.abspath(os.path.join(log_root_path,
agent_cfg["pbt"]["directory"]))
`

I would appreciate any feedback on this.

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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
- [ ] 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: sbtc-sipbb <sbtc@sipbb.ch>
Co-authored-by: garylvov <67614381+garylvov@users.noreply.github.com>
Co-authored-by: garylvov <gary.lvov@gmail.com>

# Description

Broken links often creep into the documentation without anyone noticing.
This adds an automated job to check through links referenced in the docs
and readmes to find any broken or outdated links.

Additionally, fixes a few broken links that were discovered by the job.

## Type of change

- Documentation update


## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

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# Description

One of the links in the docs didn't have the correct syntax to render
correctly. A small fix to fix the syntax.

## Type of change

- Documentation update

## Screenshots

Before
<img width="1895" height="265" alt="image"
src="https://github.com/user-attachments/assets/f6db07a1-7302-4bbb-963e-d371c29259d5"
/>

After
<img width="1942" height="270" alt="image"
src="https://github.com/user-attachments/assets/c7f7fc40-64d8-4c9b-adaf-7c62736e65e3"
/>

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

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# Description
This PR optimizes the Pink IK controller solver by changing the qpsolver
to use **daqp**, and also optimizing the matrix pseudo inverse in Null
Space Posture Task. This achieves a **2x performance improvement** by
reducing runtime from 1.23 ms to 0.52 ms.

Perf experiments documented in third page here:

https://docs.google.com/document/d/1E9UiYUU-oCOIetUkqAIva8oK0NvdNkMeqP2gxmeqxNA/edit?tab=t.0#heading=h.snu74q2v857w

## Key Changes

1. **Optimized Pseudoinverse Computation**: Replaced `np.linalg.pinv()`
with a custom implementation using direct LAPACK/BLAS calls in the null
space projector calculation. The new approach uses Cholesky
factorization (`dpotrf`) and triangular solvers (`dpotrs`) for faster
computation.

2. **QP Solver Update**: Changed the Pink IK solver from `osqp` to
`daqp` for improved performance.

3. **New Dependency**: Added `daqp==0.7.2` to `setup.py` for Linux
platforms.

## 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 read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

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

# Description

pre-commit CI runs have been failing (see
[example](https://github.com/isaac-sim/IsaacLab/actions/runs/19017065661/job/54306430424))
due to an incompatibility between our specified flake version and python
3.14, as python3.14 has started to be installed by the setup-python GHA.
This PR pins python to 3.12 in order to fix these failures.

## 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)

# Description

This PR fixes an issue in recurrent policy evaluation where the
recurrent state was not being reset after an episode termination. The
missing reset caused residual memory to persist between episodes. The
fix ensures that `reset()` is now called during evaluation in `play.py`
for policy networks, including recurrent.

Fixes #3837  <!-- replace with actual issue number -->

## Type of change

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

## Screenshots

N/A

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation where
necessary
- [x] My changes generate no new warnings
- [x] I have added tests verifying that recurrent states are correctly
reset during evaluation
- [x] I have updated the changelog and 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

The [template
generator](https://isaac-sim.github.io/IsaacLab/main/source/overview/developer-guide/template.html)
is involved when project / task is created using ```./isaaclab.sh -n
[Project Name]```. Inside the ```source``` directory in
```config/extension.toml``` file there is a provision to add custom apt
or ros_ws dependency as mentioned
[here](https://isaac-sim.github.io/IsaacLab/main/source/overview/developer-guide/development.html#custom-extension-dependency-management)
which is current failing.

The problem is result of a typo in the template generator extension
config file which is current ```[isaaclab_settings]``` and should be
```[isaac_lab_settings]``` instead. The file is located at:
```
IsaacLab/tools/template/templates/extension/config/extension.toml
```

Fixes #3196 

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## Screenshots

| Before | After |
| ------ | ----- |
| <img width="591" height="201" alt="image"
src="https://github.com/user-attachments/assets/57daa5a7-ba26-4f21-8749-14123470817e"
/> | <img width="591" height="201" alt="image"
src="https://github.com/user-attachments/assets/ddb129ad-cf84-474f-b87f-da5158981f56"
/>|

## 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
- [ ] 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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

<!--
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to check the contribution guidelines.

