# Description

This PR: 

- Adds ContactSensorCfg.track_contact_points to toggle tracking of
contact point locations between sensor bodies and filtered bodies.
- Adds ContactSensorCfg.max_contact_data_per_prim to configure the
maximum amount of contacts per sensor body.
- Adds ContactSensorData.contact_pos_w data field for tracking contact
point locations.

Fixes # (issue)

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## Type of change

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

## Checklist

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feature works
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extension's `config/extension.toml` file
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exists there

---------
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Ashwin Khadke <133695616+akhadke-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description

Fixes the IndexError caused by simultaneously indexing env_ids and
joint_ids in `reset_joints_by_scale` and `reset_joints_by_offset`.

Fixes # [2948](https://github.com/isaac-sim/IsaacLab/issues/2948)

## Type of change

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- 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: Emily Sturman <emily@sturman.org>
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description

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to check the contribution guidelines.

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Update rendering preset mode pathing to be compatible when an experience
file is set.

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## Checklist

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

Fixes Termination Manager logging to report aggregated percentage of environments done due to each term.  (#3107)

# Description

Currently Termination Manager write current step's done count for each
term if reset is detected. This leads to two problem.
1. User sees different counts just by varying num_envs
2. the count can be over-count or under-count depending on when reset
happens, as pointed out in #2977 (Thanks, @Kyu3224)

The cause of the bug is because we are reporting current step status
into a buffer that suppose to record episodic done. So instead of write
the entire buffer base on current value, we ask the update to respect
the non-reseting environment's old value, and instead of reporting
count, we report percentage of environment that was done due to the
particular term.

Test on Isaac-Velocity-Rough-Anymal-C-v0

Before fix:
<img width="786" height="323" alt="Screenshot from 2025-08-06 22-16-20"
src="https://github.com/user-attachments/assets/4838d612-7f0e-4232-a07e-688b547e91db"
/>
Red: num_envs = 4096, Orange: num_envs = 1024

After fix:

<img width="786" height="323" alt="Screenshot from 2025-08-06 22-16-12"
src="https://github.com/user-attachments/assets/e6e55c21-17ed-42ca-8d94-a19d08611f86"
/>
Red: num_envs = 4096, Orange: num_envs = 1024

Note that curve of the same color ran on same seed, and curves matched
exactly, the only difference is the data gets reported in termination.
The percentage version is a lot more clear in conveying how agent
currently fails, and how much percentage of agent fails, and shows that
increasing num_envs to 4096 helps improve agent avoiding termination by
`base_contact` much quicker than num_envs=1024. Such message is a bit
hard to tell in first image.

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## Checklist

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# Description

Current is_isaacsim_version_4_5() sometimes mis-detects 5.0 when running
4.5 (e.g., Docker/symlinked installs), causing the conda bootstrap to
pick Python 3.11 instead of 3.10.

This pr ensures determining the isaacsim version following below steps

1. Read ${ISAACLAB_PATH}/_isaac_sim/VERSION (symlink/binary install).

2. If unknown, import isaacsim and read ../../VERSION next to the
package. (pip installation)

3. If still unknown, fall back to
importlib.metadata.version("isaacsim").

I tested locally to work with 4.5 pip or binary install.

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- 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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# Bugfix

Previously, self._data.joint_dynamic_friction_coeff was being set for
all environments, regardless of the intended targets. This behavior is
incorrect — the friction coefficient should only be set for the
specified physx_env_ids.
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description
This adds improved readout from the subprocesses in `install_deps.py`.
It will now print the output instead of printing everything at once when
the process is finished. It also has improved error handling. This will
help users to have a better understanding of their build process and
more easily resolve issues.

## Type of change

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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
- [ ] 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
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---------
Signed-off-by: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Updates the release notes docs with the latest release notes for 2.2 and
some other minor documentation updates.
Also fixes new issues with the license checker to add additional
exceptions.

Also using this change to trigger the documentation update for 2.2.

