Enhances Pbt usage experience through small improvements by ooctipus · Pull Request #3449 · isaac-sim/IsaacLab

ooctipus · 2025-09-14T09:52:31Z

Description

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

added resume logic to allow wandb to continue on the same run_id
corrected broadcasting order in distributed setup
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

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

Checklist

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

# 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 Please attach before and after screenshots of the change if applicable.  ## 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  --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com>

) # 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 Please attach before and after screenshots of the change if applicable.  ## 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  --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com>

commit c7c500fa92cfb35ee0b329d516d3d4cc235194fd Author: george-nehma <georgenehma98@gmail.com> Date: Mon Jan 19 14:01:55 2026 -0500 save local changes commit 8701c0395b9a0f48753c6fbd8d95dfbddfe65f92 Author: george-nehma <goergenehma98@gmail.com> Date: Mon Jan 19 13:30:44 2026 -0500 Save local changes commit 33850266bab9e37883e7ba70620c3020dac462a4 Author: george-nehma <georgenehma98@gmail.com> Date: Fri Jan 16 12:17:01 2026 -0500 tracking logs with LFS commit ac74d9af37df7c7446a3e6418ed5239ae6961578 Author: george-nehma <georgenehma98@gmail.com> Date: Fri Jan 16 12:16:40 2026 -0500 adding logs (Git LFS) and plots to repo commit a164a41e2fa5d6ddeac115d7b1f08c4da2f26eed Author: george-nehma <georgenehma98@gmail.com> Date: Fri Jan 16 11:28:41 2026 -0500 lunar lander finished commit 758b1ab57b1a954698fd46959d7c4993f9ece7b4 Author: george-nehma <georgenehma98@gmail.com> Date: Mon Dec 22 13:03:26 2025 -0500 return to 17hr training config and fixing the landing reward commit ccb337170c5629f09bfd0c97d6f722a70e74c025 Author: george-nehma <georgenehma98@gmail.com> Date: Thu Dec 18 19:48:26 2025 -0500 checking for 6hr training commit 927fcc8bc77da91464e179813cb2f311d217ecd1 Author: george-nehma <georgenehma98@gmail.com> Date: Thu Dec 18 19:40:13 2025 -0500 code used at AIAA SciTech conference commit e0298f82af038270df7caf27768d226ade7cdf0b Author: george-nehma <georgenehma98@gmail.com> Date: Wed Dec 10 14:23:28 2025 -0500 added option for checkpoint retraining, working 6DOF with Force and Moments - testing for better results commit fdd0a6f391b6a1f13d418c641c4c8216c8345e5c Author: george-nehma <georgenehma98@gmail.com> Date: Sat Nov 29 10:13:11 2025 -0500 - working 6dof lander with realistic weights, moment of inertia and thrusts (plots didnt update correctly, not sure why) commit 7a5058458cbbec5d490b23088a9c17d2414a0e77 Author: george-nehma <georgenehma98@gmail.com> Date: Sun Nov 9 17:14:18 2025 -0500 - finished working 6dof (can tune more to work better) - started adding safe bellman equation models commit 4b0c2b2df51c18ce66c8f9f49ee49742b098a5af Author: george-nehma <georgenehma98@gmail.com> Date: Fri Nov 7 13:49:50 2025 -0500 - working 6 dof lander with config (batchsize 20 and steps 7e5) commit b9440865e530d94dc7872f15f42aef47948cb66d Author: george-nehma <georgenehma98@gmail.com> Date: Thu Nov 6 09:45:46 2025 -0500 - lander working 95% of the way, just missing final landing attitude (yaw rotation) commit 4d8e82fd4acc023fc3816ad59e2ce438de0cb571 Merge: 75710f456b d427d3cb86 Author: george-nehma <georgenehma98@gmail.com> Date: Mon Nov 3 11:21:47 2025 -0500 Merge branch 'main' of https://github.com/george-nehma/IsaacLab-Dreamerv3 commit 75710f456bb3c8803790bd6d645bdb02c6a9bc5f Author: george-nehma <georgenehma98@gmail.com> Date: Mon Nov 3 11:21:43 2025 -0500 testing vision cartpole model commit d427d3cb86a46acacde52c40ab383d1d7fad6be0 Author: george-nehma <gnehma2020@my.fit.edu> Date: Mon Nov 3 11:21:10 2025 -0500 - better 6dof lander -started