# Description

In document, add a chart to direct the user which version to pull.

## Type of change

- This change requires a documentation update

## Checklist

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# Description

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Add periodic logs when checking if a USD path exists on a Nucleus
Server.

Improves user experience when the check takes a while, usually because
of no internet connection or the file doesn't exist.

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

# Description

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In function `isaaclab.envs.mdp.events.randomize_rigid_body_com`, the
random CoM values were sampled with respect to `env_ids`, but when added
to the bodies' current CoMs, `env_ids` is omitted, resulting in
potential shape mismatch error if `len(env_ids) <> env.scene.num_envs`.


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

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---------
Signed-off-by: Xinpeng Liu <43176336+Foruck@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description

Fixed setting friction coeffecients in the articulation classs

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

Fixes #3231

Fixed setting friction coeffecients in the articulation classs

## Type of change

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

## Checklist

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

# Description

Replace the incorrect env ID `Isaac-Stack-Cube-Franka-Blueprint-v0` with
the correct `Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0` on the
environments list page to match what’s registered in code and shown by
`scripts/environments/list_envs.py`.

Fixes https://github.com/isaac-sim/IsaacLab/issues/3207

## Type of change

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- Bug fix (non-breaking change which fixes an issue)
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`./isaaclab.sh --format`
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feature works
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exists there
Co-authored-by: louislelay <louislelay@pal-robotics.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description

Fix MuJoCo link

<img width="1726" height="1220" alt="image"
src="https://github.com/user-attachments/assets/fed03af9-cc0c-4b94-8a8c-42ecd5992f6c"
/>

## Type of change

- This change requires a documentation update

## Checklist

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`./isaaclab.sh --format`
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feature works
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exists there
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>

# Description

This PR adds stricter interpretation rules to value specified in
sb3_ppo_cfg.yaml, disallowing eval on any dict, which my contain
arbitrary code that makes program vulnerable.

Now, `eval` is got rid of, only str that start with `nn.` can be used to
only import the module from torch.nn. That seems to cover all usage for
lab so far, I can make more accommodations if there are more cases but
it seems like it is currently sufficient.

Fixes # (issue)

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## Checklist

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

# Description

This PR fixes a bug in the observation space construction for
non-concatenated groups in `ManagerBasedRLEnv._configure_gym_env_spaces`
method. Previously, only the last term in each group was included in the
Dict, causing loss of observation information. Now, all terms are
correctly added to the group Dict.

Fixes #3133 

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# Description

Adds tests for SensorBase

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applicable. -->

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

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

Update render preset balanced and performance modes to rtx.indirrectDiffuse.enabled to false (#3240)

# Description

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Update render preset balanced and performance modes to
rtx.indirrectDiffuse.enabled to false, the original value from Isaac Lab
2.1.

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## Checklist

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# Description

Fix the logic in `joint_effort_out_of_limit()`; this function aims to
detect effort limit violations by comparing the desired (computed)
effort against the applied effort, noting that the simulator clips
applied torque to the limit assign on creation.

Originally, the logic was written such that if the applied and computed
torques are equal, then a violation has occurred. However, this is wrong
as shown by the below example:

```python
from isaaclab.managers import SceneEntityCfg
from isaaclab.envs.mdp.terminations import joint_effort_out_of_limit

env = ...  # any ManagerBasedRLEnv with an Articulation named "robot"
cfg = SceneEntityCfg(name="robot", joint_ids=[0])  # single joint for clarity
art = env.scene["robot"]

# Case A: no clipping (should be False but returns True now)
art.data.computed_torque[:] = 0.0
art.data.applied_torque[:] = 0.0
assert joint_effort_out_of_limit(env, cfg).item() is False  # CURRENT: True (bug)

# Case B: clipping (should be True but returns False now)
art.data.computed_torque[:] = 100.0
art.data.applied_torque[:] = 50.0  # pretend actuator clipped to ±50
assert joint_effort_out_of_limit(env, cfg).item() is True   # CURRENT: False (bug)

```

The solution is hence simply to flip the limit detection logic.