Link:
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💡 Please try to keep PRs small and focused. Large PRs are harder to
review and merge.
-->

Add docstring clarifications for joint modeling in 4.5 vs 5.0

Replaces this MR - https://github.com/isaac-sim/IsaacLab/pull/3461

<!-- 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. -->

- Documentation update

## Screenshots

Please attach before and after screenshots of the change if applicable.

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| ------ | ----- |
| _gif/png before_ | _gif/png after_ |

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mode and it should upload the image directly. You can then paste that
source into the above before/after sections.
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## Checklist

- [ ] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [ ] 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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# Description

<!--
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to check the contribution guidelines.

Link:
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💡 Please try to keep PRs small and focused. Large PRs are harder to
review and merge.
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Current manager-based workflow leveraged recorder_manager to store demo
obs and actions to hdf5 file.
- But it only outputs successful demos and accumulates the demo index
- Not supporting customized demo index (the use case is like: replay an
existing hdf5, and store successful demos while keeping its original
demo index)

The modification in this PR:
- keeps original function, but extends to store demo with specific demo
index

<!-- 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. -->

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


## Screenshots

| Before | After |
| ------ | ----- |
|<img width="100" height="150" alt="Screenshot from 2025-09-25 10-20-31"
src="https://github.com/user-attachments/assets/b4af24df-2781-4ba2-8693-fd246875012b"
/>|<img width="100" height="150" alt="Screenshot from 2025-09-25
10-20-47"
src="https://github.com/user-attachments/assets/e86d3210-e205-4d6b-b83e-cf69a585743b"
/> |


## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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
- [ ] 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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---------
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description

<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

Link:
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💡 Please try to keep PRs small and focused. Large PRs are harder to
review and merge.
-->
`Isaac-Tracking-LocoManip-Digit-v0` was moved to a different source code
path and docs were not updated accordingly. This change fixes the broken
URL.

## Type of change

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

- Documentation update

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

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# Description

Documentation update for release notes for the 2.3 release and some
final updates on recommended driver versions.

## Type of change

- Documentation update

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

<!--
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Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>

# Description

Merging in updates for the Isaac Lab 2.3 release, moving to support for
Isaac Sim 5.1.
This change includes many features for teleoperation, disjoint
navigation, whole-body control for teleoperation, and IK updates from
@rwiltz, @michaellin6, @jaybdub, @huihuaNvidia2023, @hougantc-nvda,
@lotusl-code, @yami007007, @cathyliyuanchen, @tifchen-nvda.
Additionally, support for DGX Spark is added by @ooctipus and
@matthewtrepte.

For details of the changes and updates, refer to the release notes.

## Type of change

- New feature (non-breaking change which adds functionality)
- Breaking change (existing functionality will not work without user
modification)
- Documentation update


## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

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---------
Signed-off-by: Harsh Patel <hapatel@theaiinstitute.com>
Signed-off-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: yami007007 <weihuaz@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Louis LE LAY <le.lay.louis@gmail.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: Javier Felix-Rendon <javierfelixrendon@gmail.com>
Signed-off-by: Doug Fulop <dougfulop@gmail.com>
Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com>
Signed-off-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Signed-off-by: zehao-wang <59912787+zehao-wang@users.noreply.github.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Signed-off-by: shauryadNv <shauryad@nvidia.com>
Co-authored-by: Philipp Reist <66367163+preist-nvidia@users.noreply.github.com>
Co-authored-by: Harsh Patel <hapatel@theaiinstitute.com>
Co-authored-by: James Tigue <jtigue@theaiinstitute.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Co-authored-by: michaellin6 <michalin@nvidia.com>
Co-authored-by: Huihua Zhao <huihuaz@nvidia.com>
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>
Co-authored-by: Sergey Grizan <sgrizan@nvidia.com>
Co-authored-by: Alexander Poddubny <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: John <jaybdub@users.noreply.github.com>
Co-authored-by: yami007007 <weihuaz@nvidia.com>
Co-authored-by: Weihua Zhang <weihuaz@weihuaz-mlt.client.nvidia.com>
Co-authored-by: PeterL-NV <petliu@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: hougantc-nvda <127865892+hougantc-nvda@users.noreply.github.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: njawale42 <njawale@nvidia.com>
Co-authored-by: Cathy Li <40371641+cathyliyuanchen@users.noreply.github.com>
Co-authored-by: Louis LE LAY <le.lay.louis@gmail.com>
Co-authored-by: Javier Felix-Rendon <javierfelixrendon@gmail.com>
Co-authored-by: Doug Fulop <dougfulop@gmail.com>
Co-authored-by: Robin Vishen <117207232+vi7n@users.noreply.github.com>
Co-authored-by: -T.K.- <t_k_233@outlook.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>
Co-authored-by: Rebecca Zhang <rebeccaz@nvidia.com>
Co-authored-by: Lorenz Wellhausen <lorenwel@users.noreply.github.com>
Co-authored-by: Lorenz Wellhausen <lorenz.wellhausen@rivr.ai>
Co-authored-by: Michael Gussert <michael@gussert.com>
Co-authored-by: Antoine RICHARD <antoiner@nvidia.com>
Co-authored-by: tifchen-nvda <tifchen@nvidia.com>
Co-authored-by: Cathy Li <yuanchenl@yuanchenl-mlt.client.nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com>
Co-authored-by: Milad-Rakhsha <miladrakhsha@gmail.com>
Co-authored-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Co-authored-by: Xinjie Yao <xyao@nvidia.com>
Co-authored-by: shauryadNv <shauryad@nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: zehao-wang <59912787+zehao-wang@users.noreply.github.com>
Co-authored-by: yijieg <yijieg@nvidia.com>
Co-authored-by: ndahile-nvidia <167997649+ndahile-nvidia@users.noreply.github.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: yanziz-nvidia <yanziz@nvidia.com>
Co-authored-by: lotusl-code <lotusl@nvidia.com>

# Description

matplotlib-inline has BSD-3 license, so it's ok for us to include it. We
already have the license file specified for it.

## Type of change

- Documentation update

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

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# Description

We were incorrectly converting all numpy array data in the TiledCamera
class into uint8 type warp arrays when simulation device is set to CPU.
Some annotations like depth are float32 while segmentation data is
uint32. The correct behavior should convert to warp arrays depending on
the input data type of the numpy array.

Additionally, rlgames configs were set to cuda device by default but
were not being overridden when users specify the simulation device to
CPU through cmdline. We should propagate the device setting to the
rlgames configs so that we can run training on the same device, similar
to how RSL RL is set up.

Fixes #3526 

## Type of change

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


## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

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# Description

There were some recent updates to a couple of our dependency packages
that have updated their licenses. Updating our license checker
exceptions to match with the new updated licenses for these packages.

Additionally, adds a note in the simulation performance documentation
for CPU governor setting to improve performance.

Also, updates a few unit tests to mark as flaky as we've shown in recent
CI runs.


## 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)
- Documentation update

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

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# Description

To convert cuda version from a string to a float, I update the function
to handle cases with multiple points, e.g. string '12.8.9' will be
converted to float 12.89. Before, float('12.8.9') will return None for
failure conversion.

## Type of change

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

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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
- [ ] 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

### Description
- Add a concise installation caveat for cuRobo when Omniverse Kit/Isaac
Sim environment scripts set `PYTHONPATH`/`PYTHONHOME`, with simple
mitigations.
- Clarify `TORCH_CUDA_ARCH_LIST` usage (match GPU compute capability;
add `+PTX` for forward compatibility).
- Consolidate and document VRAM usage baselines and GPU recommendations
for both Vanilla Cube Stacking and Adaptive Bin Cube Stacking (measured
over 10 demos on RTX 6000 Ada 48 GB).
- Minor wording fixes for consistency (e.g., “adaptive bin cube
stacking”).
- **Dependencies**: None

### Type of change
- Documentation update

### Checklist
- [x] I have read and understood the contribution guidelines
- [x] I have run the `pre-commit` checks 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
Fixed a typo in the RL Games PPO configuration file for the Cartpole
feature-based environment. Changed value_bootstraop to value_bootstrap
on line 60 to match the correct parameter name used throughout the
codebase.

