# 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
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# 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

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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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---------
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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- New feature (non-breaking change which adds functionality)
- Breaking change (existing functionality will not work without user
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- Documentation update

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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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## Checklist

- [x] I have read and understood the [contribution
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# Description

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

Fixes # (issue)

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## Type of change

- Documentation update

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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
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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
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`
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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
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`
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exists there
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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## Type of change

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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

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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)


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## Checklist

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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)
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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
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extension's `config/extension.toml` file
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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`
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- [ ] 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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---------
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`
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- [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

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

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## Checklist

- [ ] I have read and understood the [contribution
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- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with
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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
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# 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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# 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

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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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feature works
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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

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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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---------
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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extension's `config/extension.toml` file
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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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- Bug fix (non-breaking change which fixes an issue)

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## Checklist

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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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# 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`
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extension's `config/extension.toml` file
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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`
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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>

# Description

Just fixed a doc formatting issue (an extra space prevents proper syntax
highlighting on this documentation page).

## 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
Signed-off-by: Doug Fulop <dougfulop@gmail.com>

# Description

As noted by @liyifan2002 in the related issue, the `.gitignore` rule for
`datasets` also unintentionally ignores changes in
`isaaclab/utils/datasets/`.

This PR fixes the problem by changing the rule from `datasets` to
`/datasets/`, ensuring that only the top-level `datasets/` folder (e.g.,
created when following [this
guide](https://isaac-sim.github.io/IsaacLab/main/source/overview/imitation-learning/skillgen.html#download-and-setup))
is ignored, while keeping `isaaclab/utils/datasets/` tracked.

Fixes https://github.com/isaac-sim/IsaacLab/issues/3364

## Type of change

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

## Checklist

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

Fixes Jetbot asset path in the documentation.

- Documentation update

- [ ] 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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exists there
Signed-off-by: Javier Felix-Rendon <javierfelixrendon@gmail.com>

# Description

This PR removes a `UserWarning` from PyTorch about using
`torch.tensor()` on an existing tensor in `events.py`. It replaces
`torch.tensor(actuator.joint_indices, device=asset.device)` with
`.to(device)` to avoid unnecessary copies.

Warning mentionned:

```bash
/home/spring/IsaacLab/source/isaaclab/isaaclab/envs/mdp/events.py:542: 
UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.clone().detach() or sourceTensor.clone().detach().requires_grad_(True), rather than torch.tensor(sourceTensor). actuator_joint_indices = torch.tensor(actuator.joint_indices, device=asset.device)
```

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

---------
Signed-off-by: Louis LE LAY <le.lay.louis@gmail.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

Previous merge led to matches for documentation that are unintentional.
This MR fixes the workflow.

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

- [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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Update the user on wrist calibration status with terminal outputs.
Remove unnecessary error logs at the beginning of the session, when
joint data has not arrived yet.

## Type of change

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

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

# Description

This MR adds license for Github action labeller and Pinocchio.

## 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
- [ ] 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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Given the increase in number of PRs to the codebase, it has become
harder to understand the type of changes and the corresponding team to
communicate with. This MR uses a GitHub bot to help us out with
categorizing the PRs.

More info: https://github.com/actions/labeler

## Type of change

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

## Checklist

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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Adds a logdir parameter for all environment configs to allow passing of
the log dir for each experiment from the training/inferencing scripts to
the environment object.

This allows environments to access the logdir for the run and store log
files in there, such as from the feature extractor.


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