# Description

This PR removes a `UserWarning` from PyTorch about using
`torch.tensor()` on an existing tensor in `events.py`. It replaces
`torch.tensor(actuator.joint_indices, device=asset.device)` with
`.to(device)` to avoid unnecessary copies.

Warning mentionned:

```bash
/home/spring/IsaacLab/source/isaaclab/isaaclab/envs/mdp/events.py:542: 
UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.clone().detach() or sourceTensor.clone().detach().requires_grad_(True), rather than torch.tensor(sourceTensor). actuator_joint_indices = torch.tensor(actuator.joint_indices, device=asset.device)
```

## 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
- [ ] 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: Louis LE LAY <le.lay.louis@gmail.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

Previous merge led to matches for documentation that are unintentional.
This MR fixes the workflow.

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

- [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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Update the user on wrist calibration status with terminal outputs.
Remove unnecessary error logs at the beginning of the session, when
joint data has not arrived yet.

## Type of change

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

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

# Description

This MR adds license for Github action labeller and Pinocchio.

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

# Description

Given the increase in number of PRs to the codebase, it has become
harder to understand the type of changes and the corresponding team to
communicate with. This MR uses a GitHub bot to help us out with
categorizing the PRs.

More info: https://github.com/actions/labeler

## 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
- [ ] 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>

# Description

Adds a logdir parameter for all environment configs to allow passing of
the log dir for each experiment from the training/inferencing scripts to
the environment object.

This allows environments to access the logdir for the run and store log
files in there, such as from the feature extractor.


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

<!--
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putting an x character in it

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- [x] I have done this task
- [ ] I have not done this task
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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

This MR does the following:

* Adds parsing of instanced prims in
`isaaclab.sim.utils.get_all_matching_child_prims` and
`isaaclab.sim.utils.get_first_matching_child_prim`. Earlier, instanced
prims were skipped since `Usd.Prim.GetChildren` does not return
instanced prims.
* Adds parsing of instanced prims in
`isaaclab.sim.utils.make_uninstanceable` to make all prims
uninstanceable.

These are needed to parse meshes for the dynamic raycaster class in
#3298

## Type of change

- 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)

## 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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Update namespace for materials and objects in the terrain generator
test.

Fixes #3383

## 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
- [ ] 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

I realized there were some comments I often have to repeat in my
reviewing process. I tried to add some of them into the code style page
to directly point developers to it.

## 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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>

# Description

Fail the pre-merge CI job for a fork PRs when general tests fail
- Add step to check test results for PRs from forks
- Parse XML test report to detect failures/errors
- Fail job immediately if tests don't pass for fork PRs
- Maintain existing behavior for same-repo PRs

## 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`
- [ ] 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

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

Link:
https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html
-->

Adds two place tasks and mimic tasks with Agibot A2D humanoid, using
RMPFlow controller:

- add agibot robot config in agibot.py and .usd asset
- add motion_policy_configs and .urdf for rmpflow controller
- add new task cfg: place_toy2box_rmp_rel_env_cfg, and
place_upright_mug_rmp_rel_env_cfg
- add new mimic task cfg: agibot_place_toy2box_mimic_env_cfg, and
agibot_place_upright_mug_mimic_env_cfg
- add new mimic task: in pick_place_mimic_env.py
- add new subtasks in mdp.observations/terminations: object_grasped,
object_placed_upright, object_a_is_into_b

Notes: This PR relies on PR
(https://github.com/isaac-sim/IsaacLab/pull/3210) for RmpFlowAction
support.