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

1. Changed test reporter for compatibility pipeline to generate HTML
report
2. Increased the number of reported logs for failed test cases to 50
(max)
3. Set execute permissions in the Dockerfile on the isaaclab.sh -
sometimes the post-merge pipeline fails due to permissions
4. Updated the default Isaac SIM version

# Description
It appears that `isaaclab` transitively depends on `hf-xet`, (a
`huggingface`-developed data storage paradigm) via the following
dependency chain:
```
Collecting hf-xet<2.0.0,>=1.1.3 (from huggingface-hub<1.0,>=0.34.0->transformers->isaaclab==0.41.5)
```
This results in a failing license check. This PR adds the relevant
license from this [repo](https://github.com/huggingface/xet-core)

**UPDATE:** I have also added the initialization of `FAILED_PACKAGES=0`
in `license-check.yaml` in order to avoid the error I was encountering
when no packages were failing:
<img width="1461" height="210" alt="image"
src="https://github.com/user-attachments/assets/5845626e-2e5c-493f-8356-ae00667ab9ea"
/>

## 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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Fixes `anyio` license checking. Current return is UNKNOWN, actual
license is MIT.

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

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

Fixes warnings when building docs for IsaacLab Mimic by using `from __future__ import annotations` to allow Sphinx autodoc import.

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

- [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

# Description

Updates onnx and protobuf versions as previous dependency versions had
security vulnerabilities.

To avoid onnx 1.16.1, we are updating onnx to 1.18.0
To avoid protobuf 3.20.3, we are updating protobuf to 6.31.1

Also included some minor updates to add one more flaky test annotation
for test failure, and adding random_state to GaussianProcessRegressor to
resolve another security risk for non-reproducible results.

## Type of change

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

## Checklist

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# Description

Fixes `anyio` license checking. Current return is UNKNOWN, actual
license is MIT.

## Type of change

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

## Checklist

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# Description

Fixes warnings when building docs for IsaacLab Mimic by using `from __future__ import annotations` to allow Sphinx autodoc import.

## 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`
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exists there

# Description

Several changes to prepare for the Isaac Lab 2.2 release:

- updating staging server to production
- removing mentions of feature/isaacsim_5_0 branch as those will now be
part of `main`
- updates version to 2.2.0 from 2.1.1

## Type of change

- This change requires a documentation update


## Checklist

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# Description

As reported in https://github.com/isaac-sim/IsaacLab/pull/3071, we have
some issues with the isaaclab.bat script when multiple calls to
`!python_exe!` are called, resulting in ` '!python_exe!' is not
recognized as an internal or external command` error messages. This fix
uses `call` command to expand `!python_exe!` to and correctly execute
the commands.

## Type of change

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

## Checklist

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# Description

Adds the flaky module to allow for marking some non-deterministic tests
as flaky. This allows us to specify number of retries for specific test
cases and how many passes are needed to determine the test is marked as
pass or fail.


## Type of change

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

## Checklist

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# Description

Restructures the environment test to include new Forge environments as
part of the Factory tests. Also fixes some timeouts for tests to make
sure they can complete.


## Type of change

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applicable. -->

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


## Checklist

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

# Description

Updates ordering to first update pip then install torch in pip
installation workflows, as some users are running into issues when
installing torch on older pip versions.

## Type of change

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applicable. -->

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


## Checklist

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# Description

Some tests are now taking longer to run, especially the environment
ones. Increasing some timeouts here to allow tests to complete.

## Type of change

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applicable. -->

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

## Checklist

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

This MR adds new tasks which extend the `Factory` tasks to include:
1. Force sensing: Add observations for force experienced by the
end-effector.
2. Excessive force penalty: Add an option to penalize the agent for
excessive contact forces.
3. Dynamics randomization: Randomize controller gains, asset properties
(friction, mass), and dead-zone.
4. Success prediction: Add an extra action that predicts task success.

The new tasks are: `Isaac-Forge-PegInsert-Direct-v0`,
`Isaac-Forge-GearMesh-Direct-v0`, and `Isaac-Forge-NutThread-Direct-v0`

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

- [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: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

This MR adds new tasks which extend the `Factory` tasks to include:
1. Force sensing: Add observations for force experienced by the
end-effector.
2. Excessive force penalty: Add an option to penalize the agent for
excessive contact forces.
3. Dynamics randomization: Randomize controller gains, asset properties
(friction, mass), and dead-zone.
4. Success prediction: Add an extra action that predicts task success.

