# Description

Some tests are now taking longer to run, especially the environment
ones. Increasing some timeouts here to allow tests to complete.

## Type of change

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applicable. -->

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

## Checklist

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

This MR adds new tasks which extend the `Factory` tasks to include:
1. Force sensing: Add observations for force experienced by the
end-effector.
2. Excessive force penalty: Add an option to penalize the agent for
excessive contact forces.
3. Dynamics randomization: Randomize controller gains, asset properties
(friction, mass), and dead-zone.
4. Success prediction: Add an extra action that predicts task success.

The new tasks are: `Isaac-Forge-PegInsert-Direct-v0`,
`Isaac-Forge-GearMesh-Direct-v0`, and `Isaac-Forge-NutThread-Direct-v0`

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

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

---------
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

Update minimum skrl version to 1.4.3 to solve
* https://github.com/isaac-sim/IsaacLab/issues/3017
* https://github.com/isaac-sim/IsaacLab/issues/3018

A long overdue release of IsaacLab. Since we will soon have IsaacLab 2.2
out which primarily supports IsaacSim 5.0, this release marks a "stable"
checkpoint of IsaacLab that works with IsaacSim 4.5.

We are working towards improving our release cycles to have more
frequent patch releases.

- This change requires a documentation update

- [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: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>

Fixes most of the warnings and errors getting thrown while building the
docs locally. The ones from `isaaclab_mimic` still remain.

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

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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

Just a friendly cleanup. Noticed some issues that crept up in some
previous MR. Still digging through some of the other MRs and
understanding why certain things changed.

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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

Added a new argument: is_global to the set_external_force_and_torque
methods of the articulation and rigid body assets. This allows to set
external wrenches in the global frame directly from the method call
rather than having to set the frame in the configuration.

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

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

# Description

This PR fixes a minor numbering sequence issue in the conda environment
setup instructions displayed by `isaaclab.sh`.

- Fixed step numbering from "4. To perform formatting" to "3. To perform
formatting"
- Fixed step numbering from "5. To deactivate the environment" to "4. To
deactivate the environment"

## Type of change

- [x] Bug fix (non-breaking change which fixes an issue)
- [ ] New feature (non-breaking change which adds functionality)
- [ ] Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- [ ] 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

# Description

Adds correct forward pass for GRU-based recurrent policies in the
`isaaclab_rl/rsl_rl/exporter.py` script.

See [issue](https://github.com/isaac-sim/IsaacLab/issues/3008) for more
details

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

## Checklist

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# Description

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Update the Multi GPU documentation to include more information about how
we integrate with Pytorch and include more documentation links.

Fixes # (issue)

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# Description

Fixes #1910,  #3010

### ✅ Typo Fixes

- Replaced `tome` → `time` in the following files:
  - `velocity_command.py`
  - `quadcopter_env.py`
  - `pre_trained_policy_action.py`
  - `pose_command.py`
  - `pose_2d_command.py`
  - `imu.py`
  - `contact_sensor.py`

- Corrected article usage `an numpy` → `a numpy` in:
  - `manager_based_rl_env.py`
  - `direct_rl_env.py`
  - `direct_marl_env.py`

- Removed repeated determiners (`the the`, `then then`) in:
  - `visualization_markers.py`

- Fixed incorrect expansion of the abbreviation **TGS** (In issue 1910):
- Changed **TGS (Truncated Gauss-Seidel)** → **TGS (Temporal
Gauss-Seidel)**

---

### 🛠️ Docstring Fix

- In `visualization_markers.py`, the `_process_prototype_prim` function
had a docstring referencing `prim_path` and `stage`, which are not part
of the function signature.
The docstring has been updated to correctly document only the `prim`
argument.

> Note: The original docstring seems to have been copied from
[`utils.py`](https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab/isaaclab/sim/utils.py)
without modification.