You can test the whole gr00t-mimic workflow by:

1. Record Demos
```
./isaaclab.sh -p scripts/tools/record_demos.py \
  --dataset_file datasets/recorded_demos_agibot_right_arm_rel.hdf5 \
  --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0 \
  --teleop_device spacemouse \
  --num_demos 1
```
2. Replay Demos
```
./isaaclab.sh -p scripts/tools/replay_demos.py \
  --dataset_file datasets/recorded_demos_agibot_right_arm_rel.hdf5 \
  --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0 \
  --num_envs 1
```
3. Annotate Demos
```
./isaaclab.sh -p  scripts/imitation_learning/isaaclab_mimic/annotate_demos.py \
  --input_file datasets/recorded_demos_agibot_right_arm_rel.hdf5 \
  --output_file datasets/annotated_demos_agibot_right_arm_rel.hdf5 \
  --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-Rel-Mimic-v0 \
  --auto 
```
4. Generate Demos
```
./isaaclab.sh -p scripts/imitation_learning/isaaclab_mimic/generate_dataset.py \
  --input_file datasets/annotated_demos_agibot_right_arm_rel.hdf5 \
  --output_file datasets/generated_demos_agibot_right_arm_rel.hdf5 \
  --task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-Rel-Mimic-v0 \
  --num_envs 16 \
  --generation_num_trials 10
```

<!-- 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)

## Screenshot
<img width="1401" height="567" alt="environments_agibot"
src="https://github.com/user-attachments/assets/bc95e83a-e334-4dfc-a65c-3d1d97be0c4b"
/>


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

<!--
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---------
Signed-off-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

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

Link:
https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html
-->

Fixes the import issues via "path:Module" in below files, which will not
import all modules/dependencies unless in use
```
- isaaclab_tasks/manager_based/manipulation/stack/config/galbot/__init__.py
- isaaclab_tasks/manager_based/manipulation/stack/config/ur10_gripper/__init__.py
- isaaclab_mimic/envs/__init__.py
```


<!-- 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)



<!--
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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
- [ ] 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 introduces the Population Based Training algorithm originally
implemented in

Petrenko, Aleksei, et al. "Dexpbt: Scaling up dexterous manipulation for
hand-arm systems with population based training." arXiv preprint
arXiv:2305.12127 (2023).

Pbt algorithm offers a alternative to scaling when increasing number of
environment has margin effect.
It takes idea in natural selection and stochastic property in
rl-training to always keeps the top performing agent while replace weak
agent with top performance to overcome the catastrophic failure, and
improve the exploration.

Training view, underperformers are rescued by best performers and later
surpasses them and become best performers
<img width="1078" height="509" alt="Screenshot from 2025-09-09 00-55-11"
src="https://github.com/user-attachments/assets/34434bf1-5cb6-4956-a344-49c9969d4861"
/>


Note:
PBT is still at beta phase and has below limitations:

1. in theory It can work with any rl algorithm but current
implementation only works for rl-games
2. The API could be furthur simplified without needing explicitly input
num_policies or policy_idx, which allows for dynamic max_population, but
it is for future work

## 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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## 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

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# Description

This PR provides remake and extension to orginal environment
kuka-allegro-reorientation implemented in paper:
DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with
Population Based Training
(https://arxiv.org/abs/2305.12127)
[Aleksei
Petrenko](https://arxiv.org/search/cs?searchtype=author&query=Petrenko,+A),
[Arthur
Allshire](https://arxiv.org/search/cs?searchtype=author&query=Allshire,+A),
[Gavriel
State](https://arxiv.org/search/cs?searchtype=author&query=State,+G),
[Ankur
Handa](https://arxiv.org/search/cs?searchtype=author&query=Handa,+A),
[Viktor
Makoviychuk](https://arxiv.org/search/cs?searchtype=author&query=Makoviychuk,+V)

and another environment kuka-allegro-lift implemented in paper:
Visuomotor Policies to Grasp Anything with Dexterous Hands
(https://dextrah-rgb.github.io/)
[Ritvik Singh](https://www.ritvik-singh.com/), [Arthur
Allshire](https://allshire.org/), [Ankur
Handa](https://ankurhanda.github.io/), [Nathan
Ratliff](https://www.nathanratliff.com/), [Karl Van
Wyk](https://scholar.google.com/citations?user=TCYAoF8AAAAJ&hl=en)


Though this is a remake, this remake ends up differs quite a lot in
environment details for reasons like:
1. Simplify reward structure,
2. Unify environment implemtation,
3. Standarize mdp,
4. Utilizes manager-based API