Fixes #3155


## Type of change

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

## Checklist

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# Description

We found that performance overhead varies depending on the profiler
backend, even when profiling is not enabled.
For optimization, we changed the default profiler backend to NVTX.
Depending on the test case, we observed a performance improvement of
about 1–12%.

## Type of change

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

## Checklist

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exists there
- [x] I have done this task

# Description

A new dependency was picked up by the license checker that has an
UNKNOWN license listed. This change adds the license to the exceptions
list since it has a MIT license and adds an acknowledgement to the
license header.

## Type of change
- This change requires a documentation update

## Checklist

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

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For some simple cases, disabling rate limit in the runloop can help
improve performance in headless mode.
Follow PR to https://github.com/isaac-sim/IsaacLab/pull/3089, which only
updated it for rendering headless app.
However, this also impacts non-rendering workflows, so adding it to the
default headless app as well.

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---------
Signed-off-by: matthewtrepte <mtrepte@nvidia.com>

# Description

Experimental branch to generate observations and actions descriptions
from managed environments.

## Type of change

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

## Checklist

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exists there

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

# Description

For some simple cases, disabling rate limit in the runloop can help
improve performance for rendering.
Nevertheless, we should not need to enable rate limit in headless cases.

## Type of change

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applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)


## Checklist

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`./isaaclab.sh --format`
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Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description

While working on a task I made a tiny typo in the scale randomization
range for the stiffness-gain parameter. The robot still spawned, but its
behaviour was utterly bizarre. It only took a minute to spot the
mistake, yet it made me realize we have no guard-rails for this sort of
edge case.

This PR introduces a lightweight check that verifies, when
operation=="scale", the lower bound is non-negative and the upper bound
is not smaller than the lower one. Right now I cover the most common
parameters (stiffness, damping, mass, tendon gains, etc.), basically
anything that must stay positive to make physical sense.

If you’d like the same safeguard applied to other parameter types just
let me know and I’ll happily extend the patch.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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- [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: Louis LE LAY <le.lay.louis@gmail.com>
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: louislelay <louislelay@pal-robotics.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description

Updates CodeOwners to be more fine-grained

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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feature works
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extension's `config/extension.toml` file
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exists there

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

# Description

Some of the information in FAQ is now outdated since Isaac Sim is
open-sourced. This MR removes that part but also adds more explaination
on the goals of Isaac Lab.

## Type of change

- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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

# Description

This MR introduces the following:

* An `agent` argument to all scripts to allow selecting different entry
points (each then get resolved to their respective settings file).
* Symmetry function for ANYmal robot for the locomotion task and
cartpole balancing task
* Documentation on how to configure RL training agent using gym
resgistry

Fixes #2835

## Type of change

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

## Screenshots

### Cartpole

```bash
# without symmetry
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Cartpole-v0 --headless --agent rsl_rl_with_symmetry_cfg_entry_point --run_name ppo_with_no_symmetry agent.algorithm.symmetry_cfg.use_data_augmentation=false

# with symmetry
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Cartpole-v0--headless --agent rsl_rl_with_symmetry_cfg_entry_point --run_name ppo_with_symmetry_data_augmentation  agent.algorithm.symmetry_cfg.use_data_augmentation=true
```

| Isaac-Cartpole-v0 (pink w/o symmetry, blue w/ symmetry) |
| ------ |
| <img width="823" height="421" alt="image"
src="https://github.com/user-attachments/assets/9c33db99-0d79-4c1d-b437-e01275d613b5"
/> |