## Type of change

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


## Screenshots

Not applicable (text-only typo fix in YAML configuration file)

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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
- [ ] 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: G.G <148413288+tkgaolol@users.noreply.github.com>

## Description

This PR updates the SkillGen docs to include expected data generation
and policy training times for clarity.

Dependencies: None

## Type of change

- Documentation update

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

When cloning the repo, make.bat caused line ending changes to be
triggered on Linux due to difference in Windows and Linux styles. This
change normalizes the script to avoid triggering git conversions when
cloning the repo.

## Type of change

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


## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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
- [ ] 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

# Description

If Nvidia driver 580 and cuda toolkit 13.0, we compute reward with CPU.
If Nvidia driver 570 and cuda toolkit 12.8, we compute reward with CUDA.

Fixes issue with hanging process with cuda 13.

## Type of change

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

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

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

# Description

This MR adds two functions to obtain the pose and scale of a prim
respectively.

This is needed for #3298.

## Type of change

- New feature (non-breaking change which adds functionality)
- 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
- [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
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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

We have been supporting both pickle and yaml storing for configuration.
However, pickle has some security vulnerabilities and we have been
preferring the use of yaml in most cases. Thus, we are removing the
pickle utilities for saving and loading configs.

For more info on pickle: https://docs.python.org/3/library/pickle.html


## Type of change

- Breaking change (existing functionality will not work without user
modification)


## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

When seed was added to the benchmark_non_rl.py script, it was mistakenly
trying to read from simulation config, which doesn't exist. We can set
seed directly from the cli arguments since it's ok to be None if it's
not specified.


## 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 read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

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# Description

This PR fixes the sb3_ppo_cfg for task Isaac-Ant-v0

the parameter before had 4096 num_envs + horizon 512 + batch size 128 +
n_epoch 20,
that means the training one cycle it needs to for loop (20 * 512 * 4096)
/ 128 = 327680 times!

which appears as if it is hanging forever

the new config matches more closely with that of rl_games.

I verified it will trains under 5 min 

[Screencast from 2025-10-15
13-56-21.webm](https://github.com/user-attachments/assets/2bc7bcd8-0063-46b9-adb0-67a6aa686732)

## 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)

## Screenshots

Please attach before and after screenshots of the change if applicable.

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## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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
- [ ] 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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# Description

This MR updates gymnasium version to prevent memory leak while video
recording.

Related MR: https://github.com/Farama-Foundation/Gymnasium/pull/1444

Fixes https://github.com/isaac-sim/IsaacLab/pull/3387


## Type of change

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

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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
- [ ] 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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description
Update CODEOWNERS for Isaac Lab Mimic

## Type of change

- Documentation update

## Checklist

- [ ] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [ ] 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: Yan Chang <yachang@nvidia.com>

# Description

This PR adds api to set physxscene:solveArticulationContactLast through
PhysxCfg,
this is only available in sim 5.1

Fixes # (issue)

## Type of change

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

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

## Screenshots

Please attach before and after screenshots of the change if applicable.

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## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

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

# Description

* Fixes the warning messages reported in the QA testing
* Remove redundant config argument 'sample_from'
* Change the default value of config argument 'num_log_traj'

## Type of change

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

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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
- [ ] 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

The collision approximation configuration changed in main branch, but
the code in tools/convert_mesh.py does not sync.

Fixes #3557 

## Type of change

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

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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
- [ ] 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: zehao-wang <59912787+zehao-wang@users.noreply.github.com>

# SkillGen documentation: data gen command cleanup and success-rate
guidance

## Description

This PR updates the SkillGen documentation in
`docs/source/overview/imitation-learning/skillgen.rst`:
- Removes a redundant `--headless` flag from a data generation command
example.
- Adds a note with success-rate guidelines and training recommendations
for cube stacking and bin cube stacking.
- Clarifies minor text details, including correcting the planning phase
order to “Retreat → Contact → Approach” for consistency.

