# Description
Changes mention of Isaac Lab UI to Isaac Sim UI docs
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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.

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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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## 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

## Checklist

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# Description

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Tweak rendering preset default behavior

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

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# Description

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Add a note for warning msgs from ovd recording.

Fixes # (issue)

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

# Description

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

Fixes # (issue)

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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

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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

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# Description

Uses rl-games fork from isaac sim org for installation


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# Description

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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

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

## Screenshots

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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.


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# Description

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Fixes # (issue)

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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

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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`
- [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`
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feature works
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extension's `config/extension.toml` file
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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`
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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

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
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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

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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`
- [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
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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
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feature works
- [ ] I have updated the changelog and the corresponding version in the
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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

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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
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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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)

<!-- As a practice, it is recommended to open an issue to have
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This makes it easier for the community to keep track of what is being
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is demanded by more than one party. -->

<!-- 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)

![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>

# Description

This PR adds the option to set wrench positions to
`set_external_force_and_torque`. This is a non-breaking change as the
positions are passed as an optional argument. When no positions are set,
the function defaults to the original implementation, that is, no
positions are passed to PhysX. The PR also adds tests to check that the
position values are correctly set into their buffer, but does not check
if the resulting wrenches are correct. I did test the Quadcopter task
before and after this PR and the training results are exactly the same.

As of now, the function follows the original layout. But it could make
sense to offer the option to set the position in either the link frame
or the CoM frame. This would follow the recent changes made to the
set_pose and set_velocity methods for instance. However, this would be a
breaking change. Hence, for now, this has not been implemented. One
could also argue, that this could be done prior to feeding the positions
outside this method. Please let me know what you feel is best, and I'll
update the PR accordingly.

If one wanted to test the resulting wrenches, it would require a simple
test articulation like a 1kg sphere that would be used to accurately
compute the expected velocities. This is also feasible, but I feel like
this test is more on the PhysX side of things, let me know.

This change will require an update of the API documentation to include
the position argument.

Fixes #1678 

## 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`
- [ ] 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

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

# Description
This PR enables hydra override for all play.py scripts
I have mannually tested all rl_frameworks and worked.

I remember there is a issue related, but couldn't find it, feel free to
add to it if you found it.

## 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 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

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---------
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

As required by https://github.com/isaac-sim/IsaacLab/pull/2962 and
vulnerabilities in torch 2.5.1, this change updates torch to 2.7.0
during the installation of Isaac Lab.

Although inconsistent with Isaac Sim 4.5 (still on torch 2.5.1), Isaac
Lab should work fine with 2.7.0+cu128. This update will also allow us to
have better support for blackwell GPUs.

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

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This PR supports enables ManagerBasedRLEnv to properly support
gymnaisum's composite observation gym.spaces.Dict at term-level with
proper min, max specification. The benefit is that this will give
rl-library a clearer signs how to pre-process the obseravtion data.

Before:
All terms are assigned with `gym.Spaces.Box(min=-np.inf, max=np.inf)`,
one problem with this is that from rl-library side, is that some
rl-libraries network construction depends heavily on observations space
details. RL-library (e.g. sb3) looks at `gym.Spaces.Box.min` and
`gym.Spaces.Box.max` to determine if they need to normalize it at
library side.

After:
this PR utilizes on obs_terms's clip to determine if gym.Spaces.Box
should be stricter. For example, environment obs_term returning
gym.Spaces.Box(min=0, max=255) will be automatically detected by sb3,
and a proper scalling be applied automatically. whereas
gym.Spaces.Box(min=-inf, max=inf) will fail.

while no special case is treated for gym.Spaces.Box(min=-1, max=1), but
this will makes the rl-library easy to figure out that this term is
already clipped, not more transformation needed.

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applicable. -->

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

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

# Description

Automated job that runs on every PR to check for any dependencies that
have non-permissive licenses.

## 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
- [ ] 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

Adds license file for the Valkyrie robot in order for us to include it
into Isaac assets.


