# Description

This PR expands the noise parameters of the MeshRepeatedObjectsTerrain
by adding minimum and maximum absolute and relative noise for.
This adds deprecation warnings to existing parameters but they will
function normally.

Fixes # (issue)

## Type of change

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

## Screenshots

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## Checklist

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---------
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Fabian Jenelten <162192900+fjenelten-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Fixes some pytest migration errors for test_articulation and
test_render_cfg

Fixes # (issue)

## 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>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

I added the path_to_docs key to the html_theme_options dictionary in
conf.py and set it to docs/

## Checklist

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feature works
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# Description

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This PR adds projected_gravity_b data stream as well as speeding up
computation by during batch rotating of all data streams to base frame
in one computation rather than each data stream separately.

This PR is dependant on [PR
2129](https://github.com/isaac-sim/IsaacLab/pull/2129/) and should not
be merged until that PR is merged.

Fixes # (issue)

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## Type of change

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

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## Checklist

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`./isaaclab.sh --format`
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---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Updates gymnasium to 1.2.0, which includes a fix for memory leak when
recording videos during training with `--video`.

Fixes #1996 

## 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)
- 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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# Description

This PR fixes the numpy version get upgraded to >2 when installing
rl_packages dependencies

## Type of change

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applicable. -->

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

## Screenshots

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## Checklist

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

replace_slices_with_strings() and replace_strings_with_slices() in
[IsaacLab/source/isaaclab/isaaclab/utils/dict.py](https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab/isaaclab/utils/dict.py)
are changed to allow slices being process if a list of dicts is passed
in as input.

Cherry picks changes from
https://github.com/isaac-sim/IsaacLab/pull/2571 by @LinghengMeng

Fixes #2481 


## Type of change

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applicable. -->

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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- [ ] I have updated the changelog and the corresponding version in the
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# Description

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This MR fixes compatibility issues with robomimic by setting its
installation version to v0.4.0.

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## Type of change

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

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## Checklist

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

Corrects `quat_inv()` in utils/math.py: the inverse is now computed as:

`quat_conjugate(q) / q.pow(2).sum(dim=-1, keepdim=True).clamp(min=eps)`

ensuring correct results for **non-unit** quaternions.  

Fixes #1263 (see discussion for details). Also updated `CHANGELOG.rst`
and corrected a few minor typos within.

## Type of change

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applicable. -->

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

## Checklist

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

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

# Description

This is a small change to the Walkthrough documentation to make it
explicit to change the observation space dimension in the second half of
the Exploring the RL problem tutorial.

Fixes #2787

## Type of change

- This change is exclusively documentation

---------
Signed-off-by: Brian Bingham <briansbingham@gmail.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Co-authored-by: Michael Gussert <michael@gussert.com>

# Description

Minor fixes for SB3 play script to accommodate for inference task names
and updates profiling numbers for the RL library comparison.

## Type of change

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

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

## Checklist

- [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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- [ ] I have updated the changelog and the corresponding version in the
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# Description

This PR relaxes the upper range of allowed protobuf versions so that
IsaacLab can be installed in a modern python environment without
downgrading or conflicting with modern protobuf versions.

The original reason for pinning this to <5 was apparently due to
transitive breakage in tensorboard, which also had this pinned to <5 -
so pinning this in IsaacLab itself would not be necessary if both deps
were composed together. Tensorboard has since (in Aug 2024) unpinned
this here: https://github.com/tensorflow/tensorboard/pull/6888

So, the original concern should, afaict, be obviated now.

# Fixes

This should repair any case where someone wants to install IsaacLab into
a modern python environment that uses any of the Google ecosystem
(gRPC/protobuf et al) without conflict or forced down-rev'ing to older
versions (current version of protobuf is 6.31.1).

## Type of change

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

## Checklist

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

Currently, `update_class_from_dict()` does not allow updating the
configclass Iterable elements with Hydra, when the provided Iterable
length differs from the default value. Such a feature is nevertheless
needed when changing the network layer depth on the go, e.g., while
using learning libraries that utilize configclass (see #2456 for
details).

This PR modifies `update_class_from_dict()` such that if an element is a
flat Iterable (e.g., flat list), it is replaced wholesale, without
checking the lengths. Moreover, the PR modifies the robustness of the
function against a few edge cases that might break the execution, and
adds comments to make it easier to follow the logic flow.

Note: I left the changelog entry as `[Unreleased]` until a green light
is given.

Fixes #2456.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [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: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Thanks to Matteo Grimaldi, Saleh Nabi and Wonju Lee for identifying the
source of this memory leak.