That in my opinion, makes environment study and extension more
accessible, and analyzable. For example you can train lift policy first
then continuing the checkpoint in reorientation environment, since they
share the observation space. : ))

It is a best to consider this a very careful re-interpretation rather
than exact execution to migrate them to IsaacLab

Here is the training curve if you just train with
`./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task
Isaac-Dexsuite-Kuka-Allegro-Lift-v0 --num_envs 8192 --headless`

`./isaaclab.sh -p -m torch.distributed.run --nnodes=1 --nproc_per_node=4
scripts/reinforcement_learning/rsl_rl/train.py --task
Isaac-Dexsuite-Kuka-Allegro-Reorient-v0 --num_envs 40960 --headless
--distributed`

lift training ~ 4 hours
reorientation training ~ 2 days

Note that it requires a order of magnitude more data and time for
reorientation to converge compare to lift under almost identical setup

training curve(screen captured from Wandb) - reward, 
Cyan: reorient, Purple: Lift
<img width="1487" height="780" alt="Screenshot from 2025-09-07 22-58-13"
src="https://github.com/user-attachments/assets/bfa911de-4fee-4c0d-b39c-e9c33fae28f4"
/>


video results 
lift

![cone_lift](https://github.com/user-attachments/assets/e626eadb-b281-4ec9-af16-57f626fcc6aa)

![fat_capsule_lift](https://github.com/user-attachments/assets/cde57d4c-ceb2-40ab-88dd-44320da689c5)

reorient

![cube_reorient](https://github.com/user-attachments/assets/752809cb-ea19-4701-b124-20c1909e4566)

![rod_reorient](https://github.com/user-attachments/assets/f009605a-d93c-491c-b124-ff08606c63ec)


Memo:
I really enjoy working on this remake, and hopefully for whoever plan to
play and extend on this remake find it helpful and similarily joyful as
I did. I will be very excited to see what you got : ))

Octi


CAUTION:
Do Not Merge until the asset is uploaded to S3 bucket!

Fixes # (issue)
<!-- 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 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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# Description

Adding new collision mesh property options allowing users to configure
meshes to add different collision types

## 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
- [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: 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: Kelly Guo <kellyg@nvidia.com>

# Description

The default_inertia attributes of the Articulation,
RigidObjectCollection, and RigidObject data asset classes did not
specify in what coordinate frame the tensors should be provided. This PR
addresses this, and addresses some minor inconsistencies across the
default_inertia docstrings.

## Type of change

- This change requires a documentation update

## Screenshots

ArticulationData

| Before | After |
| ------ | ----- |
| <img width="731" height="162" alt="image"
src="https://github.com/user-attachments/assets/7e2a6973-6264-4ba0-89d7-fd903e3bee6d"
/>| <img width="750" height="262" alt="image"
src="https://github.com/user-attachments/assets/470832e6-0164-4402-b4c7-6a5ac5e599a1"
/>|

RigidObjectCollectionData

| Before | After |
| ------ | ----- |
| <img width="731" height="181" alt="image"
src="https://github.com/user-attachments/assets/7d6bd039-b7f5-40e2-9180-33d0748694a8"
/> | <img width="733" height="276" alt="image"
src="https://github.com/user-attachments/assets/07bb32ca-628c-4132-8009-1db1c279d653"
/> |

RigidObjectData

| Before | After |
| ------ | ----- |
| <img width="732" height="160" alt="image"
src="https://github.com/user-attachments/assets/43b29f1c-3e92-4b96-925f-88cdf7ef3fc3"
/> | <img width="733" height="276" alt="image"
src="https://github.com/user-attachments/assets/d16bbc57-3939-4f2e-84cb-9ec135dcbe7e"
/> |


## 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

Recent isaac sim update introduced a new bug for non-headless scripts
where some scripts were hanging at simulation startup. This change
introduces a new unit test that aims to capture issues like this by
forcing the use of the non-headless app file.

Additionally, the isaac sim CI system has very unstable results for perf
testing, so we are disabling the performance-related tests for the sim
CI.