working on combined safe bellman equation commit 039eabb0504e7ed384d4ca52f196493521490086 Author: george-nehma <georgenehma98@gmail.com> Date: Wed Oct 29 17:48:32 2025 -0400 - combined 6dof training commit 80638ad62b0f23811f6a3b8f8643acdaad96ffd0 Merge: 8c108e77c7 46a76b6082 Author: george-nehma <georgenehma98@gmail.com> Date: Fri Oct 24 11:18:41 2025 -0400 Merge branch 'main' of https://github.com/george-nehma/IsaacLab-Dreamerv3 commit 8c108e77c79a7c3352b19cd65613875bd779dfb6 Author: george-nehma <georgenehma98@gmail.com> Date: Fri Oct 24 11:18:40 2025 -0400 - fixes to branches and heads commit 46a76b6082cda5b24218908a349237900a5a2645 Merge: 6479377ade 56463950fc Author: george-nehma <gnehma2020@my.fit.edu> Date: Fri Oct 24 11:17:31 2025 -0400 Merge branch 'main' of https://github.com/george-nehma/IsaacLab-Dreamerv3 commit 56463950fc1b85038bfaacb64aa275384828e686 Merge: 74d2790f26 1103a0f38f Author: george-nehma <georgenehma98@gmail.com> Date: Fri Oct 24 11:04:06 2025 -0400 Merge remote-tracking branch 'upstream/main' commit 74d2790f26e8a193b4ec0b8f42f443c56b452dec Merge: a86c8ba8e9 060c693427 Author: george-nehma <georgenehma98@gmail.com> Date: Fri Oct 24 10:23:02 2025 -0400 Merge branch 'main' of https://github.com/george-nehma/IsaacLab-Dreamerv3 commit a86c8ba8e97465e0952d6099fa7655aec4c920a1 Author: george-nehma <georgenehma98@gmail.com> Date: Fri Oct 24 10:19:07 2025 -0400 - working on getting attitude to work with improved training conditions commit 6479377adefd29d5dd6d004ab0190b15cceba958 Author: george-nehma <gnehma2020@my.fit.edu> Date: Fri Oct 24 10:17:55 2025 -0400 - modified cartpole state and camera env to work with Dreamer to test transfer policy - modifications to all envs for continue predictor learning - reduced total training time commit 060c693427ed76a3a2ba6d7e2d6806a8636d3c0d Author: george-nehma <gnehma2020@my.fit.edu> Date: Fri Oct 24 10:17:55 2025 -0400 - modified cartpole state and camera env to work with Dreamer to test transfer policy - modifications to all envs for continue predictor learning - reduced total training time commit e78c03cb04520360a4a555408ccbaba75c445251 Author: george-nehma <georgenehma98@gmail.com> Date: Tue Oct 21 12:12:22 2025 -0400 adding devcontainer files commit 0f329ba7e8d9dd49c91fb3bfdda31355c236674f Author: george-nehma <georgenehma98@gmail.com> Date: Tue Oct 21 12:12:22 2025 -0400 adding devcontainer files commit c44b16b1f6758645f1a7dba76e65c755212c6f7c Merge: b04ff6bae7 d86e5681b9 Author: george-nehma <georgenehma98@gmail.com> Date: Tue Oct 21 10:09:10 2025 -0400 Merge remote-tracking branch 'upstream/main' commit 357632860bf4638f492bec0c99375c1dc87bf30e Merge: cbad3443b3 995070d9b5 Author: george-nehma <georgenehma98@gmail.com> Date: Tue Oct 21 10:09:10 2025 -0400 Merge remote-tracking branch 'upstream/main' commit b04ff6bae7d5b36c6c2f5318e68e23564cdbc653 Author: george-nehma <georgenehma98@gmail.com> Date: Tue Oct 21 10:00:22 2025 -0400 - edits to training to create fake envs for dreamer and allow for full use of data - working orientation control but lander flips initially??? commit cbad3443b3128c1b063a96d8380be98199587a3f Author: george-nehma <georgenehma98@gmail.com> Date: Tue Oct 21 10:00:22 2025 -0400 - edits to training to create fake envs for dreamer and allow for full use of data - working orientation control but lander flips initially??? commit d86e5681b9bef33550652ebd481bfea5d3a9d40b Author: G.G <148413288+tkgaolol@users.noreply.github.com> Date: Tue Oct 21 16:55:29 2025 +0800 Fixes typo in rl-games configuration for cartpole task (#3767) Fixed a typo in the RL Games PPO configuration file for the Cartpole feature-based environment. Changed value_bootstraop to value_bootstrap on line 60 to match the correct parameter name used throughout the codebase. - Bug fix (non-breaking change which fixes an issue) Not applicable (text-only typo fix in YAML configuration file) - [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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there  