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Add garbage collector calls since warp doesn't handle well the free
memory.

Fixes #2679 

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## Type of change

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

- Bug fix

## Screenshots

Before this change - the experiment hasn't been completed on 64GB RAM
machines.
After  this change it requires less than 12GB RAM.
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![Screenshot 2025-06-12 at 18 31
38](https://github.com/user-attachments/assets/695de828-2f9d-4714-aae3-5d9831ae6e77)

## Checklist

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`./isaaclab.sh --format`
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---------
Signed-off-by: David <ddleon@outlook.co.il>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Fix the small stylistic mistake in the documentation. 

## Type of change

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

## Checklist

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

---------
Signed-off-by: Norbert Cygiert <107721774+norbertcygiert@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

## Description

Previously, `euler_xyz_from_quat` returned Euler angles in the [0, 2π)
range, which is uncommon in robotics applications. As a result, several
users implemented their own workarounds to adjust the angle range to
(−π, π]. Examples include:

- **Isaac-RL-Two-wheel-Legged-Bot**: Custom unwrapping implemented in
[`rewards.py#L17`](https://github.com/jaykorea/Isaac-RL-Two-wheel-Legged-Bot/blob/057f81ed3aa4aff91551fce5c54256e47cece29a/lab/flamingo/tasks/constraint_based/locomotion/velocity/mdp/rewards.py#L17).
- **lorenzo-bianchi/IsaacLab**: Manual angle shifting in
[`quadcopter_env_v1.py#L219`](https://github.com/lorenzo-bianchi/IsaacLab/blob/247f66db3691046ecdfecb311268eccc729048ec/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/quadcopter/quadcopter_env_v1.py#L219).
- **kscalelabs/klab**: Custom angle normalization in
[`imu.py#L17`](https://github.com/kscalelabs/klab/blob/edf749f5177ba296a076d13380cd0fb1e5846e3f/exts/zbot2/zbot2/tasks/locomotion/velocity/mdp/imu.py#L17).

To address this issue, we have updated the default angle range from [0,
2π) to (−π, π] by removing the `% (2 * torch.pi)` operation at the
return statement, since the [atan2
function](https://en.wikipedia.org/wiki/Atan2) naturally outputs angles
within the (−π, π] range.

We also introduced a new parameter, `wrap_to_2pi: bool = False`. Setting
this parameter to `True` will maintain the previous behavior:

- **Default (`wrap_to_2pi=False`)**: Angles returned in the range (−π,
π].
- **Optional (`wrap_to_2pi=True`)**: Angles wrapped in the original [0,
2π) range.


Additionally, multiple test samples have been added to evaluate and
ensure performance and accuracy across different scenarios.

### What’s Changed

- **Default behavior** updated to (−π, π] (non-breaking).  
- **New argument** `wrap_to_2pi` for optional wrapping.  
- **Unit tests** added for both wrapped and unwrapped outputs.

---


Fixes https://github.com/isaac-sim/IsaacLab/issues/2364


## Type of Change

- **Enhancement** (non-breaking addition of functionality)
---

## Checklist

- [x] Ran `./isaaclab.sh --format` and all pre-commit checks pass  
- [x] Updated docstrings to describe `wrap_to_2pi` parameter  
- [x] Added tests covering both wrapped and unwrapped outputs  
- [x] No new warnings introduced  
- [ ] Updated changelog and bumped version in `config/extension.toml`  
- [x] Confirmed my name is listed in `CONTRIBUTORS.md`

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

# Description

In the `H1RoughEnvCfg` class, the `body_names` assignment for contact
termination was initialized twice, which was redundant. This PR removes
the duplicate assignment.

```
        # Terminations
        self.terminations.base_contact.params["sensor_cfg"].body_names = [".*torso_link"]

        # Rewards
        self.rewards.undesired_contacts = None
        self.rewards.flat_orientation_l2.weight = -1.0
        self.rewards.dof_torques_l2.weight = 0.0
        self.rewards.action_rate_l2.weight = -0.005
        self.rewards.dof_acc_l2.weight = -1.25e-7

        # Commands
        self.commands.base_velocity.ranges.lin_vel_x = (0.0, 1.0)
        self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0)
        self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0)

        # terminations
        self.terminations.base_contact.params["sensor_cfg"].body_names = ".*torso_link"
```

## Type of change

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

## Checklist

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

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

# Description

This PR updates the `NoiseModelWithAdditiveBias` to apply per-feature
bias sampling.