Motivation: Improve clarity, set realistic expectations on data
generation and downstream policy performance, and align docs with actual
planner behavior.

Dependencies: None

## Type of change

- Documentation update

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

Fixes skrl train/play script configurations when using the `--agent` argument and rename agent configuration variable  (#3643)

# Description

This PR address the following points:
* Fix skrl train/play script configuration when using the `--agent`
argument

    Example:

    ```bash
python scripts/reinforcement_learning/skrl/train.py --task
Isaac-Cart-Double-Pendulum-Direct-v0 --headless --agent
skrl_mappo_cfg_entry_point
    ```

    Error:

    ```
[INFO]: Parsing configuration from:
isaaclab_tasks.direct.cart_double_pendulum.cart_double_pendulum_env:CartDoublePendulumEnvCfg
[INFO]: Parsing configuration from:
/home/toni/Documents/RL/toni_IsaacLab/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_mappo_cfg.yaml
[INFO] Logging experiment in directory:
/home/toni/Documents/RL/toni_IsaacLab/logs/skrl/cart_double_pendulum_direct
    Error executing job with overrides: []
    Traceback (most recent call last):
File
"/home/toni/Documents/RL/toni_IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py",
line 101, in hydra_main
        func(env_cfg, agent_cfg, *args, **kwargs)
File
"/home/toni/Documents/RL/toni_IsaacLab/scripts/reinforcement_learning/skrl/train.py",
line 156, in main
log_dir = datetime.now().strftime("%Y-%m-%d_%H-%M-%S") +
f"_{algorithm}_{args_cli.ml_framework}"
^^^^^^^^^
    NameError: name 'algorithm' is not defined
    ```
 
* Replace `STATES` by `OBSERVATIONS` when defining skrl's agent
configuration model inputs to ensure a smooth and error-free transition
when the new mayor version of **skrl** gets released. In such mayor
version `OBSERVATIONS` and `STATES` have different value/usage.

## 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)

# Description

msgpack is required by ray when installing rl_games. it has an apache
2.0 license, so we are adding it to the exceptions list since the
license shows up as UNKNOWN by the license checker.


## Type of change

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

- Documentation update

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

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# Description

This MR fixes the slow-down observed in recent IsaacLab updates.
Previously, the simulation device was read through the configuration;
later, this was changed to read the device through the simulation
manager.

On profiling, I observed that the simulation manager function took 0.01
s per call. This is quite a bit of overhead, considering that
`env.device` refers to `sim.device` and gets called at multiple
locations in the environment.

This MR reverts back to the previous solution for obtaining the device.

Fixes #3554

## Type of change

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

## Screenshots

```
./isaaclab.sh -p scripts/benchmarks/benchmark_non_rl.py --task Isaac-Velocity-Flat-Anymal-C-v0 --headless --seed 0 --num_frames 2000
```

The numbers reported here are the average FPS on PC with RTX A6000 GPU
and Intel i9-9820X:

* **Before**: 94784.43553363248
* **Overriding `sim.device`**: 100484.21244511564

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

Fixes SB3's template ppo cfg up to date with security-safe syntax for training specification (#3688)

# Description

This PR fixes the bug where if template is generated using SB3, the code
does not run because it couldn't parse from string
```
policy_kwargs: "dict(
                  activation_fn=nn.ELU,
                  net_arch=[32, 32],
                  squash_output=False,
                )"
```

We have disabled the string parsing, as it is not safe(aka arbitrary
code could be parsed)

this PR makes sure the sb3's template also adopt the new secure syntax

```
policy_kwargs:
  activation_fn: nn.ELU
  net_arch: [32, 32]
  squash_output: False
```

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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
- [ ] 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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# Description

Fixes minor typos in the documentation.

## Type of change

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

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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
- [ ] 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

# Description

Fix windows script execution error as described in [Discussions
3260](https://github.com/isaac-sim/IsaacLab/discussions/3260), by
forcing to use crlf as eol in `*.bat` file

## Type of change

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

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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
- [ ] 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
Enabling multi-arch build with Isaac SIM 5.1 images