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# Description

Change `randomization` to `events` in Digit envs

## Type of change

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

## Checklist

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# Description

This PR removes jsmith and Dhoeller from code owners

Fixes # (issue)

## Type of change

- cleanup

## Checklist

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# Description

- Adds a note in the HOVER doc to indicate support for Isaac Lab 2.0 and
Isaac Sim 4.5, as there are several issues with running it on Isaac Lab
2.2
- Adds a section in the Known Issues to highlight GLIBCXX error we have
observed in conda environments and provides a workaround for resolving
the error


## Type of change

- This change requires a documentation update


## Checklist

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# Description
Changes mention of Isaac Lab UI to Isaac Sim UI docs
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also include relevant motivation and context.
List any dependencies that are required for this change.

Fixes # (issue)

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Adds an automated job to cherry-pick new commits from main to devel to
help keep the two branches in sync.

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

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This PRs enables add mannual seeding for all play scripts,
To minimize the merge conflict due to ordering and formating, this pr
built on top of #2995, and should be merge after it.

I have mannual tested all rl-framework will work

Fixes # (issue)

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As discussed by several earlier commit and issues #2135 #1654 #1384
limit(velocity_limit), effort limit(effort_limit), simulation velocity
limit(velocity_limit_sim) and effort limit(effort_limit_sim).

ImplicitActuator, lacking the motor model, is inherently
non-attributable to velocity_limit or effort_limit, and should be using
velocity_limit_sim and effort_limit_sim instead if such limits should be
set. However, since most of environment with `ImplicitActuatorCfg` was
written before v1.4, when velocity_limit was basically ignored, and
velocity_limit_sim did not exist. To not break those environments
training, we remove all `velocity_limit` attribute from existing
`ImplicitActuatorCfg`, change all `effort_limit` to `effort_limit_sim`,
and added documentation to articulate this point .

However, even with removing velocity_limit, effort_limit, there could be
subtitles interacting with default USD value. USD may have joints that
comes with velocity_limit_sim and effort_limit_sim unnoticed by user.
Thus, user may thinking sim_limits are uncaped by not specifying limits
in Cfg, but is silently set in USD.

To make that more clear, this PR added flag:
`actuator_value_resolution_debug_print(default to false)` in
`ArticulationCfg`
that has following behavior:

case 1: if USD has default, ActuatorCfg has limits
       >if limits is same -> we are all good, no warning.
       >if limits is different -> we warn user we used cfg value.
case 2: USD has default, ActuatorCfg no limits -> We warn user saying
the USD defaults is used

Note that his logging can apply to all other joint attributes where
there could be USD-ArticulationCfg conflicts, not limited to
`velocity_limit_si,` or `effort_limit_sim` -> such as : stiffness,
damping, armature .....

 Note this section is also documented in articulation.rst
This PR added actuator discrepancy logging into the
:class:`ActuatorBase`.

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

As reported by issue, isaaclab.scene.reset_to currently does not run
well with env_id = None, even though None is one of its default values.

This PR make sure it supports and and added tests that tensor input and
None should both work well

Fixes #2878

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# Description

User may install isaaclab with pip but also want to create an internal
template in cloned isaaclab that doesn't sit in miniconda's python
site-packages, and of course this internal template will not be detect
by python, but we also don't want to create templates in site-package
neither, nobody do development in site-packages

The proper fix is to support both internal and external template
regardless the method user pick to install isaaclab, but for now, we
will add the warning to documentation that internal template with pip
isaaclab package is not supported


Fixes # (issue)

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

## Screenshots

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<img width="863" height="947" alt="Screenshot from 2025-07-25 13-42-25"
src="https://github.com/user-attachments/assets/6ae4ced6-2d6d-4949-a652-74cdd452613f"
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# Description

Adds license file for pygame as it's included as a sub-dependency of
rl-games.

## Type of change

- This change requires a documentation update

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# Description

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https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html
-->

Tweak rendering preset default behavior

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discussions on the proposed pull request.
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## Type of change

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## Checklist

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`./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
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exists there

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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>

…esets

# Description

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to check the contribution guidelines.

