# Description

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This PR adds new APIs to Isaac Lab Mimic to expand support for
loco-manipulation data generation.

It adds:

- Processing for body end effector to treat a robot's base as an eef
during Mimic data generation. This enables the use of the same Mimic
annotation and subtask interface to enable lower body movement.
- An optional way to cleanly add custom recorders for Mimic data
generation (useful for when users want to record beyond the action/state
data provided by Isaac Lab's default recorder).
- Interface for enabling a navigation p-controller during Mimic data
generation for robot's with mobile bases.

## 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`
- [ ] 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: peterd-NV <peterd@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description
Add a short description about the locomotion policy used in the
loco-manipulation teleop demo. Added a link to the AGILE training
framework since it is released.

<!-- 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
- Documentation update

## 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`
- [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

Adds `preserve_order` flag to `JointPositionToLimitsActionCfg`

## Type of change

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

# Description

An Isaac Sim import path changed in Isaac Lab which broke a fragile
import in xr_anchor_utils. This change fixed the import.

Fixes # (issue)

## 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

# Description

This PR adds support for providing a custom `ProgressReporter` while
doing hyperparameter tuning with Ray Integration.

Without the PR, the Ray integration defaults to the standard
`CLIReporter`, which often displays metrics that aren’t particularly
relevant or at the desired frequency. Similar to how we allow users to
specify a --cfg_class (e.g., `CartpoleTheiaJobCfg`), this PR lets them
optionally provide a custom `ProgressReporter` class. If such is not
provided, it falls back to the default.

Moreover, I have added an example inside `vision_cartpole_cfg.py` (i.e.,
`CustomCartpoleProgressReporter`).

One point to highlight is that the new "[context-aware progress
reporting](https://github.com/ray-project/ray/issues/36949)" conflicts
with custom `ProgressReporter`, so if a custom `ProgressReporter` is
provided, the PR disables the context-aware progress reporting.

Fixes #3268.

## 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

---------
Co-authored-by: garylvov <67614381+garylvov@users.noreply.github.com>

# Description

This MR updates the docs to refer to the technical report of Isaac Lab.
The acknowledgement to Orbit is kept but its reference has been purged.
Future users should cite the technical report as it has the most updated
description of features.

## 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

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

# Description
This MR does the following:

- Introduces Quest retargeters for G1 env loco-manipulation tasks. This
enables lower body control via the quest controller joysticks, and upper
body control via controller tracking.
- Refactors the retargeters to *not* depend on OpenXRDevice, instead
move enums into DeviceBase and allow retargeters to be used across
devices.
- Adds XrAnchor "pinning" to a specific robot prim so that the XR view
follows the robot in the scene.

Fixes # (issue)

## Type of change

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

## Screenshots

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

## 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

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

# Description

Frees up more space at the start of the licence checker job so that we
have enough disk space to install all the dependencies needed to avoid
the out of space errors.

## 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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---------
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>

# Description

In the [Local Installation / Installation using Isaac Lab Pip Packages
page](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/isaaclab_pip_installation.html#installing-dependencies)
of the documentation, the “Installing dependencies” section is broken. I
removed duplicate content and corrected the ordering.

Fixes #3967 

## Type of change

- Documentation update

## Screenshots

| Before | After |
| ------ | ----- |
| <img width="823" height="999" alt="スクリーンショット 2025-11-08 012827"
src="https://github.com/user-attachments/assets/6f022810-cff5-44c6-a835-75bc780433ce"
/> | <img width="822" height="651" alt="スクリーンショット 2025-11-08 014930"
src="https://github.com/user-attachments/assets/c06eacf1-bd4a-4210-8a79-c64fc923c622"
/> |

## 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

Tendon imports in from_files_cfg had a typo that prevented importing.
This is resolved in this commit.

## 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: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>

# Description

Currently, `.dockerignore` does not include `env_isaaclab` nor
`**/wandb/*` in the files to be ignored, which should be ignored for
cluster deployment since a) all Python packages are already part of the
docker image (if `env_isaaclab` is not included in `.dockerignore`, it
rsyncs over a 24GB dir), and b) local wandb logs should be ignored. This
PR adds `env_isaaclab` and `**/wandb/*` to `.dockerignore`.

Fixes #4026 

## Type of change

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

## Screenshots

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

Before:
<img width="692" height="199" alt="Screenshot from 2025-11-16 15-27-52"
src="https://github.com/user-attachments/assets/a53d2224-13ca-43df-9732-618b9adc0ac9"
/>

After:
<img width="692" height="182" alt="Screenshot from 2025-11-16 15-29-33"
src="https://github.com/user-attachments/assets/e2a9e7e3-5b8a-4566-8b5a-f1ee7ec57d3a"
/>

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

# Description

Remove dependency on IsaacSim `stage_utils` for integration of new
simulation engines like `newton`.

## Type of change

- Dependency removal

## 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

---------
Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description
This PR breaks the actuator config into separate files in order to avoid
a circular import which arises once the configuration is imported into
the actuator base class for more than type hinting.


