# Description

Previously, the default value was None which did not allow loading the
model even if `--resume` was provided.

## 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
- [ ] 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 PR adds configuration classes for Student-Teacher Distillation and
adapts the policy exporters to be able to export student policies.

## Type of change

- Non-breaking change

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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

# Description

Calling app.update may change the cuda device that was previously set by
Isaac Lab. This change forces the cuda device to be set back to the
desired device after each app.update call made in SimulationContext in
reset, step, and render. This fixes NCCL errors on distributed setups
for certain environments (especially when rendering is enabled), where
previously it would generate errors that different ranks were running on
the same device.

## Type of change

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

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


## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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# Description

Some example environments with rendering required an extensive amount of
VRAM that's likely not available on mid/lower end GPUs. This PR reduces
the default number of environments so that these examples can be more
accessible for users to try. Policy can still train with the lowered
number of environments.

## Type of change

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

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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# Description

The `MotionViewer` class is not imported in `__init__.py`, preventing
external scripts from using this class. This PR fixes this issue such
that the MotionViewer class can be imported by external scripts.

The example usage would look like:

```python
from isaaclab.app import AppLauncher

# launch omniverse app
app_launcher = AppLauncher(headless=True)
simulation_app = app_launcher.app

"""Rest everything follows."""

from isaaclab_tasks.direct.humanoid_amp.motions import MotionViewer
```

Fixes #2196 

## 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
- [ ] 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

Adds the dummy agents when generating an Isaac Lab's external project.
Useful when debugging!

## 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

# Description

I tried following the "Recording Animations of Simulations" instructions
(https://isaac-sim.github.io/IsaacLab/main/source/how-to/record_animation.html)

Most of the instructions were very clear. I was able to create the
`Stage.usd` and `TimeSample_tk001.usd` files. However, I struggled on
this step:

"On a new stage, add the Stage.usd as a sublayer and then add the
TimeSample_tk001.usd as a sublayer. You can do this by dragging and
dropping the files from the file explorer to the stage. "

I submitted an issue and it was clear that a documentation update would
be helpful.

Fixes #2232

## 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] (Docs only) I have added tests that prove my fix is effective or
that my feature works
- [x] (Docs only) 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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Running on 50 series GPUs requires the latest nightly build of pytorch.
Previously, we only included instructions for installing torch, but
torchvision is also required, which sometimes caused version mismatch
errors. This change fixes the instructions to include both torch and
torchvision.

Fixes #2226 

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## Type of change

- This change requires a documentation update

## Screenshots

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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
- [ ] 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

When running `play.py` with `--real-time`, the dt used to calculate this
is incorrect. It is currently using `env.physics_dt`, which is `sim_dt`.
However, if the decimation is >1, then the effective dt is
`env.step_dt`, which is `sim_dt * decimation`. We are running 1
env.step() per loop, so this should definitely be `env.step_dt`.

This affects all reinforcement_learning/<rl_library>/play.py files. This
updates all of these appropriately

Fixes #2230 

## 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] (No need for test for small change in script) I have added tests
that prove my fix is effective or that my feature works
- [x] (No need for changelog in scripts) 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: Tyler Lum <tylergwlum@gmail.com>

# Description
This PR fixes a bug where old callbacks for sensors were being called
after the scene had been cleared, resulting in exceptions and a crash of
extensions built off of Isaac Lab.

## 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
- [ ] 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.

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Adds a check in RecorderManager to only record success results if
success termination term exists.

Fixes #2190 

Fixes recorder crash if added to ManagerBasedEnv.

## 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
- [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
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exists there

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# Description

Moves segmentation workaround to base Camera class as the bug on
instanceable assets was also affecting the non-tiled cameras.

## Type of change

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

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


## Screenshots

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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
- [ ] 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

The model in the policy inference tutorial needs to be moved to the
correct device based on the command line argument input. Otherwise, it
will cause device mismatch errors as policy defaults to the CPU while
environment defaults to GPU.