### Locomotion

```bash

# without symmetry
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Velocity-Rough-Anymal-D-v0 --headless --agent rsl_rl_with_symmetry_cfg_entry_point --run_name ppo_with_no_symmetry agent.algorithm.symmetry_cfg.use_data_augmentation=false

# with symmetry
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Velocity-Rough-Anymal-D-v0 --headless --agent rsl_rl_with_symmetry_cfg_entry_point --run_name ppo_with_symmetry_data_augmentation  agent.algorithm.symmetry_cfg.use_data_augmentation=true
```

| Isaac-Velocity-Rough-Anymal-D-v0 (green w/o symmetry, purple w/
symmetry) |
| ------ |
| <img width="1241" height="414" alt="image"
src="https://github.com/user-attachments/assets/625c125d-db9f-4006-9a62-0d55701a9407"
/> |

## Checklist

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

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

Changes the expected input of checkpoint in rsl-rl to an absolute path in documentation to avoid ambiguity (#3151)

# Description

If the user directly enters model_xxx.pt, an error will be reported. The
user should be guided to enter a path

## Type of change

- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
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feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description

This PR: 

- Adds ContactSensorCfg.track_contact_points to toggle tracking of
contact point locations between sensor bodies and filtered bodies.
- Adds ContactSensorCfg.max_contact_data_per_prim to configure the
maximum amount of contacts per sensor body.
- Adds ContactSensorData.contact_pos_w data field for tracking contact
point locations.

Fixes # (issue)

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---------
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Ashwin Khadke <133695616+akhadke-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description

Fixes the IndexError caused by simultaneously indexing env_ids and
joint_ids in `reset_joints_by_scale` and `reset_joints_by_offset`.

Fixes # [2948](https://github.com/isaac-sim/IsaacLab/issues/2948)

## Type of change

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applicable. -->

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

## Checklist

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`./isaaclab.sh --format`
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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>
Signed-off-by: Emily Sturman <emily@sturman.org>
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description

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to check the contribution guidelines.

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Update rendering preset mode pathing to be compatible when an experience
file is set.

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## Type of change

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## Checklist

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

Fixes Termination Manager logging to report aggregated percentage of environments done due to each term.  (#3107)

# Description

Currently Termination Manager write current step's done count for each
term if reset is detected. This leads to two problem.
1. User sees different counts just by varying num_envs
2. the count can be over-count or under-count depending on when reset
happens, as pointed out in #2977 (Thanks, @Kyu3224)

The cause of the bug is because we are reporting current step status
into a buffer that suppose to record episodic done. So instead of write
the entire buffer base on current value, we ask the update to respect
the non-reseting environment's old value, and instead of reporting
count, we report percentage of environment that was done due to the
particular term.

Test on Isaac-Velocity-Rough-Anymal-C-v0

Before fix:
<img width="786" height="323" alt="Screenshot from 2025-08-06 22-16-20"
src="https://github.com/user-attachments/assets/4838d612-7f0e-4232-a07e-688b547e91db"
/>
Red: num_envs = 4096, Orange: num_envs = 1024

After fix:

<img width="786" height="323" alt="Screenshot from 2025-08-06 22-16-12"
src="https://github.com/user-attachments/assets/e6e55c21-17ed-42ca-8d94-a19d08611f86"
/>
Red: num_envs = 4096, Orange: num_envs = 1024

Note that curve of the same color ran on same seed, and curves matched
exactly, the only difference is the data gets reported in termination.
The percentage version is a lot more clear in conveying how agent
currently fails, and how much percentage of agent fails, and shows that
increasing num_envs to 4096 helps improve agent avoiding termination by
`base_contact` much quicker than num_envs=1024. Such message is a bit
hard to tell in first image.

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## Checklist

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# Description

Current is_isaacsim_version_4_5() sometimes mis-detects 5.0 when running
4.5 (e.g., Docker/symlinked installs), causing the conda bootstrap to
pick Python 3.11 instead of 3.10.

This pr ensures determining the isaacsim version following below steps

1. Read ${ISAACLAB_PATH}/_isaac_sim/VERSION (symlink/binary install).

2. If unknown, import isaacsim and read ../../VERSION next to the
package. (pip installation)

3. If still unknown, fall back to
importlib.metadata.version("isaacsim").

I tested locally to work with 4.5 pip or binary install.