## Type of change
- Possible breaking change! The actuator configs have moved `.py` files
and thus modules. They can still be imported directly from the
`isaaclab.actuators` package. External references to these classes
through the `actuator_cfg` module will not longer work. Instead, import
directly from the `isaaclab.actuators` package.

## 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

---------
Signed-off-by: Brian McCann <144816553+bmccann-bdai@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Refactors the teleop factory to shift declaration of teleop devices and
retargeters out of the factory and into themselves.

Fixes # (issue)

## Type of change

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

## Screenshots

## 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

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

# Description

Replace torch_utils `set_seed` method with IsaacLab implementation

## Type of change

- Dependency removal

## 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

---------
Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>

# Description

Replaces import of 

```
try:
    import isaacsim.storage.native as nucleus_utils
except ModuleNotFoundError:
    import isaacsim.core.utils.nucleus as nucleus_utils
```

with own utils implemented inside the sim  utils folder.

```
import isaaclab.sim.utils.nucleus as nucleus_utils
```


## Type of change

- Dependency removal

## 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

---------
Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>

# Description

Adds verification of multiple Isaac SIM versions, including 5.0.0, to
the daily compatibility job

# Description

Removes unused pipelines for cleaner code

# Description

Removes dependency on 
```
from isaacsim.core.utils.carb import get_carb_setting, set_carb_setting
```

Replaces `set_carb_setting(carb_settings, <setting-name>,
<setting-value>` with direct carb call
`carb_settings.set_string(<setting-name>, <setting-value>)`,
`...set_int...`, `...set_bool...`, `...set_float...`. And replaces
`get_carb_setting` with `carb_settings.get()`

## Type of change

- Dependency removal

## 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

---------
Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>

# Description
Add Haply haptic device teleoperation support for robotic manipulation
with force feedback.

## Type of change

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

1.  Add haply devices API for teleoperation with force feedback
2. Real-time teleoperation with force feedback demo via Haply Inverse3
handle

[Haply device documentation](https://docs.haply.co/docs/quick-start) and
[usage](https://docs.haply.co/inverseSDK/)

**Usage (make sure your Haply device is connected):**
```bash
./isaaclab.sh -p scripts/demos/haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65
```

## Screenshots

![haply-frankal](https://github.com/user-attachments/assets/f2c0572e-83d6-4c10-b95d-6ea083b90f62)

## 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

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

Adds greptile.json file for specifying triggers for Greptile on PRs
This should avoid Greptile from getting triggered on every commit for a
PR.
It should still be able to get triggered manually by @ the bot.
Signed-off-by: Ammar <43151630+AmmarYAhmed@users.noreply.github.com>

# Description

Updates link in docs for launchable.

## 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
- [ ] 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

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

For example,
- [x] I have done this task
- [ ] I have not done this task
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Signed-off-by: Sheikh Dawood <7774242+sheikh-nv@users.noreply.github.com>

# Description

Removes rendezvous backend for multi-node training since it doesn't seem
to be necessary and prevents multi-node setup on the DGX Spark.


## 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

Adds a couple of robots that were missing from the __init__.py imports

Fixes #3881 

## Type of change

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

To help track questions and proposals better by matching them to their
corresponding versions, we are adding the version information to the
question and proposal templates. Users should provide these when raising
a question or proposal so that we can have a better understanding during
which period the questions/proposals are being raised for.

## 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
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# Description

This PR introduces support for early stopping in Ray integration through
the `Stopper` class. It enables trials to end sooner when they are
unlikely to yield useful results, reducing wasted compute time and
speeding up experimentation.

Previously, when running hyperparameter tuning with Ray integration, all
trials would continue until the training configuration’s maximum
iterations were reached, even if a trial was clearly underperforming.
This wasn’t always efficient, since poor-performing trials could often
be identified early on. With this PR, an optional early stopping
mechanism is introduced, allowing Ray to terminate unpromising trials
sooner and improve the overall efficiency of hyperparameter tuning.

The PR also includes a `CartpoleEarlyStopper` example in
`vision_cartpole_cfg.py`. This serves as a reference implementation that
halts a trial if the `out_of_bounds` metric doesn’t reduce after a set
number of iterations. It’s meant as a usage example: users are
encouraged to create their own custom stoppers tailored to their
specific use cases.

Fixes #3270.

## 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

---------
Co-authored-by: garylvov <67614381+garylvov@users.noreply.github.com>
Co-authored-by: garylvov <gary.lvov@gmail.com>
Co-authored-by: sbtc-sipbb <sbtc@sipbb.ch>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Changes from `omni.log` to an own python logger for IsaacLab. The
logging information are formatted as follows:

```
14:09:39 [manager_based_env.py] WARNING: The render interval (1) is smaller than the decimation (2). Multiple render calls will happen for each environment step. If this is not intended, set the render interval to be equal to the decimation.
```

All logs are saved to a temp file. Carb initialized a logging handler:

```
<_CarbLogHandler <stderr> (NOTSET)>
```

which is removed when configuring our handler.

