# Description

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

Fixes # (issue)

## Type of change

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applicable. -->

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

## Screenshots

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## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
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- [x] My changes generate no new warnings
- [] I have added tests that prove my fix is effective or that my
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---------
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

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

## Type of change

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

## Checklist

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

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

# Description

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

Fixes #3557 

## Type of change

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

## Checklist

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

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

# SkillGen documentation: data gen command cleanup and success-rate
guidance

## Description

This PR updates the SkillGen documentation in
`docs/source/overview/imitation-learning/skillgen.rst`:
- Removes a redundant `--headless` flag from a data generation command
example.
- Adds a note with success-rate guidelines and training recommendations
for cube stacking and bin cube stacking.
- Clarifies minor text details, including correcting the planning phase
order to “Retreat → Contact → Approach” for consistency.

Motivation: Improve clarity, set realistic expectations on data
generation and downstream policy performance, and align docs with actual
planner behavior.

Dependencies: None

## Type of change

- Documentation update

## Checklist

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

Fixes skrl train/play script configurations when using the `--agent` argument and rename agent configuration variable  (#3643)

# Description

This PR address the following points:
* Fix skrl train/play script configuration when using the `--agent`
argument

    Example:

    ```bash
python scripts/reinforcement_learning/skrl/train.py --task
Isaac-Cart-Double-Pendulum-Direct-v0 --headless --agent
skrl_mappo_cfg_entry_point
    ```

    Error:

    ```
[INFO]: Parsing configuration from:
isaaclab_tasks.direct.cart_double_pendulum.cart_double_pendulum_env:CartDoublePendulumEnvCfg
[INFO]: Parsing configuration from:
/home/toni/Documents/RL/toni_IsaacLab/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_mappo_cfg.yaml
[INFO] Logging experiment in directory:
/home/toni/Documents/RL/toni_IsaacLab/logs/skrl/cart_double_pendulum_direct
    Error executing job with overrides: []
    Traceback (most recent call last):
File
"/home/toni/Documents/RL/toni_IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py",
line 101, in hydra_main
        func(env_cfg, agent_cfg, *args, **kwargs)
File
"/home/toni/Documents/RL/toni_IsaacLab/scripts/reinforcement_learning/skrl/train.py",
line 156, in main
log_dir = datetime.now().strftime("%Y-%m-%d_%H-%M-%S") +
f"_{algorithm}_{args_cli.ml_framework}"
^^^^^^^^^
    NameError: name 'algorithm' is not defined
    ```
 
* Replace `STATES` by `OBSERVATIONS` when defining skrl's agent
configuration model inputs to ensure a smooth and error-free transition
when the new mayor version of **skrl** gets released. In such mayor
version `OBSERVATIONS` and `STATES` have different value/usage.

## Type of change

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

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

# Description

msgpack is required by ray when installing rl_games. it has an apache
2.0 license, so we are adding it to the exceptions list since the
license shows up as UNKNOWN by the license checker.


## Type of change

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

- Documentation update

## Checklist

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

This MR fixes the slow-down observed in recent IsaacLab updates.
Previously, the simulation device was read through the configuration;
later, this was changed to read the device through the simulation
manager.

On profiling, I observed that the simulation manager function took 0.01
s per call. This is quite a bit of overhead, considering that
`env.device` refers to `sim.device` and gets called at multiple
locations in the environment.

This MR reverts back to the previous solution for obtaining the device.

Fixes #3554

## Type of change

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

## Screenshots

```
./isaaclab.sh -p scripts/benchmarks/benchmark_non_rl.py --task Isaac-Velocity-Flat-Anymal-C-v0 --headless --seed 0 --num_frames 2000
```

The numbers reported here are the average FPS on PC with RTX A6000 GPU
and Intel i9-9820X:

* **Before**: 94784.43553363248
* **Overriding `sim.device`**: 100484.21244511564

## Checklist

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

Fixes SB3's template ppo cfg up to date with security-safe syntax for training specification (#3688)

# Description

This PR fixes the bug where if template is generated using SB3, the code
does not run because it couldn't parse from string
```
policy_kwargs: "dict(
                  activation_fn=nn.ELU,
                  net_arch=[32, 32],
                  squash_output=False,
                )"
```

We have disabled the string parsing, as it is not safe(aka arbitrary
code could be parsed)

this PR makes sure the sb3's template also adopt the new secure syntax

```
policy_kwargs:
  activation_fn: nn.ELU
  net_arch: [32, 32]
  squash_output: False
```

## Checklist

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

Fixes minor typos in the documentation.