Previously, the model sampled a single scalar bias per episode and
applied it uniformly across all feature dimensions (i.e., axis 1 of a
(`num_env`, `feature_dim`) tensor). This PR changes the behavior to
instead sample a separate bias value for each feature dimension, making
the model more suitable for structured inputs such as positions,
velocities, or multi-DOF actions.

### Notes

Structured inputs typically contain semantically distinct components,
like [x, y, z] coordinates, where applying the same bias across all
components introduces unrealistic, fully correlated noise. Independent
per-dimension bias sampling leads to more realistic and robust policy
training, especially for sim-to-real transfer.

I’ve replaced the previous behavior with this new default, as I believe
the original implementation could be misleading and not well-suited for
many practical scenarios. However, if desired, I can make both behaviors
available via a configuration flag (e.g., `per_feature_bias=True`), to
retain backward compatibility.

Fixes #2759.

## 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`
- [ ] 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

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

# Description

Fixes typo in reset_scene_to_default that was recently added where joint
position was incorrectly set to velocity targets.


## 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`
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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

Add an example to train a locomotion and loco-manipulation controller
for digit. This also serves as an example on how to train a robot with
closed loops.

## Type of change

- 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`
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- [ ] 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: lgulich <22480644+lgulich@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

This PR logs env_cfg and agent_cfg to wandb in accordance how rl_games
handles env_cfg and agent_cfg. Before env_cfg and agent_cfg is not
observable from wandb run.


## Type of change

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

## Screenshots

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## Checklist

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feature works
- [x] I have updated the changelog and the corresponding version in the
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# Description

The body_com event term added to the base velocity cfg caused errors in
some locomotion environments if the body was not named "base". This PR
disables the event term for these environments.

Fixes #2574 

## Type of change

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applicable. -->

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

## Checklist

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Fix bug of reset joint initial state of articulation in event function
`reset_scene_to_default` ref to:
https://github.com/isaac-sim/IsaacLab/issues/2663, where the targets
were not previously reset together with the joint positions.

# Description

ref: https://github.com/isaac-sim/IsaacLab/issues/2663Signed-off-by: Wenguo Hou <wghou09@bjtu.edu.cn>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Various minor updates to documentation to clarify a few concepts:

- Adds note about source conda environment if installing from binaries
using conda, but not using `./isaaclab.sh -c` option
- Adds note that Fabric should be enabled for GPU simulation and that
rendering will not update if Fabric is not enabled
- Adds note about using the inference task names if available when
running inferencing
- Removes unneeded physics cudaDevice flag for distributed training

## Type of change

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applicable. -->

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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Fixes inconsistent data reading in body, link, com for RigidObject, RigidObjectCollection and Articulation (#2736)

# Description
When WriteState, WriteLink, WriteCOM, WriteJoint are invoked, there is a
inconsistency when reading values of ReadState, ReadLink, ReadCOM. The
Source of the bug is because of missing timestamp invalidation of
relative data or missing update to the related data within the write
function. Below I list the all functions that is problematics

RigitObject:
write_root_link_pose_to_sim
write_root_com_velocity_to_sim

RigitObjectCollection:
write_object_link_pose_to_sim
write_object_com_velocity_to_sim

Articulation:
write_joint_state_to_sim

The bug if fixed by invalidating the relevant data timestamps in
write_joint_state_to_sim function for articulation, and added direct
update to the dependent data in write_(state|link|com)_to_sim of
RigitObject and RigitObjectCollection.

I have added the tests cases that checks the consistency among
ReadState, ReadLink, ReadCOM when either WriteState, WriteLink,
WriteCOM, WriteJoint is called and passed all tests.

Fixes #2534 #2702 

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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)

## Checklist

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`./isaaclab.sh --format`
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- [x] I have added tests that prove my fix is effective or that my
feature works
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extension's `config/extension.toml` file
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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This PR adds `NoiseModel` support for manager-based workflows. To
achieve this, I have:
- Added `NoiseModel` lifecycle management to `ObservationManager`.
- Added a `Callable` field, `func`, to `NoiseModelCfg`, which
`ObservationManager` uses to assign the class instance within, similar
to how it is done for `ModifierBase`.
- Renamed `apply()` to be `__call()__`, to be consistent with
function-based noises and `ModifierBase`.

Fixes #2715 and #1864.

Note: I left the changelog with the entry [Unreleased] until the PR is
given the green light.

## Type of change

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

## Checklist

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

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to check the contribution guidelines.

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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.

Implement part of https://github.com/isaac-sim/IsaacLab/issues/1769
(optimization)

This is a breaking change because the fast variant is now enabled by
default.