Link:
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-->

set rtx.indirectDiffuse.enabled to True for performance & balanced
rendering presets

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## Checklist

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`./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
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exists there

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# Description

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Add a note for warning msgs from ovd recording.

Fixes # (issue)

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discussions on the proposed pull request.
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## Type of change

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

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## Checklist

- [ ] 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: matthewtrepte <mtrepte@nvidia.com>

# Description

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to check the contribution guidelines.

Link:
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-->

Fix checkpoint path parsing when a -Play env is provided to play scripts
using the --task argument,.

Fixes # (issue)

<!-- As a practice, it is recommended to open an issue to have
discussions on the proposed pull request.
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## Type of change

<!-- As you go through the list, delete the ones that are not
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- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
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functionality to not work as expected)
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## Screenshots

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## Checklist

- [ ] 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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# Description

Adds an automated job to cherry-pick new commits from main to devel to
help keep the two branches in sync.


## Type of change

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


## Checklist

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

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---------
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Some fixes for running latest Isaac Lab updates with Isaac Sim 4.5.

## Type of change

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

## Checklist

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

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## Checklist

- [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [X] I have made corresponding changes to the documentation
- [X] My changes generate no new warnings
- [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

Uses rl-games fork from isaac sim org for installation


## Type of change

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

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


## Checklist

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

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# Description

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to check the contribution guidelines.

Link:
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-->

Camera obs are not set nor used in stack instance randomize envs. Aligns
stack instance randomize env with regular stack env by removing unused
camera obs. Fixes an obs shape mismatch error caused by improperly
initialized cameras.


## Type of change

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

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

## Screenshots

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


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

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# Description

Updated Joint Friction Parameters to Isaac Sim 5.0/ PhysX APIs and
exposed joint's viscous_frictions and dynamic_frictions.


## 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

# Description

<!--
Add a how-to guide for setting-up and explaining fabric cloning and
stage in memory.
-->

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 # (issue)

<!-- 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

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

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

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

## Checklist

- [ ] 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: rwiltz <165190220+rwiltz@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Signed-off-by: samibouziri <79418773+samibouziri@users.noreply.github.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
Signed-off-by: Hongyu Li <lihongyu0807@icloud.com>
Signed-off-by: Toni-SM <toni.semu@gmail.com>
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Signed-off-by: Victor Khaustov <3192677+vi3itor@users.noreply.github.com>
Signed-off-by: AlvinC <alvincny529@gmail.com>
Signed-off-by: Tyler Lum <tylergwlum@gmail.com>
Signed-off-by: Miguel Alonso Jr. <76960110+miguelalonsojr@users.noreply.github.com>
Signed-off-by: renaudponcelet <renaud.poncelet@gmail.com>
Signed-off-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: lotusl-code <lotusl@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: jaczhangnv <jaczhang@nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Yanzi Zhu <yanziz@nvidia.com>
Co-authored-by: nv-mhaselton <mhaselton@nvidia.com>
Co-authored-by: cosmith-nvidia <141183495+cosmith-nvidia@users.noreply.github.com>
Co-authored-by: Michael Gussert <michael@gussert.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>
Co-authored-by: Peter Du <peterd@nvidia.com>
Co-authored-by: chengronglai <chengrongl@nvidia.com>
Co-authored-by: pulkitg01 <pulkitg@nvidia.com>
Co-authored-by: Connor Smith <cosmith@nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <ashwinvk@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: shauryadNv <shauryad@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: samibouziri <79418773+samibouziri@users.noreply.github.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: Shundo Kishi <syundo0730@gmail.com>
Co-authored-by: Sheikh Dawood <sabdulajees@nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: Gonglitian <70052908+Gonglitian@users.noreply.github.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>
Co-authored-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
Co-authored-by: Johnson Sun <20457146+j3soon@users.noreply.github.com>
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Co-authored-by: Hongyu Li <lihongyu0807@icloud.com>
Co-authored-by: Jean-Francois-Lafleche <57650687+Jean-Francois-Lafleche@users.noreply.github.com>
Co-authored-by: Wei Jinqi <changshanshi@outlook.com>
Co-authored-by: Louis LE LAY <le.lay.louis@gmail.com>
Co-authored-by: Harsh Patel <hapatel@theaiinstitute.com>
Co-authored-by: Kousheek Chakraborty <kousheekc@gmail.com>
Co-authored-by: Victor Khaustov <3192677+vi3itor@users.noreply.github.com>
Co-authored-by: AlvinC <alvincny529@gmail.com>
Co-authored-by: Felipe Mohr <50018670+felipemohr@users.noreply.github.com>
Co-authored-by: AdAstra7 <87345760+likecanyon@users.noreply.github.com>
Co-authored-by: gao <ziqi.gao@iff-extern.fraunhofer.de>
Co-authored-by: Tyler Lum <tylergwlum@gmail.com>
Co-authored-by: -T.K.- <t_k_233@outlook.com>
Co-authored-by: Clemens Schwarke <96480707+ClemensSchwarke@users.noreply.github.com>
Co-authored-by: Miguel Alonso Jr. <76960110+miguelalonsojr@users.noreply.github.com>
Co-authored-by: Miguel Alonso Jr. <miguel.alonso@nfinite.app>
Co-authored-by: renaudponcelet <renaud.poncelet@gmail.com>
Co-authored-by: Ales Borovicka <aborovicka@nvidia.com>
Co-authored-by: nv-mm <mmagdics@nvidia.com>
Co-authored-by: Antoine RICHARD <antoiner@nvidia.com>