The new tasks are: `Isaac-Forge-PegInsert-Direct-v0`,
`Isaac-Forge-GearMesh-Direct-v0`, and `Isaac-Forge-NutThread-Direct-v0`

## 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
- [ ] 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 <kellyguo123@hotmail.com>
Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

Update minimum skrl version to 1.4.3 to solve
* https://github.com/isaac-sim/IsaacLab/issues/3017
* https://github.com/isaac-sim/IsaacLab/issues/3018

A long overdue release of IsaacLab. Since we will soon have IsaacLab 2.2
out which primarily supports IsaacSim 5.0, this release marks a "stable"
checkpoint of IsaacLab that works with IsaacSim 4.5.

We are working towards improving our release cycles to have more
frequent patch releases.

- This change requires a documentation update

- [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: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>

Fixes most of the warnings and errors getting thrown while building the
docs locally. The ones from `isaaclab_mimic` still remain.

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

- [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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

Just a friendly cleanup. Noticed some issues that crept up in some
previous MR. Still digging through some of the other MRs and
understanding why certain things changed.

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

- [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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

Added a new argument: is_global to the set_external_force_and_torque
methods of the articulation and rigid body assets. This allows to set
external wrenches in the global frame directly from the method call
rather than having to set the frame in the configuration.

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

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

# Description

This PR fixes a minor numbering sequence issue in the conda environment
setup instructions displayed by `isaaclab.sh`.

- Fixed step numbering from "4. To perform formatting" to "3. To perform
formatting"
- Fixed step numbering from "5. To deactivate the environment" to "4. To
deactivate the environment"

## Type of change

- [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

## 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
- [ ] 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

Adds correct forward pass for GRU-based recurrent policies in the
`isaaclab_rl/rsl_rl/exporter.py` script.

See [issue](https://github.com/isaac-sim/IsaacLab/issues/3008) for more
details

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

## Checklist

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exists there

# Description

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Update the Multi GPU documentation to include more information about how
we integrate with Pytorch and include more documentation links.

Fixes # (issue)

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# Description

Fixes #1910,  #3010

### ✅ Typo Fixes

- Replaced `tome` → `time` in the following files:
  - `velocity_command.py`
  - `quadcopter_env.py`
  - `pre_trained_policy_action.py`
  - `pose_command.py`
  - `pose_2d_command.py`
  - `imu.py`
  - `contact_sensor.py`

- Corrected article usage `an numpy` → `a numpy` in:
  - `manager_based_rl_env.py`
  - `direct_rl_env.py`
  - `direct_marl_env.py`

- Removed repeated determiners (`the the`, `then then`) in:
  - `visualization_markers.py`

- Fixed incorrect expansion of the abbreviation **TGS** (In issue 1910):
- Changed **TGS (Truncated Gauss-Seidel)** → **TGS (Temporal
Gauss-Seidel)**

---

### 🛠️ Docstring Fix

- In `visualization_markers.py`, the `_process_prototype_prim` function
had a docstring referencing `prim_path` and `stage`, which are not part
of the function signature.
The docstring has been updated to correctly document only the `prim`
argument.

> Note: The original docstring seems to have been copied from
[`utils.py`](https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab/isaaclab/sim/utils.py)
without modification.

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# Description

Change `randomization` to `events` in Digit envs

## 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`
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exists there

# Description

This PR removes jsmith and Dhoeller from code owners

Fixes # (issue)

## Type of change

- cleanup

## Checklist

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# Description

- Adds a note in the HOVER doc to indicate support for Isaac Lab 2.0 and
Isaac Sim 4.5, as there are several issues with running it on Isaac Lab
2.2
- Adds a section in the Known Issues to highlight GLIBCXX error we have
observed in conda environments and provides a workaround for resolving
the error


## Type of change

- This change requires a documentation update


## Checklist

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# Description
Changes mention of Isaac Lab UI to Isaac Sim UI docs
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Please include a summary of the change and which issue is fixed. Please
also include relevant motivation and context.
List any dependencies that are required for this change.

Fixes # (issue)

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## Checklist

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# Description

Update minimum skrl version to 1.4.3 to solve 
* https://github.com/isaac-sim/IsaacLab/issues/3017
* https://github.com/isaac-sim/IsaacLab/issues/3018

# Description

A long overdue release of IsaacLab. Since we will soon have IsaacLab 2.2
out which primarily supports IsaacSim 5.0, this release marks a "stable"
checkpoint of IsaacLab that works with IsaacSim 4.5.

We are working towards improving our release cycles to have more
frequent patch releases.

## 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

---------
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>