## Type of change

- This change requires a documentation update

## Checklist

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

Adds a CITATION.cff file for automatically generating citation link.

## 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
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extension's `config/extension.toml` file
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exists there

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

# Description

This PR extend `script/reinforcement_learning/sb3/train.py` with feature
to continue learning by loading the checkpoint.

## Type of change

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applicable. -->

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

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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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- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
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---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

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to check the contribution guidelines.

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This PR fixes shape‑handling bugs in the termination helpers
**`joint_pos_out_of_limit`** and **`joint_pos_out_of_manual_limit`**:

* **Root cause** – both functions reduced across joints with
`torch.any(dim=1)` **before** slicing with `asset_cfg.joint_ids`,
leaving a 1‑D tensor and triggering an `IndexError: too many indices`.
* **Fix** – construct a single `violations` mask, optionally slice
joints, **then** reduce with `torch.any(dim=1)`.
This preserves correct shapes (`[num_envs]`) and works for any
joint‑selection type (`None`, `slice`, list, or tensor).
* **Additional improvements**

* Made `asset_cfg` immutable by avoiding in‑place modification of
`joint_ids`.
  * Added docstring details and harmonised logic between both helpers.

No new dependencies were introduced.

Fixes https://github.com/isaac-sim/IsaacLab/issues/2441

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## Type of change

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applicable. -->

* [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

*Not applicable – logic‑only change.*

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

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---------
Signed-off-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

This PR fixes the bug in the test `test_modify_env_param_curr_term`
```
    modify_reset_joint_pos = CurrTerm(
        func=mdp.modify_term_cfg,
        params={
            "address": "events.reset_pole_position.params.position_range", <------
            "modify_fn": replace_value,
            "modify_params": {"value": (-0.0, 0.0), "num_steps": 1},
        },
    )
```

it is trying to modify `events.reset_**pole**_position`

but in the assertion, it is checking `events.reset_**cart**_position`

```
joint_ids = env.event_manager.cfg.reset_cart_position.params["asset_cfg"].joint_ids
assert torch.all(robot.data.joint_pos[:, joint_ids] == 0.0)
```

it wasn't an error before because reset_joints_by_offset function was
buggy, and the tests suite passed before right before that bug was
fixed. Now that bug fixed, we found out this bug.

## Screenshots

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

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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
- [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
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- [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: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

Remove the usage of the REMOTE_DEPLOYMENT environment variable (e.g.,
export REMOTE_DEPLOYMENT=3) from the example code blocks in the
[IsaacLab App
documentation](https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.app.html),
as this variable has been deprecated.

Fixes #2920  (issue)

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

Before
<img width="817" height="279" alt="isaaclab_app"
src="https://github.com/user-attachments/assets/cfd45532-8b43-4285-9ed9-81039c7624e1"
/>
After
<img width="810" height="256" alt="Screenshot from 2025-07-15 09-54-47"
src="https://github.com/user-attachments/assets/65838873-7374-4eee-8963-f35ca661725e"
/>

- [O] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [O] I have made corresponding changes to the documentation
- [O] My changes generate no new warnings
- [O] 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
- [O] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

This is a follow-up to #1746 by @lukasfro — thanks for the great work
there!

I’ve been using this feature and found it really helpful. Since the only
remaining request was to resolve merge conflicts and the PR has been
quiet for a bit, I went ahead and rebased it on the latest `main` to
help move things forward.

I branched directly off @lukasfro’s [original
branch](https://github.com/lukasfro/IsaacLab/tree/feature/force_matrix_w_history)
to preserve their authorship, and only applied the changes needed to
resolve the conflicts.

Of course, if @lukasfro prefers to continue the original PR, I’m more
than happy to close this. Just hoping to be helpful and support getting
this great addition merged.

All credit for the original work goes to @lukasfro.

Fixes #1720

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

- [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>
Co-authored-by: lukasfro <lukas.froehlich@swiss-mile.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Expands the documentation on actuators and the importance of the
armature parameter when using explicit actuators.

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

Running the job on the host