# 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

<!--
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

💡 Please try to keep PRs small and focused. Large PRs are harder to
review and merge.
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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

<!-- 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`
- [ ] 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: 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

<!--
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

💡 Please try to keep PRs small and focused. Large PRs are harder to
review and merge.
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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

<!-- 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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| Before | After |
| ------ | ----- |
| _gif/png before_ | _gif/png after_ |

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mode and it should upload the image directly. You can then paste that
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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>

# Description

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and readmes to find any broken or outdated links.

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

## Type of change

- Documentation update


## Checklist

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

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# Description

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

## Type of change

- Documentation update

## Screenshots

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

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

## Checklist

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

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

Perf experiments documented in third page here:

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

## Key Changes

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

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

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

## Type of change

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

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

## Checklist

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

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

# Description

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

## Type of change

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

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

# Description

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

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

## Type of change

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

## Screenshots

N/A

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation where
necessary
- [x] My changes generate no new warnings
- [x] I have added tests verifying that recurrent states are correctly
reset during evaluation
- [x] I have updated the changelog and corresponding version in the
extension’s `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

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

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

Fixes #3196 

## Type of change

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

## Screenshots

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

## Checklist

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

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

# Description

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Add docstring clarifications for joint modeling in 4.5 vs 5.0

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

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- Documentation update

## Screenshots

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## Checklist

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guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
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# Description

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Current manager-based workflow leveraged recorder_manager to store demo
obs and actions to hdf5 file.
- But it only outputs successful demos and accumulates the demo index
- Not supporting customized demo index (the use case is like: replay an
existing hdf5, and store successful demos while keeping its original
demo index)

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

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## Type of change

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


## Screenshots

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


## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
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extension's `config/extension.toml` file
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exists there

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

# Description

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`Isaac-Tracking-LocoManip-Digit-v0` was moved to a different source code
path and docs were not updated accordingly. This change fixes the broken
URL.

## Type of change

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

- Documentation update

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
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`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
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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

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# Description

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

## Type of change

- Documentation update

## Checklist

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

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

# Description

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

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

## Type of change

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


## Checklist

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

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

# Description

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

## Type of change

- Documentation update

## Checklist

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

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# Description

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

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

Fixes #3526 

## Type of change

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


## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
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# Description

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

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

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


## Type of change

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

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

## Checklist

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

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# Description

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

## Type of change

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

## Checklist

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

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

### Type of change
- Documentation update

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

# Description
Fixed a typo in the RL Games PPO configuration file for the Cartpole
feature-based environment. Changed value_bootstraop to value_bootstrap
on line 60 to match the correct parameter name used throughout the
codebase.

## Type of change

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


## Screenshots

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

## Checklist

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

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Signed-off-by: G.G <148413288+tkgaolol@users.noreply.github.com>

## Description

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

Dependencies: None

## Type of change

- Documentation update

## Checklist

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

# Description

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

## Type of change

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


## Checklist

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

# Description

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

Fixes issue with hanging process with cuda 13.

## Type of change

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

## Checklist

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

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

# Description

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

This is needed for #3298.

## Type of change

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

## Checklist

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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

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

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


## Type of change

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


## Checklist

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

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

# Description

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


## Type of change

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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`
- [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
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- [ ] I have updated the changelog and the corresponding version in the
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- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
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# Description

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

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

which appears as if it is hanging forever

the new config matches more closely with that of rl_games.

I verified it will trains under 5 min 

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

## Type of change

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applicable. -->

- 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`
- [ ] 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
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# Description

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

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

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


## Type of change

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

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description
Update CODEOWNERS for Isaac Lab Mimic

## Type of change

- Documentation update

## Checklist

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

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Signed-off-by: Yan Chang <yachang@nvidia.com>

# Description

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

Fixes # (issue)

## Type of change

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

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

## Screenshots

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## Checklist

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

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

# Description

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

## Type of change

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

## Checklist

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

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

# Description

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

Fixes #3557 

## Type of change

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

## Checklist

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

---------
Signed-off-by: zehao-wang <59912787+zehao-wang@users.noreply.github.com>