## 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`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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# Description

The instance randomization stack environments have multiple cameras in
the scene, which requires heavy resources on large numbers of
environments. This PR reduces the default environment so that they can
be run with less memory resources.


## Type of change

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

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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## Description

Previously empty or non-extension directories in the `source` folder
caused installation to crash, forcing users to delete the empty
directory. This MR replaces raising the error with a warning print.

## Type of change

- Bug fix
- 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

# Description

Fixes #2169

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [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
Co-authored-by: gao <ziqi.gao@iff-extern.fraunhofer.de>

# Description

Previously, benchmark scripts were stopping the benchmark outside of the
global rank check and this occasionally causes issues on processes with
global ranks > 0. This change moves the call to be inside the if
statement such that it is only called on the rank 0 process.


## Type of change

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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`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
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exists there

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# Description

This PR corrects the position of the method
`self._modify_action_space()` in the RSL-RL Wrapper, so that it is only
called after retrieving the dimensions of the environment, preventing
errors related to the use of uninitialized attributes when using
`clip_actions` in `RslRlVecEnvWrapper`.

Fixes https://github.com/isaac-sim/IsaacLab/issues/2184

## Type of change

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

## Checklist

- [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [X] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [X] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [X] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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

# Description

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 # SE2/3 gamepad that calling wrong omniverse API,
[https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html#unsubscribing-the-gamepad-event-handler](url)

## Type of change

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


## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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---------
Signed-off-by: AlvinC <alvincny529@gmail.com>

# Description

Fixed typos in the documentation (development.rst).

## Type of change

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

## Screenshots

Not applicable.

## 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: Victor Khaustov <3192677+vi3itor@users.noreply.github.com>

# Description

This MR introduces multi-GPU training for RSL-RL library. Also adds
configuration options for symmetry and RND.

Compatible only with RSL-RL v2.3.0 onwards so fixing the version.

Fixes #2180 

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

# Description

Unable to add new entries to self.extras dictionary in ManagerBasedEnv
because the dictionary was initialised after loading the managers.

Fixes #2177 

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
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feature works
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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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Fixes the environment test failure for
Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0. The env uses a custom image
observation term which tries to access an element in the recorder
manager. During env creation, the observation manager is initialized
before the recorder manager, thus causing an error in the observation
term. The custom image obs term has been updated to only try to access
the element in the recorder manager if it exists.

Fixes # (issue)

Environment test failure of Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0

## Type of change

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

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## Checklist

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`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [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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---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This MR fixes the ground color to the original dark grey instead of a
grey-ish blue shade. The change was introduced in #1791 and was
unintentional.

## Type of change

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

## Screenshots

| Before | After |
| ------ | ----- |
|
![image](https://github.com/user-attachments/assets/655fd5b2-5b64-4e9f-adb1-c2b706b0aa13)
|
![image](https://github.com/user-attachments/assets/10ba218e-eff8-441b-9d5f-1705c90d7345)
|

## 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: Kelly Guo <kellyguo123@hotmail.com>

# Description

Some environment tests were hitting memory constraints when run with 32
environments, we limit these to only single env tests now. Additionally,
there were reports of torchvision and torch version mismatch, we now
include both in the installation commands.

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discussions on the proposed pull request.
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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)
- This change requires a documentation update

## Screenshots

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## Checklist

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`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
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- [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
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exists there

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# Description

Fix template generator:
- Fix `rsl_rl` agent configuration
- Don't list `skrl`'s multi-agent algorithms for single-agent tasks
- Don't list `rsl_rl` and `sb3` for multi-agent tasks
- Update docs to include usage steps for the generated internal task

## Type of change

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applicable. -->

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
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feature works
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extension's `config/extension.toml` file
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# Description

The environment examples were not setting the device properly.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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exists there
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

To support creation of managers before the simulation starts playing (as
needed by the event manager for USD randomizations), the MR in #2040
added a callback to resolve scene entities at runtime. However, certain
class-based manager terms can also not be initialized if the simulation
is not playing. Those terms may often rely on parameters that are only
available once simulation plays (for instance, joint position limits).