Signed-off-by: G.G <148413288+tkgaolol@users.noreply.github.com> commit 382d5647ae857de6b534e54054727de826397480 Author: Neel Jawale <njawale@nvidia.com> Date: Mon Oct 20 19:13:13 2025 -0700 Adds data gen and policy learning times in SkillGen documentation (#3773) This PR updates the SkillGen docs to include expected data generation and policy training times for clarity. Dependencies: None - Documentation update - [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 commit 5088dae95e55d8d828dd3a77cdeba67459114ae7 Author: Kelly Guo <kellyg@nvidia.com> Date: Sun Oct 19 03:08:53 2025 -0700 Normalizes line endings for docs/make.bat (#3757) When cloning the repo, make.bat caused line ending changes to be triggered on Linux due to difference in Windows and Linux styles. This change normalizes the script to avoid triggering git conversions when cloning the repo. - 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` - [ ] 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 commit 89c45746672a58f62a7c2b2ed0a31727e3f6efea Author: yijieg <yijieg@nvidia.com> Date: Fri Oct 17 18:04:14 2025 -0700 Sets reward computation in AutoMate env with CUDA or CPU (#3733) If Nvidia driver 580 and cuda toolkit 13.0, we compute reward with CPU. If Nvidia driver 570 and cuda toolkit 12.8, we compute reward with CUDA. Fixes issue with hanging process with cuda 13. - Bug fix (non-breaking change which fixes an issue) - Documentation update - [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 - [ ] 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: Kelly Guo <kellyg@nvidia.com> commit a7b1bcb519d3bf8c3e4e0be384dc28589f504c33 Author: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Date: Fri Oct 17 09:58:20 2025 +0200 Adds functions to obtain prim pose and scale from USD Xformable (#3371) This MR adds two functions to obtain the pose and scale of a prim respectively. This is needed for #3298. - 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 - [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 --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> commit e73345a1d6d5c6c241d355743bdb3b92eed5c5e7 Author: Kelly Guo <kellyg@nvidia.com> Date: Thu Oct 16 15:07:42 2025 -0700 Removes pickle dependency for cfg load and dump (#3709) We have been supporting both pickle and yaml storing for configuration. However, pickle has some security vulnerabilities and we have been preferring the use of yaml in most cases. Thus, we are removing the pickle utilities for saving and loading configs. For more info on pickle: https://docs.python.org/3/library/pickle.html - Breaking change (existing functionality will not work without user modification) - [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 - [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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> commit 611eb89c5685d47366b13cd9d9176eb910065dd2 Author: Kelly Guo <kellyg@nvidia.com> Date: Thu Oct 16 13:27:31 2025 -0700 Fixes the way seed was set in the benchmark_non_rl script (#3741) When seed was added to the benchmark_non_rl.py script, it was mistakenly trying to read from simulation config, which doesn't exist. We can set seed directly from the cli arguments since it's ok to be None if it's not specified.  - 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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there  commit 19777c348d479ce21d88e4e018c01141049fbf79 Author: ooctipus <zhengyuz@nvidia.com> Date: Thu Oct 16 10:41:28 2025 -0700 Updates SB3 ppo cfg so it trains under reasonable amount of time (#3726) This PR fixes the sb3_ppo_cfg for task Isaac-Ant-v0 the parameter before had 4096 num_envs + horizon 512 + batch size 128 + n_epoch 20, that means the training one cycle it needs to for loop (20 * 512 * 4096) / 128 = 327680 times! which appears as if it is hanging forever the new config matches more closely with that of rl_games. I verified it will trains under 5 min [Screencast from 2025-10-15 13-56-21.webm](https://github.com/user-attachments/assets/2bc7bcd8-0063-46b9-adb0-67a6aa686732)  - Bug fix (non-breaking change which fixes an issue) Please attach before and after screenshots of the change if applicable.  - [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  commit 6c708c273d0dde4482b9518bee70dcb3677dac53 Author: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Date: Wed Oct 15 21:38:13 2025 +0200 Update gymnasium dependency to version 1.2.1 (#3696) This MR updates gymnasium version to prevent memory leak while video recording. Related MR: https://github.com/Farama-Foundation/Gymnasium/pull/1444 Fixes https://github.com/isaac-sim/IsaacLab/pull/3387 - 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` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: ooctipus <zhengyuz@nvidia.com> commit 1882123e71aee6935b5cbaead3ea0cfa48272bc3 Author: Yan Chang <yachang@nvidia.com> Date: Thu Oct 16 01:33:01 2025 +0900 Updates CODEOWNERS for Isaac Lab Mimic (#3714) Update CODEOWNERS for Isaac Lab Mimic - Documentation update - [ ] 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` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there  Signed-off-by: Yan Chang <yachang@nvidia.com> commit 05d284c94372c01d354f2ef3fc7863c71f2163fd Author: ooctipus <zhengyuz@nvidia.com> Date: Tue Oct 14 20:50:49 2025 -0700 Exposes `physxscene:solveArticulationContactLast` flag through PhysxCfg (#3502) This PR adds api to set physxscene:solveArticulationContactLast through PhysxCfg, this is only available in sim 5.1 Fixes # (issue)  - New feature (non-breaking change which adds functionality) Please attach before and after screenshots of the change if applicable.  - [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 - [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: ooctipus <zhengyuz@nvidia.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> commit 56d219840ac6ff87fb72269972763156d963f86c Author: yijieg <yijieg@nvidia.com> Date: Tue Oct 14 15:06:51 2025 -0700 Fixes warnings when running AutoMate env (#3660) * 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' - 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` - [ ] 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> commit b405197eee3acdb3b53a64af5dd7d35286e961f5 Author: zehao-wang <59912787+zehao-wang@users.noreply.github.com> Date: Wed Oct 15 00:04:57 2025 +0200 Configures mesh collision schemas in `convert_mesh.py` (#3558) The collision approximation configuration changed in main branch, but the code in tools/convert_mesh.py does not sync. Fixes #3557 - 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` - [ ] 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: zehao-wang <59912787+zehao-wang@users.noreply.github.com> commit 7423e8ae9c3d48ce93eb4c3a10e8d25afc86d2de Author: njawale42 <njawale@nvidia.com> Date: Tue Oct 14 14:54:00 2025 -0700 Updates SkillGen documentation for data gen command and success rates (#3702) guidance 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 - Documentation update - [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 commit 399969681f33ce3e3b4b125c47e1ce40ef6c9acf Author: Toni-SM <aserranomuno@nvidia.com> Date: Tue Oct 14 16:24:03 2025 -0400 Fixes skrl train/play script configurations when using the `--agent` argument and rename agent configuration variable (#3643) 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.  - Bug fix (non-breaking change which fixes an issue) commit 4e3ba23036891c7492fb1add10790f48b30e0fcb Author: Kelly Guo <kellyg@nvidia.com> Date: Tue Oct 14 13:23:04 2025 -0700 Adds msgpack to license exception (#3687) 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.  - Documentation update - [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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there  commit 31b289d3a641c0a624ea39a37232cc988a938610 Author: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Date: Tue Oct 14 09:27:25 2025 +0200 Uses the configuration to obtain the simulation device (#3636) 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 - Bug fix (non-breaking change which fixes an issue) ``` ./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 - [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 commit c85a0b69dc34449bd2603f8da15fb7031118f4fe Author: ooctipus <zhengyuz@nvidia.com> Date: Mon Oct 13 20:52:25 2025 -0700 Fixes SB3's template ppo cfg up to date with security-safe syntax for training specification (#3688) 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 ``` - [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  commit 24236a059c448b2800091dc79a795edaf12e4651 Author: co63oc <4617245+co63oc@users.noreply.github.com> Date: Fri Oct 10 15:47:35 2025 +0800 Fixes minor typos in the documentation (#3584) Fixes minor typos in the documentation. - 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` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there commit 3c4b5a288e6c3d2acfb10a22c73a25fecbe11bd0 Author: Qingyang Jiang <jiang131072@gmail.com> Date: Fri Oct 10 14:59:45 2025 +0800 Forces CRLF for .bat files to prevent script execution errors on Windows (#3624) 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 - 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` - [ ] 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 commit 7a33b24b60d91ef38f1bc89c11f4fe8caddfa359 Author: Alexander Poddubny <143108850+nv-apoddubny@users.noreply.github.com> Date: Wed Oct 8 08:32:24 2025 -0700 Updated docker image builds with new requirements (#3613) Enabling multi-arch build with Isaac SIM 5.1 images commit 0864c075db925572184d41e6bbcb17356ea2f438 Author: Xinjie Yao <xyao@nvidia.com> Date: Fri Oct 3 19:15:21 2025 -0700 Adds link to IsaacLabEvalTasks repo from mimic section in doc (#3621)  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.  Documentation update - [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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there  commit 2f5d1942e1594b6dc5f79ab8492385224306b2cb Author: george-nehma <georgenehma98@gmail.com> Date: Thu Oct 2 16:00:43 2025 -0400 update git ignore commit a21253c344e61131def3f19fd145787d6d4bab51 Author: george-nehma <georgenehma98@gmail.com> Date: Thu Oct 2 16:00:43 2025 -0400 update git ignore commit ee44f6f1e8000a433955eecbad7dff1d55272f46 Author: george-nehma <georgenehma98@gmail.com> Date: Thu Oct 2 16:00:09 2025 -0400 states almost working just need to fix the bounding cox issue on the terrain. But other than that, lands pretty well. commit f3690269ccc1a5064c5a49e09e727a2ae9572674 Author: george-nehma <georgenehma98@gmail.com> Date: Thu Oct 2 16:00:09 2025 -0400 states almost working just need to fix the bounding cox issue on the terrain. But other than that, lands pretty well. commit 97406c767f763099ba4c6c250ea00dc80e9fe0c1 Author: george-nehma <georgenehma98@gmail.com> Date: Thu Sep 25 13:56:15 2025 -0400 fixed a lot of the issues with the states environment and first time seeing plausible results. commit a97e3e867979d94bf42e43bc9be480e1e3bbb163 Author: george-nehma <georgenehma98@gmail.com> Date: Thu Sep 25 13:56:15 2025 -0400 fixed a lot of the issues with the states environment and first time seeing plausible results. commit 4c573ec422fa0554a9a729d25064535153be82da Author: george-nehma <georgenehma98@gmail.com> Date: Wed Sep 3 12:44:01 2025 -0400 added play test for dreamer agent commit d7b6f66c6bd58d46f8dac49af01106487a38bd09 Author: george-nehma <georgenehma98@gmail.com> Date: Wed Sep 3 12:44:01 2025 -0400 added play test for dreamer agent commit ba8f91a5b2f17b1e4c2fd49fa32596b7de570a15 Author: george-nehma <georgenehma98@gmail.com> Date: Wed Aug 27 10:35:12 2025 -0400 adding Lander code + updating gitignore for large files commit d6ff33d6218ff12c004a597c6d45fc6e38d3fcd6 Author: george-nehma <georgenehma98@gmail.com> Date: Wed Aug 27 10:35:12 2025 -0400 adding Lander code + updating gitignore for large files commit 