## 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
- [ ] 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 introduces the SkillGen framework to Isaac Lab, integrating GPU
motion planning with skill-segmented data generation. It enables
efficient, high-quality dataset creation with robust collision handling,
visualization, and reproducibility.

**Note:** 
- Please look at the cuRobo usage license
![here](docs/licenses/dependencies/cuRobo-license.txt)
- Please look at updated isaacsim license
![here](docs/licenses/dependencies/isaacsim-license.txt)

### Technical Implementation:

**Annotation Framework:**
- Manual subtask start annotations to cleanly separate skill execution
from motion-planning segments
- Consistent trajectory segmentation for downstream dataset consumers

**Motion Planning:**
- **Base Motion Planner (Extensible):**
   - Introduces a reusable planner interface for uniform integration:
-
`source/isaaclab_mimic/isaaclab_mimic/motion_planners/base_motion_planner.py`
   - Defines a minimal, consistent API for planners:
- `update_world_and_plan_motion(...)`, `get_planned_poses(...)`, etc.
   - The cuRobo planner inherits from this base class.
- New planners can be added by subclassing the base class and
implementing the same API, enabling drop-in replacement without changes
to the SkillGen pipeline.
 
- **CuRobo Planner** (GPU-accelerated, collision-aware):
  - Multi-phase planning: approach → contact → retreat
  - Dynamic object attach/detach and contact-aware sphere management
  - Real-time world synchronization between Isaac Lab and cuRobo
  - Configurable collision filtering for contact phases
  - **Tests**:
-
`source/isaaclab_mimic/isaaclab_mimic/motion_planners/curobo/test/test_curobo_planner_cube_stack.py`
-
`source/isaaclab_mimic/isaaclab_mimic/motion_planners/curobo/test/test_curobo_planner_franka.py`
    - `source/isaaclab_mimic/test/test_generate_dataset_skillgen.py`

**Data Generation Pipeline:**
- Automated dataset generation with precise skill-based segmentation
- Integrates with existing observation/action spaces
- Supports multi-env parallel collection with cuRobo-backed planning

**Visualization and Debugging:**
- Rerun-based 3D visualization for trajectory/collision inspection
- Real-time sphere visualization for collision boundaries and contact
phases

### Dependencies:
- **cuRobo**: motion planning and collision checking
- **Rerun**: 3D visualization and debugging

### Integration:
This extends the existing mimic pipeline and remains backward
compatible. It integrates into the manager-based environment structure
and existing observation/action interfaces without breaking current
users.

## Type of change
- [x] New feature (non-breaking change which adds functionality)
- [x] This change requires a documentation update

## Screenshot

### SkillGen Data Generation

<table>
  <tr>
<td align="center"><strong>Cube Stacking SkillGen Data
Generation</strong></td>
<td align="center"><strong>Bin Cube Stacking SkillGen Data Generation
(Using Vanilla Cube Stacking Source Demos)</strong></td>
  </tr>
  <tr>
    <td>
<img
src="https://github.com/user-attachments/assets/de240b89-e670-4035-84ae-4101a4f70dae"
           alt="Cube Stacking Data Generation"
           style="width: 480px; height: 270px; object-fit: contain;">
    </td>
    <td>
<img
src="https://github.com/user-attachments/assets/dd94e0a6-ad1b-4366-80c4-7ff96cabeb3e"
           alt="Bin Cube Stacking Data Generation"
           style="width: 480px; height: 270px; object-fit: contain;">
    </td>
  </tr>
</table>

### Bin Cube Stacking Behavior Cloned Policy

![bin_cube_stack_bc_policy](https://github.com/user-attachments/assets/d577d726-d623-4b27-90e5-a047cd67e4f9)

### Rerun Integration

![rerun_skillgen](https://github.com/user-attachments/assets/9c469bc4-d3f6-465a-8ca6-0ddfd85c6ad0)