This MR moves the initializations of class-based manager terms to the
callback too.

Fixes #2136

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

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

# Description

The directory changes were not propagated to the docker file. This MR
fixes this issue.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
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feature works
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extension's `config/extension.toml` file
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exists there

# Description

This MR adds a replicator event to randomize the color of meshes on an
asset. Currently, this supports only a single mesh.

## Type of change

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

## Screenshots

```bash
python scripts/tutorials/03_envs/create_cube_base_env.py
```


![image](https://github.com/user-attachments/assets/b525b858-bb2d-4f52-a7a8-d65703b2553d)

## Checklist

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exists there

# Description

- Added back texture randomization event term
- Carrying over texture randomization and scale randomization unit tests
from previous PRs
- Added additional replicate physics failure case test

## 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
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feature works
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extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

The definition of render settings in `SimulationCfg` is changed to None,
which means that the default settings will be used from the experience
files, and the double definition is removed.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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exists there
Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>

# Description

The table in the factory environment was initially positioned halfway
into the ground due to an incorrect height translation. This PR corrects
the initialization height to properly align the table with the ground,
resolving the issue.

## Type of change

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

## Screenshots

| Before | After |
| ------ | ----- |
| ![Screenshot from 2025-03-13
08-02-24](https://github.com/user-attachments/assets/5aeb65c7-dd29-4ef1-a8fa-cb6a21cbe398)
| ![Screenshot from 2025-03-13
08-01-17](https://github.com/user-attachments/assets/7e932af3-f592-4da5-852f-9f8e21c54dae)
|


## Checklist

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

# Description

It was hard to understand what the scene's state means unless you check
the code. This MR adds more docstrings to make this simpler to
understand.

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

# Description

The default python base app file was missing the necessary extension
dependencies to enable the animation recorder.
"omni.kit.stagerecorder.bundle" is now added as a dependency, which
should enable the recording functionality again.

## Type of change

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applicable. -->

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


## Screenshots

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## Checklist

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

This PR add a set of Direct-workflow tasks that showcase the
definition/use of the various Gymnasium observation and action spaces
supported in Isaac Lab.

## Type of change

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applicable. -->

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

## Screenshots


![image](https://github.com/user-attachments/assets/36b526ac-0eb7-45fa-81fa-3d0a09c1c1c5)

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

# Description

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to check the contribution guidelines.

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* Fixed the mismatch in :class:`JointPositionToLimitsActionCfg`
docstring which was incorrectly referring to
``JointPositionWithinLimitsAction`` instead of
``JointPositionToLimitsAction``.
* Fixed the issue of the :attr:`solver_velocity_iteration_count`
docstring in :class:`ArticulationRootPropertiesCfg` being incorrect.
* Fixed the mismatch between the default value of :attr:`use_cache` in
:class:`TerrainGeneratorCfg` and its docstring. Currently, the default
value is set to ``False``.

Fixes #1330, #1377, #1827 

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## Type of change

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applicable. -->

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

## Screenshots

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## Checklist

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`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
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- [ ] I have added tests that prove my fix is effective or that my
feature works
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---------
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

This MR fixes the default behavior of implicit actuators if no effort limit is set. Previously, the check
was using the class variable value instead of self which led to the wrong values getting propogated.

Fixes #2054 

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
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feature works
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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: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

This PR fixes https://github.com/isaac-sim/IsaacLab/issues/2094.
Hamburger icon in the readme was causing encoding errors.

## Type of change

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applicable. -->

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

## Checklist

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

A recent change requires the manager based env to have a sim object.
This update fixes the manager tests to initialize a sim variable in the
env class.


## Type of change

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applicable. -->

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


## Checklist

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

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