# Description
Added a retargeter for G1 upper body which takes in controller input and
outputs a bool for hand open/close in addition to the left and right EE
targets based on the controller position.

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)

## 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

This PR extends the `ContactSensor` class to expose aggregated friction
forces for each filtered body. It uses the same vectorized approach used
for [`contact_points`](https://github.com/isaac-sim/IsaacLab/pull/2842).

Concretely, this change introduces:
- `ContactSensorCfg.track_friction_forces` toggle to turn on friction
tracking
- `ContactSensorData.friction_forces_w` where the sum of friction forces
for each filtered body are stored

Fixes https://github.com/isaac-sim/IsaacLab/issues/2074, #2064

## Performance

Results of `check_contact_sensor.py` with `track_friction_data = False`:
```
avg dt real-time 0.017448579105403043
avg dt real-time 0.017589360827958443
avg dt real-time 0.016146250123070787
```

Results of `check_contact_sensor.py` with `track_friction_data = True`:
```
avg dt real-time 0.01818224351439858
avg dt real-time 0.017720674386015163
avg dt real-time 0.01777262271923246
```

## Type of change
- 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
- [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

Adds instruction to join early access program to support Meta Quest and
Pico.


## 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

> Reopening pending PR (closed at that point) for when the cleanup and
removal of the internal repository was performed.

This PR updates the agent configuration (to be as similar as possible)
for the `Isaac-Humanoid-v0` task to ensure a more accurate comparison of
the RL libraries when generating the [Training
Performance](https://isaac-sim.github.io/IsaacLab/main/source/overview/reinforcement-learning/rl_frameworks.html#training-performance)
table.

To this end:

1. A common Training time info (e.g.: `Training time: XXX.YY seconds`)
is printed when running existing `train.py` scripts. Currently the RL
libraries output training information in different formats and extends.
2. A note is added to involved agent configurations to notify/ensure
that any modification should be propagated to the other agent
configuration files.
3. The commands used to benchmark the RL libraries is added to docs, for
clearness and repro.

## Screenshots

Difference between current agent configuration (red) and new agent
configuration (green) showing that the new configuration does not
represent a radical change in learning

<img width="1230" height="880" alt="Screenshot from 2025-11-28 13-19-14"
src="https://github.com/user-attachments/assets/12a098c1-c169-4e09-b60f-b5f105341fbd"
/>



## 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

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

NOTE: this PR depends on #3923 

## Type of change

- Dependency removal

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

# Description

This PR adds a demo that showcasing the advance usage of
RigidObjectCollection.
This shows spawning random number of objects and varying object types
per reset with a bin packing example.

## Type of change

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

## Screenshots

![bin_packing](https://github.com/user-attachments/assets/196ff820-4973-45a5-8044-3057bbc60bfe)

## 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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---------
Signed-off-by: ooctipus <zhengyuz@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

Introducing a close function to the recorder manager which exports the
data to file when the environment is closed and closes the recorder
terms.

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

## 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: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Eva M. <164949346+mmungai-bdai@users.noreply.github.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description

Adds a new state_dependent_std param to the rsl_rl_config for IsaacLab.

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

# Description

Updates starlette to 0.49.1 due to security vulnerability in the
previously used 0.45.3.

## 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
- [ ] 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

Latest URDF importer in Isaac Sim 5.1 removed the support for
merge-joints, which caused a breaking change for some users. Although
this will maintain as the behavior going forward, we are updating the
importer version to a patch fix of the URDF importer for the short term
that still provides the merge-joints support.

In the future, we will look into providing more tooling for supporting
similar behaviors in addition to the importer itself.

Fixes #3943 


## 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`
- [ ] 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>

# Description

<!--
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to check the contribution guidelines.

Link:
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💡 Please try to keep PRs small and focused. Large PRs are harder to
review and merge.
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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
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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`
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- [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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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

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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

<!-- 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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# 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
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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# Description

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

<!-- 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
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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)

## Screenshots

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

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source into the above before/after sections.
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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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---------
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>