### Motion Planner Tests

<table>
  <tr>
    <td align="center"><strong>Obstacle Avoidance (cuRobo)</strong></td>
<td align="center"><strong>Cube Stack End-to-End (cuRobo)</strong></td>
  </tr>
  <tr>
    <td>
<img
src="https://github.com/user-attachments/assets/a022342f-4c4e-42ea-a48c-cb1ea65c94db"
           alt="Obstacle Avoidance cuRobo"
           style="width: 480px; height: 270px; object-fit: contain;">
    </td>
    <td>
<img
src="https://github.com/user-attachments/assets/7e6290b6-8322-4702-ae2f-f363a87badde"
           alt="Cube Stack End-to-End cuRobo"
           style="width: 480px; height: 270px; object-fit: contain;">
    </td>
  </tr>
</table>

## 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>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>

Adds galbot stack cube tasks, with left_arm_gripper and right_arm_suction, using RMPFlow controller (#3210)

# Description

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Adds galbot_stack_cube tasks and mimic tasks, using RMPFlow controller:
- add galbot robot config and .usd asset
- add RMPFlowAction and RMPFlowActionCfg
- add motion_policy_configs and .urdf for both 'galbot_left_arm_gripper'
and 'galbot_right_arm_suction'
- add new task: galbot stack_rmp_rel_env_cfg
- add new mimic task: galbot_stack_rmp_abs/rel_mimic_env
- add mdp.observations/terminations/events for galbot: support
gripper_state checking for both suction_cup and parallel_gripper, get
obs_in_base_frame
- add gripper_configs (gripper_joint_names, gripper_open_val,
gripper_threshold) in galbot/franka tasks: to make mdp functions
universal to varied robots
- fix a bug (eef_name) in franka_stack_ik_rel_mimic_env.py
- add new device_name in se3_spacemouse.py

Notes: This PR relies on PR
(https://github.com/isaac-sim/IsaacLab/pull/3174) for surface gripper
support in manager-based workflow.

You can test the whole gr00t-mimic workflow by:
1. record demos:
`./isaaclab.sh -p scripts/tools/record_demos.py --task
Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow-v0 --teleop_device
spacemouse --num_demos 1 --device cpu --dataset_file
datasets/recorded_demos_galbot_suction_rel.hdf5`
2. replay demos:
`./isaaclab.sh -p scripts/tools/replay_demos.py --task
Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow-v0 --num_envs 1
--device cpu --dataset_file
datasets/recorded_demos_galbot_suction_rel.hdf5`
3. annotate demos:
`./isaaclab.sh -p
scripts/imitation_learning/isaaclab_mimic/annotate_demos.py --task
Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow-Rel-Mimic-v0 --auto
--device cpu --input_file
datasets/recorded_demos_galbot_suction_rel.hdf5 --output_file
datasets/annotated_demos_galbot_suction_rel.hdf5`
4. generate dataset:
`./isaaclab.sh -p
scripts/imitation_learning/isaaclab_mimic/generate_dataset.py --task
Isaac-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow-Rel-Mimic-v0 --num_envs
16 --device cpu --generation_num_trials 10 --input_file
datasets/annotated_demos_galbot_suction_rel.hdf5 --output_file
datasets/generated_demos_galbot_suction_rel.hdf5`

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## 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)

## Screenshot
<img width="1428" height="281" alt="environments_galbot"
src="https://github.com/user-attachments/assets/b603bc60-7ff3-44e8-bf41-ab8126a753ec"
/>


## 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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exists there

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---------
Signed-off-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

1. Add a notification widget when ik error happens
2. At the end of Teleop data collection, display a notification before
the application termination


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Please include a summary of the change and which issue is fixed. Please
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List any dependencies that are required for this change.

Fixes # (issue)

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## Type of change

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- 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
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- This change requires a documentation update

## Screenshots

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

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

# Description

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to check the contribution guidelines.