## Type of change

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

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
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`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
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feature works
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extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Fix windows script execution error as described in [Discussions
3260](https://github.com/isaac-sim/IsaacLab/discussions/3260), by
forcing to use crlf as eol in `*.bat` file

## Type of change

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

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
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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

# Description
Enabling multi-arch build with Isaac SIM 5.1 images

# Description

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Isaac Lab Mimic section is disjoint from [IsaacLabEvalTask
repo](https://github.com/isaac-sim/IsaacLabEvalTasks/tree/main) which
uses Mimic to generate Nut pouring task and Pipe sorting task for GR00T
post-training and closedloop evaluation. Added a pointer in the doc.

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## Type of change

Documentation update

## Checklist

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guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
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Fixes broken link to conda in installation doc

# Description

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This PR fixes https://github.com/isaac-sim/IsaacLab/issues/3266, adding
the possibility to randomize the friction coefficient when isaacsim is
higher than 5.0.0

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

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Not applicable 

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`./isaaclab.sh --format`
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---------
Signed-off-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

This PR adds a play script to physX-based IsaacLab to make it possible
to play a Newton-based trained policy. Tested environments are
H1/G1/Anymal-D but other exisiting Newton environment should transfer as
well.


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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.

Fixes # (issue)

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## Type of change

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

## Screenshots

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## Checklist

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---------
Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com>

# Description

This PR provides a PBT builtin training example for
Isaac-Dexsuite-Kuka-Allegro-Lift-v0 environment.

Though we had introduction and explanation for how to run PBT, We didn't
have an builtin example.
This will make using PBT easier for user.

Fixes # (issue)

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## Type of change

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

## Screenshots

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## Checklist

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# Description

Updates documentation for Newton visualizer in preparation for the corl
release of Newton.

Fixes # (issue)

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- Documentation update

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Co-authored-by: Milad-Rakhsha <miladrakhsha@gmail.com>

# Description

As we prepare for the new beta updates with Newton, there are some new
features/environments supported in the Newton integration. This change
reflects these updates in the docs.


## Type of change

- Documentation update

## Checklist

- [x] I have read and understood the [contribution
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`./isaaclab.sh --format`
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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Antoine RICHARD <antoiner@nvidia.com>

# Description

Adds instructions on how to position the lighthouse for manus+vive, to
resolve vive tracking quality issues that users may affect hand tracking
experience.

## Type of change

- Documentation update

## Checklist

- [x] I have read and understood the [contribution
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Co-authored-by: Cathy Li <yuanchenl@yuanchenl-mlt.client.nvidia.com>

# Description

This PR makes the LD_PRELOAD always points to the right python
libgomp.so.1 when conda activate is invoked.

The ARM machines doesn't really work with conda unless LD_PRELOAD is
point to `torch/lib/libgomp.so.1`

This has been tested to work on linux and arm to work on both machines

## 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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# Description

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Fixes bug for toy object intermittently spawning behind the box for the
task Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0

- Reset the default viewer camera pose to see the whole scene.



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


## Screenshots
<img width="1003" height="677" alt="image"
src="https://github.com/user-attachments/assets/4d6afe7c-c0e2-4f32-9331-48a917735191"
/>
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## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
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- [ ] My changes generate no new warnings
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exists there

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# Description

This PR is added with feedback from PBT user, and made below improvments

1. added resume logic to allow wandb to continue on the same run_id
2. corrected broadcasting order in distributed setup
3. made score query general by using dotted keys to access dictionary of
arbitrary depth

Fixes # (issue)

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


## Screenshots

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

## Checklist

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

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# Description

The docstring of the `IdealPDActuator` didn't match its implementation.
Desired and actual joint positions and velocities were swapped.

Actual implementation is like this:
```
def compute(
        self, control_action: ArticulationActions, joint_pos: torch.Tensor, joint_vel: torch.Tensor
    ) -> ArticulationActions:
        # compute errors
        error_pos = control_action.joint_positions - joint_pos
        error_vel = control_action.joint_velocities - joint_vel
        # calculate the desired joint torques
        self.computed_effort = self.stiffness * error_pos + self.damping * error_vel + control_action.joint_efforts
```
It is "`desired - current`", the current docstring says the opposite: 
<img width="524" height="60" alt="image"
src="https://github.com/user-attachments/assets/efdc7348-1587-4ed6-be58-875e804e8db9"
/>


## Type of change

- Documentation update

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [ ] 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: Lorenz Wellhausen <lorenz.wellhausen@rivr.ai>

# Description

A lot of content is shared between different installation guides. This
MR moves them to a common "include" so that it is easier for us to
maintain and modify these changes.