## 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
- [ ] 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: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description

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Since the latest update in `isaaclab.sh` breaks installation with uv, I
modified `ensure_cuda_torch` to maintain compatiability with uv
installation method. Tested on my machine and it works

Fixes #3524

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## Type of change

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

## Screenshots

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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`
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- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
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Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

The comment over the test case justifies why the testcase needs to be
commented out for now. It requires handling of scaling of the prims to
correctly compute the groundtruth quaternion. This MR comments the test
case to respect the TODO note assigned to it.

## 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

We were incorrectly passing in the activate contact sensor boolean as
the threshold when setting up the contact sensor API, which caused the
sensor threshold to always be 1 when the sensor is activated. The
desired behavior should be defaulting to 0 threshold.


## Type of change

- Bug fix (non-breaking change which fixes an issue)
- 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`
- [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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---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

The rail mesh terrain created terrains from hardest to easiest due to a
bug in how difficulty was used. This PR fixes that bug.

Before:

`rail_height = cfg.rail_height_range[1] - difficulty *
(cfg.rail_height_range[1] - cfg.rail_height_range[0])`

After:

`rail_height = cfg.rail_height_range[0] + difficulty *
(cfg.rail_height_range[1] - cfg.rail_height_range[0])`

## 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: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

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This PR fixes a bug in actuator initialization where effort limits
specified in USD assets were being incorrectly overridden with a very
large default value (1.0e9) for explicit actuator models.

Fixes # (issue)

Previously, the ActuatorBase initialization logic would unconditionally
fall back to _DEFAULT_MAX_EFFORT_SIM (1.0e9) for explicit actuator
models when effort_limit_sim was not explicitly set in the
configuration, even when the USD asset contained finite, meaningful
effort limit values.

## Type of change

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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`
- [ ] 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
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exists there

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---------
Signed-off-by: Juana <yvetted@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.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 a new parameter to ManagerBasedEnv and DirectRLEnv to give users
better control over rerender on reset behaviour. The new parameter
`num_rerenders_on_reset` allows users to explicitly define the number of
re-render steps after an env reset. When using DLSS, this allows for the
elimination of artifacts/ghosting that are present after a single
rendering step.

Add a deprecation warning for the old parameter `rerender_on_reset`.
Functionality of old parameter is preserved.

Updates the existing visuomotor envs to use new rerendering API together
with DLAA for high quality rendering.

Fixes # (issue)

Non-DLSS denoising is not supported on aarch64. There are also future
plans from the rendering team to disable use of non-DLSS antialiasing
for all platforms in the future. This causes an issue for visuomotor
envs which suffer from image ghosting/artifacts when using DLSS. The new
rerendering API allows for users of visuomotor envs to enable DLSS/DLAA
while preserving image integrity.

## Type of change

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applicable. -->

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

## Screenshots

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

# Description

This PR fixes the issue where get_done_term returned last episode value
rather than current step value.

This PR realizes values used for get_term should be different from that
used for logging, and mixed useage leads to non-intuitive behavior.

using per-step value for logging leads to overcounting and undercounting
reported in #2977
using last-episode value for get_term leads to misalignment with
expectation reported in #3720

Fixes #2977 #3720 

---

The logging behavior remains *mostly* the same as #3107, and and also
got rid of the weird overwriting behavior(yay).
I get exactly the same termination curve as #3107 when run on
`Isaac-Velocity-Rough-Anymal-C-v0`

Here is a benchmark summary with 1000 steps running
`Isaac-Velocity-Rough-Anymal-C-v0 ` with 4096 envs

Before #3107: 

`| termination.compute     |       0.229 ms|`
`| termination.reset       |       0.007 ms|`

PR #3107: 

`| termination.compute     |       0.274 ms|`
`| termination.reset       |       0.004 ms|`

This PR: 

`| termination.compute     |       0.258 ms|`
`| termination.reset       |       0.004 ms|`

We actually see improvement, this is due to the fact that expensive
maintenance of last_episode_value is only computed once per
compute(#3107 computes last_episode_value for every term)

## 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>

# Description

Updating rsl_rl to 3.1.2 release to support use these two changes in
IsaacLab sim-to-real deployed
[policies](https://github.com/isaac-sim/IsaacLab/tree/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/deploy).

Main commits of interest:

https://github.com/leggedrobotics/rsl_rl/commit/530f71aa71f182fd87fe0730313090459fded02d

https://github.com/leggedrobotics/rsl_rl/commit/a4d108a7bafd56b2aa50a3fba92ed6801b4eccaa

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

- [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 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: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Support distributing environments in a grid when using a generated
terrain.

Fixes #3536 

## Type of change

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

## Screenshots

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

---------
Signed-off-by: Georg Wiedebach <georgwi@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Adds a brief section to Quickstart guide about the Isaac Launchable
project on NVIDIA Brev. This is a low-friction way for users to try
Isaac Lab without manual installation or local compute.

This also adds a "Deploy now" button with a direct link to the current
Launchable.

## Type of change

- Documentation update

## Screenshots

Section added:

<img width="1203" height="678" alt="Screenshot 2025-11-05 at 7 15 22 PM"
src="https://github.com/user-attachments/assets/0474ed2e-6d36-4da6-8b4d-9ea19d9c77cf"
/>

## 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

# 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>