Link:
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-->

Adds two new robots with grippers:
- franka + robotiq_2f_85 gripper, with a new usd asset
- ur10e + robotiq_2f_140 gripper, with IsaacSim UR10E asset with
variants

Test the two new arms with gripper with this script:
[test_new_arms.py](https://github.com/user-attachments/files/22200295/test_new_arms.py)

`./isaaclab.sh -p test_new_arms.py`

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## 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

![ur10e_franka_robotiq_grippers](https://github.com/user-attachments/assets/8f904de2-90ad-4534-a274-d0d9a220ccf4)

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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: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Updates Isaac Sim license to the latest Apache 2.0 license and fixes
broken link in the docs.

## Type of change

- This change requires a documentation update

# Description
Support getting hand tracking data from manus gloves (joint poses
relative to wrists) and vive trackers (wrist poses, calibrated with AVP
wrist poses).

## 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
- [ ] 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>

# Description

Deleted the `utils` folder which should not exist

## 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
- [ ] 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

Earlier, the function `check_usd_path_with_timeout` was in
`sim/utils.py` while all file related operations live in
`utils/asset.py`. This MR moves the function to the right location.

Fixes # (issue)

## Type of change

- 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`
- [ ] 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

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

# Description

Another time of manually fixing errors seen in the docs. We should have
CI strictly enforce doc build warnings so they get removed before MR is
merged.

## 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`
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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

Since suction gripper requires CPU simulation currently, we disable GPU
environment testing for them for now and explicitly sets the device for
these environments to CPU.

## 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
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exists there

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# Description

Recent changes introduced a minor bug: now, Ray is not initialized when
`tuner.py` is called. This PR fixes this by adding back the removed
initialization.

Fixes #3349 

## Type of change

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

## Screenshots
<img width="1637" height="34" alt="pr_changes"
src="https://github.com/user-attachments/assets/820c55ce-9951-405a-ac7b-005dfeab877c"
/>


## 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

# Description

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to check the contribution guidelines.

Link:
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-->

We only have a surface gripper sample with direct workflow, whereas in
manager-based workflow it is not supported yet.
- Add surface gripper as an asset instance to the scene (CPU only)
- Add SurfaceGripperAction and SurfaceGripperActionCfg
- Add two TaskEnvs for testing: 

1. Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0  
2. Isaac-Stack-Cube-UR10-Short-Suction-IK-Rel-v0

You can test recording demos by:
`./isaaclab.sh -p scripts/tools/record_demos.py --task
Isaac-Stack-Cube-UR10-Long-Suction-IK-Rel-v0 --teleop_device keyboard
--device cpu`

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## Type of change

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

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

## Screenshot
<img width="1386" height="273" alt="environments_surface_gripper"
src="https://github.com/user-attachments/assets/4c1cb5a4-4325-4861-b20c-9204e98e7dff"
/>




## Checklist

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`./isaaclab.sh --format`
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---------
Signed-off-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Updated GLIBC version requirement for pip installation.

# Description

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Please include a summary of the change and which issue is fixed. Please
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Fixes the documentation by taking the info from
https://docs.isaacsim.omniverse.nvidia.com/5.0.0/installation/install_python.html

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## Type of change

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applicable. -->

- A small fix in the documentation

## Screenshots

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Signed-off-by: Giulio Romualdi <giulio.romualdi@gmail.com>

# Description

In some teleoperation scripts, we restart the simulation to ensure
determinism across captured trajectories. However, stopping the
simulation invalidates callbacks used for updating debug visualization,
which do not get re-initialized after simulation is restarted.

Adds a fix for re-initializing the callbacks when we re-initialize the
simulation for sensors and deformable objects.

## 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
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exists there

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# Description

This PR adds a configuration class to distill a walking policy for
ANYmal D as an example. The training is run almost the same way as a
normal PPO training. The only difference is that a policy checkpoint
needs to be passed via the `--load_run` CLI argument, to serve as the
teacher.

Additionally, the `RslRlDistillationRunnerCfg` got moved to the correct
file.

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

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

# Description

This PR opens the possibility to use dictionary observation for rl-games
application.
This benefits:
1. combination of high + low dim observations percolate into actor and
critic in rl-games
2. avoid double computation if actor and critic share the same
observation


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# Initial Implementation of UR10e Reach Environment for IsaacLab

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This PR introduces a UR10e robot reach environment for IsaacLab,
enabling reinforcement learning-based end-effector pose control using
keypoint-based rewards and domain randomization.