I also improve sb3 training script, fixed loading of normalization and
fixed the humanoid hyperparameters to be similar to rsl-rl, so we can
compare apples to apples in terms of training speed.

I will probably open another PR for the rest of the proposals.

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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)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

With respect to testing, how do you run a single test?
and is there anything I should add?


## Checklist

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`./isaaclab.sh --format`
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feature works
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---------
Signed-off-by: Antonin RAFFIN <antonin.raffin@ensta.org>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Add more information in the print out message, when generating
disassembly paths.

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

Fixes link to python script in walkthrough tutorial

Fixes #2740 

## Checklist

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

Fix the link

## Type of change

- This change requires a documentation update

## Checklist

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`./isaaclab.sh --format`
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exists there
Signed-off-by: robotsfan <fanziqi614@gmail.com>

# Description

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Fixed potential issues in
:func:`~isaaclab.envs.mdp.events.randomize_visual_texture_material`
related to handling visual prims during texture randomization.

Fixes # (issue)

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## Type of change

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

## Screenshots

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
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feature works
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---------
Signed-off-by: YunLiu <55491388+KumoLiu@users.noreply.github.com>

# Description

pxr.Semantics was deprecated in Isaac Sim 4.2 and is now Semantics. This
PR replaces imports of pxr.Semantics with Semantics if available.

## 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`
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- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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# Description

This PR creates support wandb logging in rl_games training. rl_games has
been supporting wandb logging, and the examples of how to configure it
can be seen from
[rl_games-wandb_support](https://github.com/Denys88/rl_games/blob/51ac9aa2981ba3204ea513104a1da46e6b5a39c9/runner.py
) we could follow the same style and enable current rl_games pipeline to
use wandb as well.

## 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 run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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feature works
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extension's `config/extension.toml` file
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# Description

This PR show the available RL library (and algorithms) configs on error
message when an entry point key is not available for a given task.

Example: for `./isaaclab.sh -p
scripts/reinforcement_learning/sb3/train.py
--task=Isaac-Cart-Double-Pendulum-Direct-v0 --headless`

Before:

```
ValueError: Could not find configuration for the environment: 'Isaac-Cart-Double-Pendulum-Direct-v0'. Please check that the gym registry has the entry point: 'sb3_cfg_entry_point'.
```

After

```
ValueError: Could not find configuration for the environment: 'Isaac-Cart-Double-Pendulum-Direct-v0'.
Please check that the gym registry has the entry point: 'sb3_cfg_entry_point'.
Existing RL library (and algorithms) config entry points: 
  |-- rl_games: PPO
  |-- skrl: PPO, IPPO, MAPPO
```

## Type of change

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

## Checklist

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

Adds support for bash history between docker start/stop cycles.

## 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`
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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

To be consistent with the recommendation of conda installation, we are
updating the quickstart guide to also use conda

## 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
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exists there

# Description

Fix the issues reported from QA.
- Change number of trajectories for disassembly task and the job will
output this number during running.
- Add explanation about disassembly task in environment doc (not
involving policy training and evaluation)
- Add flag for wandb to record learning curves for assembly tasks
- Add flag for max_iterations to set number of training epochs
- Add the command line for windows in run_w_id.py and
run_disassembly_w_id.py

## Type of change

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

## Checklist

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

Adds section in readme to highlight dependency of isaac sim versions for
different releases and branches of isaac lab.
Adds additional note about the Isaac Lab feature/isaacsim_5_0 branch
that currently requires the isaac sim OSS repo built from source.

## 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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# Description

Removes the old license headers in scripts and keep only the new one.


## 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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# Description

This PR fixes an issue where only one `FrameTransformer` instance could
visualize its connecting line between source and target frames. The
problem stemmed from a shared global `debug_draw` interface, where each
instance's call to `clear_lines()` would erase the lines drawn by
others.

The solution replaces `debug_draw` with a per-instance
`VisualizationMarkers`-based renderer that uses a thin yellow cylinder
to depict the connecting line. This ensures that all active
`FrameTransformer` instances in a scene can render their lines
concurrently without interfering with each other.

Fixes #2525, #1754

## 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

## Screenshots

| Before | Now |
|---------|----------|
| <img
src="https://github.com/user-attachments/assets/c6a3f496-4c11-44b1-a3d3-e1af5ae5e4b0"
width="500"/> | <img
src="https://github.com/user-attachments/assets/89342fab-73c1-470d-8a63-0a45c11b3aa8"
width="500"/> |

Only the most recently added `FrameTransformer` line would appear. After
this change, all relevant connections are visualized concurrently.

## 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: Kelly Guo <kellyg@nvidia.com>