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

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## Checklist

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# Bugfix

Previously, self._data.joint_dynamic_friction_coeff was being set for
all environments, regardless of the intended targets. This behavior is
incorrect — the friction coefficient should only be set for the
specified physx_env_ids.
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description
This adds improved readout from the subprocesses in `install_deps.py`.
It will now print the output instead of printing everything at once when
the process is finished. It also has improved error handling. This will
help users to have a better understanding of their build process and
more easily resolve issues.

## Type of change

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applicable. -->

- 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
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- [ ] I have updated the changelog and the corresponding version in the
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---------
Signed-off-by: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Updates the release notes docs with the latest release notes for 2.2 and
some other minor documentation updates.
Also fixes new issues with the license checker to add additional
exceptions.

Also using this change to trigger the documentation update for 2.2.

## Type of change

- This change requires a documentation update


## Checklist

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

1. Changed test reporter for compatibility pipeline to generate HTML
report
2. Increased the number of reported logs for failed test cases to 50
(max)
3. Set execute permissions in the Dockerfile on the isaaclab.sh -
sometimes the post-merge pipeline fails due to permissions
4. Updated the default Isaac SIM version

# Description
It appears that `isaaclab` transitively depends on `hf-xet`, (a
`huggingface`-developed data storage paradigm) via the following
dependency chain:
```
Collecting hf-xet<2.0.0,>=1.1.3 (from huggingface-hub<1.0,>=0.34.0->transformers->isaaclab==0.41.5)
```
This results in a failing license check. This PR adds the relevant
license from this [repo](https://github.com/huggingface/xet-core)

**UPDATE:** I have also added the initialization of `FAILED_PACKAGES=0`
in `license-check.yaml` in order to avoid the error I was encountering
when no packages were failing:
<img width="1461" height="210" alt="image"
src="https://github.com/user-attachments/assets/5845626e-2e5c-493f-8356-ae00667ab9ea"
/>

## Type of change

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

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
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Fixes `anyio` license checking. Current return is UNKNOWN, actual
license is MIT.

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

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

Fixes warnings when building docs for IsaacLab Mimic by using `from __future__ import annotations` to allow Sphinx autodoc import.

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

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
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- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Updates onnx and protobuf versions as previous dependency versions had
security vulnerabilities.

To avoid onnx 1.16.1, we are updating onnx to 1.18.0
To avoid protobuf 3.20.3, we are updating protobuf to 6.31.1

Also included some minor updates to add one more flaky test annotation
for test failure, and adding random_state to GaussianProcessRegressor to
resolve another security risk for non-reproducible results.

## Type of change

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

## Checklist

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# Description

Fixes `anyio` license checking. Current return is UNKNOWN, actual
license is MIT.

## Type of change

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

## Checklist

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

# Description

Fixes warnings when building docs for IsaacLab Mimic by using `from __future__ import annotations` to allow Sphinx autodoc import.

## Type of change

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

## Checklist

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

# Description

Several changes to prepare for the Isaac Lab 2.2 release:

- updating staging server to production
- removing mentions of feature/isaacsim_5_0 branch as those will now be
part of `main`
- updates version to 2.2.0 from 2.1.1

## Type of change

- This change requires a documentation update


## Checklist

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# Description

As reported in https://github.com/isaac-sim/IsaacLab/pull/3071, we have
some issues with the isaaclab.bat script when multiple calls to
`!python_exe!` are called, resulting in ` '!python_exe!' is not
recognized as an internal or external command` error messages. This fix
uses `call` command to expand `!python_exe!` to and correctly execute
the commands.

## Type of change

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

## Checklist

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# Description

Adds the flaky module to allow for marking some non-deterministic tests
as flaky. This allows us to specify number of retries for specific test
cases and how many passes are needed to determine the test is marked as
pass or fail.


## Type of change

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

## Checklist

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