## Type of change

- Documentation update

## Checklist

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

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

# Description

Some more infrastructure updates to brush up our automated jobs:

- treat warnings as errors in doc building and fixing some existing
warnings
- adding release branches to the doc versions
- making sure all jobs also get triggered on release branches
- fixes make script on windows
- fixes out of space error for license check job


## Type of change

- Documentation update


## Checklist

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

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

# Updates the path to IsaacLab directory in SkillGen documentation

## Description

This PR updates the IsaacLab workspace path for clarity and consistency
in SkillGen documentation.

- Updated `docs/source/overview/imitation-learning/skillgen.rst`
(Download and Setup section)
- Replaced:
  - Before: `cd /path/to/your/isaaclab/root`
  - After: `cd /path/to/your/IsaacLab`

Motivation: Aligns with the repository name and common workspace
convention, reducing confusion and preventing copy-paste errors for
users following setup steps.

Dependencies: None

## Type of change

- Documentation update

## Checklist

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

Applied the pre-merge CI failure control to the tasks stage, as it is
done in the general test stage
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This PR removes the calls into write simulation after reset_idx,

I think this is not needed anymore because of PR #2736 
Lets see if it passes all test

Fixes # (issue)

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## Type of change

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

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

## Screenshots

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## Checklist

- [ ] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

It was getting confusing with the table of content on which installation
instruction to follow when. This MR takes a stab at writing clearer
documentation for users. I hope this helps with new users coming to
Isaac Lab.

## Type of change

- Documentation update

## Screenshots

<img width="553" height="865" alt="image"
src="https://github.com/user-attachments/assets/b2b8c71c-8aa4-4911-8efb-25bc894e3a00"
/>

## Checklist

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

# Description

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Updates the Isaac Lab Mimic doc tutorials according to prior reviewer
feedback.
Changes:

1. Clarify demo success criteria for Demo 2 (humanoid pouring task)
2. Add visualization at the start of Demo 2 to clearly indicate that it
is a different task from Demo 1.
3. Document the dataset of Demo 2

## Type of change

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applicable. -->

- Documentation update

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## Checklist

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

Some visuomotor environments cannot run with 32 environments due to
memory limitations. We disable those tests along with a few bad
environments that need to be fixed.


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

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---------
Co-authored-by: Rebecca Zhang <rebeccaz@nvidia.com>

# Description

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to check the contribution guidelines.

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-->

The CI tests met asset errors and controller errors for below envs:
- "Isaac-Stack-Cube-Instance-Randomize-Franka-IK-Rel-v0",
- "Isaac-Stack-Cube-Instance-Randomize-Franka-v0",
- "Isaac-Place-Mug-Agibot-Left-Arm-RmpFlow-v0",
- "Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0"

## Fixes
- Add missing gripper configs in Stack TaskEnvCfgs:
    self.gripper_joint_names = ["panda_finger_.*"]
    self.gripper_open_val = 0.04
    self.gripper_threshold = 0.005

- Move all object assets in Agibot tasks to S3 bucket.


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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)


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

# Description

This fixes the broken link in documentation to the rl environment
related to dexsuite

Fixes #3460 

# Type of Change

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

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
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`./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

This PR fixes an issue introduced in #3251 , which accidentally deleted
actuator_indices in the case where `asset_cfg.joint_id` is not a `slice`
and `actuator.joint_indices` is a `slice`

## 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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feature works
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# Description

This PR fixes #3374. The numpy array type is specified upon creation to
be fp32.

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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exists there

# Description

Fixes #3293

Corrects the documentation for implementing a low-pass filter with
DigitalFilter.
The coefficient A should be [-α] not [α] because DigitalFilter subtracts
the
recursive term (Y*A) in its implementation.

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## Type of change

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

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## Checklist

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

# Description

Since we recently added logdir into the environment cfg, we can also
move the IO description directory to be a subfolder under logdir.

## Type of change

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

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [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

This PR adds support for uv as an alternative to conda or venv for
managing virtual environments and adds corresponding support for uv pip
for managing python dependencies. uv and uv pip is significantly faster
than conda and has many useful tools.

If users wish to use the uv workflow they will need to have uv
installed, but otherwise no additional dependencies are added.

Docs should be updated to describe this option. There may need to be
more work done to clean when deactivating the environment. Uv does not
support pre and post activation hooks like conda so cleaning up the
environment variables is slightly more tricky. I would greatly
appreciate feedback to improve this workflow!

Fixes #3408

## Type of change

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


## Checklist

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`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
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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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exists there

---------
Signed-off-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>