## Summary

Adds a new UR10e reach environment that trains RL agents to control the
robot's end-effector to reach target poses. Uses manager-based RL
framework with 6D keypoint alignment rewards.

### Key Features:
- **UR10e Robot Configuration**: Asset definition for UE10e
- **Keypoint-based Rewards**: 6D pose alignment using multiple keypoints
for precise control
- **Domain Randomization**: Joint position, stiffness, damping, and
friction randomization

## Type of change

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

## Implementation Details
### Environment Configuration:
- **Observations**: Joint positions, velocities, target pose commands
(19-dim)
- **Actions**: Relative joint position control with 0.0625 scale factor
(6-dim)
- **Rewards**: Keypoint tracking with exponential reward functions
- **Domain Randomization**: Joint offsets (±0.125 rad), stiffness
(0.9-1.1x), damping (0.75-1.5x), friction (0.0-0.1 N⋅m)

### Target Workspace:
- **Position**: Center (0.8875, -0.225, 0.2) ± (0.25, 0.125, 0.1) meters
- **Orientation**: (π, 0, -π/2) ± (π/6, π/6, 2π/3) radians

## 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 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

## Usage Example

```python
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Reach-UR10e-v0 --num_envs 1024 --headless
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Reach-UR10e-v0 --num_envs 1 --checkpoint <path_to_checkpoint>
```
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

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This PR adds fixes from LightWheel Labs and additional functionality to
the IsaacLab recorder.

Fixes # (issue)

- Fixes performance issue when recording long episode data by replacing
the use of torch.cat at every timestep with list append.
- Fixes configclass validation when key is not a string

Adds Functionality

- Adds optional episode meta data to HDF5 recorder
- Adds option to record data pre-physics step
- Adds joint target data to episode data. Joint target data can be
optionally recorded by users and replayed to bypass action term
controllers and improve replay determinism.


## Type of change

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- Bug fix (non-breaking change which fixes an issue)
- 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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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Update locomanip task name and link in docs

## 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
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exists there

# Description

This PR fixes a bug where the platform_height parameter was incorrectly
placed in the MeshPyramidStairsTerrainCfg class instead of the
appropriate base configuration class for mesh terrain objects.

- Removes the misplaced `platform_height` parameter from
`MeshPyramidStairsTerrainCfg`
- Adds the `platform_height` parameter to the correct location in the
`MeshRepeatedObjectsTerrainCfg` class
- Includes various formatting improvements with additional blank lines
for consistency

Fixes #3162

Regression was introduced in MR
https://github.com/isaac-sim/IsaacLab/pull/2695

## 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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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

Fixes the reach task regression with teleop devices returning the
gripper term

# Description
Fixes the reach task regression with teleop devices returning the
gripper. The reach task expects just the se3 term and not the gripper
term. We add a configuration parameter to the teleop devices which do
not use retargeters to conditional return the gripper term, and update
the reach env cfg to properly configure the teleop devices.
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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 #3264 

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## Type of change

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- 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

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## Checklist

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`./isaaclab.sh --format`
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---------
Signed-off-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This PR 

1. makes sure(skip if already satisfy, else install) the right torch is
installed before and after pip installing isaaclab packages as
sometime(rare case) due to flaky setup.py and unknown library
dependencies changes pytorch version gets overriden.

2. only install pink and retargeters in linux x86 or amd64 machines


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

# Description

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This PR:
- Add task_runner.py to support specifying resources, py_modules, and
pip.

Fixes [# (issue)](https://github.com/isaac-sim/IsaacLab/issues/2632)

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## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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---------
Signed-off-by: garylvov <67614381+garylvov@users.noreply.github.com>
Co-authored-by: 松翊 <songyi.wb@alibaba-inc.com>
Co-authored-by: garylvov <67614381+garylvov@users.noreply.github.com>