# Description

When generating a new template from docker, .gitignore may not be
present and causes an error in the generator tool when it tries to copy
the .gitignore file into the template project. This change adds a check
for if .gitignore is present before attempting to copy it.


## Type of change

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

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

## Checklist

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

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# Description

There were some confusion with the Automator and docker deployment
documentation. The order of which these pages were placed didn't make
too much sense. This change moves the docker deployment up to the top
section and moves Automator docs to the Resources section.

## 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
exists there

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# Description

We have introduced a couple of new python dependencies/sub-dependencies.
Adding license files for them to make sure they are captured in our
dependencies list.

## 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
exists there

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# Description

Jax >= 0.6.0 is incompatible with torch 2.7, but is installed by default
when running pip install skrl[jax]. We update the installation
instructions to override the version of jax to be < 0.6.0 after
installing skrl dependencies to avoid the version incompatibilities.


## 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
exists there

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# Description

Metrics assembler can generate errors if the attribute that should be
corrected is part of a scene graph instancing. If scene graph instancing
is used and the units don't match, it can't be fixed. For the lift teddy
bear example, we disable the metrics assembler to avoid hitting such
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 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

Updates README with 2.2 version compatibility and removes mentions of
the feature isaacsim5.0 branch since that will be replaced by the
official 2.2 release.

## 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
exists there

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When user selects Multi-Agent for template generation, rl_games was one
of the rl_libraries options, but choosing it will generate no algorithm
template because we don't have any rl_game ma_ppo agent cfg. To reduce
the confusion, I will for now disable rl_games selection regarding
multi-agents, we can enable it again once we have a template for that.


## Type of change

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

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


## Screenshots

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## Checklist

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

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This PR adds tests for actuator initialization, configuration, and
computation for Implicit, IdealPD, and DC motor actuators.

This PR also updates the DCMotor model to clip based on a four quadrant
DC motor model. This will fix improper clipping in the negative power
regions (i.e. positive torque and negative velocity or negative torque
and positive velocity).

NOTE: This PR is dependant on the pytest migration in:
[2034](https://github.com/isaac-sim/IsaacLab/pull/2034)
This PR includes changes made in
[2291](https://github.com/isaac-sim/IsaacLab/pull/2291) and would be an
alternate candidate.

Fixes [#2139](https://github.com/isaac-sim/IsaacLab/issues/2139)

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

![image](https://github.com/user-attachments/assets/c94f877e-b3a9-441a-ad2e-ec6124cc64de)

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

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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>