1becdd428b33a4a5ea873e14d265ef37d689dc66 Author: Michael Gussert <michael@gussert.com> Date: Wed Oct 1 16:34:59 2025 -0700 Fixes broken link to conda in installation doc (#3601) Fixes broken link to conda in installation doc commit 7aa7ec54805ac85726277334fcf204383b428529 Author: Giulio Romualdi <giulio.romualdi@gmail.com> Date: Mon Sep 29 23:34:57 2025 +0200 Randomizes viscous and dynamic joint friction based on IsaacSim 5.0 (#3318)  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   - New feature (non-breaking change which adds functionality) Not applicable  - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there  --------- Signed-off-by: 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> commit c8533292f41b737ebd3f43b43b0a443809452f82 Author: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Date: Mon Sep 29 14:34:13 2025 -0700 [Newton] Adds policy transfer script for sim2sim transfer from Newton to physX (#3565) 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.  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)   - 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 Please attach before and after screenshots of the change if applicable.  - [ ] 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` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there  --------- Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com> commit 7ed290dfc1f963357582dad59350dda551ab51c1 Author: ooctipus <zhengyuz@nvidia.com> Date: Mon Sep 29 14:33:54 2025 -0700 Provides PBT training cfg example for Isaac-Dexsuite-Kuka-Allegro-Lift-v0 env for rl_games (#3553) 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)  - New feature (non-breaking change which adds functionality) Please attach before and after screenshots of the change if applicable.  - [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  commit 829b6eff8cc4bef6133f6e2f7186f16e9d45518b Author: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com> Date: Sun Sep 28 10:22:26 2025 -0700 [Newton] Updates newton visualizer documentation (#3551) Updates documentation for Newton visualizer in preparation for the corl release of Newton. Fixes # (issue)  - Documentation update Please attach before and after screenshots of the change if applicable.  - [ ] 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` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there  Co-authored-by: Milad-Rakhsha <miladrakhsha@gmail.com> commit 96b26293754a3c16105522c4280c4ae907b22e26 Author: Kelly Guo <kellyg@nvidia.com> Date: Mon Sep 29 02:21:57 2025 +0900 [Newton] Updates Newton docs for beta integration (#3518) 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. - Documentation update - [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 - [ ] 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: Antoine RICHARD <antoiner@nvidia.com> commit d1a9753f20f4189ef7c54749d557878e64fd0d59 Author: Cathy Li <40371641+cathyliyuanchen@users.noreply.github.com> Date: Wed Sep 24 18:39:27 2025 -0700 Adds instructions on how to position the lighthouse for manus+vive (#3496) Adds instructions on how to position the lighthouse for manus+vive, to resolve vive tracking quality issues that users may affect hand tracking experience. - Documentation update - [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: Cathy Li <yuanchenl@yuanchenl-mlt.client.nvidia.com> commit 32d03ce906c8a9dd0e8a0c583029ddffdb9d8ef2 Author: ooctipus <zhengyuz@nvidia.com> Date: Tue Sep 23 18:55:14 2025 -0700 Adds torch hook to export libgomp.so.1 from installed torch (#3512) 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  - Bug fix (non-breaking change which fixes an issue) Please attach before and after screenshots of the change if applicable.  - [ ] 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` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there  commit 3a2ec7c823be23c2ad9790788455cfb990c86b2b Author: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com> Date: Tue Sep 23 05:00:52 2025 +0800 Updates default viewer pose to see the whole scene for Agibot environment (#3516)  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.   - Bug fix (non-breaking change which fixes an issue) <img width="1003" height="677" alt="image" src="https://github.com/user-attachments/assets/4d6afe7c-c0e2-4f32-9331-48a917735191" />  - [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 - [ ] 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  commit cc9513b88d02e23e1b5de9b21e603174c9a06932 Author: ooctipus <zhengyuz@nvidia.com> Date: Fri Sep 19 15:11:15 2025 -0700 Enhances Pbt usage experience through small improvements (#3449) 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) Please attach before and after screenshots of the change if applicable.  - [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  --------- Co-authored-by: Kelly Guo <kellyg@nvidia.com> commit ce1608532bd854e802aa995a7ef26913ef04e774 Author: Michael Gussert <michael@gussert.com> Date: Fri Sep 19 15:01:56 2025 -0700 Fixes broken links in the documentation (#3500) - [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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there  commit 63bc150c65619fc312c58bd1cec8d911aecfb6ec Author: Lorenz Wellhausen <lorenwel@users.noreply.github.com> Date: Thu Sep 18 20:56:24 2025 +0200 Fix PDActuator docstring to match actual implementation (#3493) 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: error_pos = control_action.joint_positions - joint_pos error_vel = control_action.joint_velocities - joint_vel 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" /> - Documentation update - [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> commit da35c466524d3580922adee05a2c7bdc77e5079d Author: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Date: Thu Sep 18 09:25:00 2025 +0200 Abstracts out common steps in installation guide (#3445) 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. - Documentation update - [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> commit b9778ac1b7e3a9de650cd83ec14ee445bd5664a6 Author: Kelly Guo <kellyg@nvidia.com> Date: Thu Sep 18 00:19:48 2025 -0700 Updates github actions to error on doc warnings (#3488) 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 - Documentation update - [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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there  --------- Co-authored-by: ooctipus <zhengyuz@nvidia.com> commit 87e8c58ba49c7f38b260121a32787184f7fe5b58 Author: njawale42 <njawale@nvidia.com> Date: Wed Sep 17 17:53:36 2025 -0700 Updates the Path to Isaaclab Dir in SkillGen Documentation (#3482) 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 - Documentation update - [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 commit fa4fd3cb75084f3400dc6d8753f90e2ce3b4b41a Author: Alexander Poddubny <143108850+nv-apoddubny@users.noreply.github.com> Date: Wed Sep 17 17:48:06 2025 -0700 Ap…

ooctipus added 3 commits September 14, 2025 02:39

made several part of pbt a bit nicer

f66c595

nit

4a07ab4

add extension and ChangeLog

02e8eb3

ooctipus requested review from Mayankm96, Toni-SM, jtigue-bdai and kellyguo11 as code owners September 14, 2025 09:52

github-actions bot added bug Something isn't working documentation Improvements or additions to documentation isaac-lab Related to Isaac Lab team labels Sep 14, 2025

Merge branch 'main' into pbt_fixes

cf18a97

kellyguo11 approved these changes Sep 17, 2025

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kellyguo11 merged commit 90dda53 into isaac-sim:main Sep 19, 2025
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Enhances Pbt usage experience through small improvements#3449

Enhances Pbt usage experience through small improvements#3449
kellyguo11 merged 4 commits intoisaac-sim:mainfrom
ooctipus:pbt_fixes

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ooctipus commented Sep 14, 2025

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