Updates package licenses, CPU Governor setting in docs, and flaky tests #3778
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kellyguo11
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Mayankm96,
hhansen-bdai and
jtigue-bdai
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Mayankm96
reviewed
Oct 21, 2025
| Suitable workarounds include switching to a bounding cube approximation, or using a static triangle mesh collider | ||
| if the geometry is not part of a dynamic rigid body. | ||
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| CPU Governor Settings on Linux |
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Maybe we remove this info from here then: https://isaac-sim.github.io/IsaacLab/main/source/refs/troubleshooting.html#using-cpu-scaling-governor-for-performance
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removed, didn't know we already had this in the docs. thanks :)
Mayankm96
reviewed
Oct 21, 2025
| { | ||
| "package": "cmeel-boost", | ||
| "license": "UNKNOWN", | ||
| "license": "BSL-1.0", |
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Is BSL and Zlib compatible with Apache/BSD?
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they are all permissive licenses
![greptile-apps[bot]](https://avatars.githubusercontent.com/in/867647?s=60&v=4){kind=small}
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Greptile Overview
Greptile Summary
This PR makes three maintenance updates: (1) updates license exception metadata for five dependencies (cmeel-boost, cmeel-console-bridge, cmeel-tinyxml, cmeel-zlib, filelock) to reflect their actual SPDX identifiers after upstream packages corrected their license declarations, (2) adds CPU governor performance guidance to the simulation performance documentation, and (3) marks three physics simulation tests as flaky to tolerate non-deterministic failures in CI. These changes integrate with the existing license validation workflow (.github/workflows/license-exceptions.json), documentation structure (docs/source/how-to/simulation_performance.rst), and test infrastructure that uses the flaky library for handling non-deterministic test behavior.
Critical Issues:
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License metadata inconsistency: In
.github/workflows/license-exceptions.jsonline 202-204,cmeel-console-bridgehas"license": "Zlib"but the comment says"BSD". This mismatch needs verification against the upstream package's actual license to ensure compliance tracking is accurate. -
Potential package installation issue: In
docs/source/how-to/simulation_performance.rstline 53, the commandsudo apt-get install linux-tools-commonmay not provide thecpupowerbinary on all distributions. The typical requirement is the kernel-version-specific packagelinux-tools-$(uname -r). This could lead to command-not-found errors for users. -
Documentation duplication: Previous reviewer noted that CPU governor documentation already exists at
https://isaac-sim.github.io/IsaacLab/main/source/refs/troubleshooting.html#using-cpu-scaling-governor-for-performance. Adding this section creates duplicate guidance that could lead to maintenance burden and inconsistencies.
Confidence: 3/5 - The license metadata and flaky test changes are low-risk maintenance updates, but the license comment mismatch needs verification and the documentation addition has both a technical accuracy issue and potential duplication concerns that should be resolved.
4 files reviewed, 1 comment
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| .. code-block:: bash | ||
| sudo apt-get install linux-tools-common |
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logic: package name should be linux-tools-$(uname -r) or cpufrequtils instead of linux-tools-common for direct cpupower access on most distributions. Have you verified this works across Ubuntu 20.04, 22.04, and other supported distributions?
kellyguo11
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Oct 27, 2025
…ts (#3778) # Description There were some recent updates to a couple of our dependency packages that have updated their licenses. Updating our license checker exceptions to match with the new updated licenses for these packages. Additionally, adds a note in the simulation performance documentation for CPU governor setting to improve performance. Also, updates a few unit tests to mark as flaky as we've shown in recent CI runs. ## 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) - 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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
jnskkmhr
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Oct 29, 2025
* Provides PBT training cfg example for Isaac-Dexsuite-Kuka-Allegro-Lift-v0 env for rl_games (#3553) # 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) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change - New feature (non-breaking change which adds functionality) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * [Newton] Adds policy transfer script for sim2sim transfer from Newton to physX (#3565) # 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. <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> 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) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## 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) - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Milad Rakhsha <[email protected]> * Randomizes viscous and dynamic joint friction based on IsaacSim 5.0 (#3318) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html --> 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 <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Screenshots Not applicable <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Giulio Romualdi <[email protected]> Signed-off-by: Mayank Mittal <[email protected]> Co-authored-by: James Tigue <[email protected]> Co-authored-by: Mayank Mittal <[email protected]> * Fixes broken link to conda in installation doc (#3601) Fixes broken link to conda in installation doc * Adds link to IsaacLabEvalTasks repo from mimic section in doc (#3621) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> 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. <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## 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 - [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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Updated docker image builds with new requirements (#3613) # Description Enabling multi-arch build with Isaac SIM 5.1 images * Forces CRLF for .bat files to prevent script execution errors on Windows (#3624) # Description Fix windows script execution error as described in [Discussions 3260](https://github.com/isaac-sim/IsaacLab/discussions/3260), by forcing to use crlf as eol in `*.bat` file ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Fixes minor typos in the documentation (#3584) # Description Fixes minor typos in the documentation. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [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 * Fixes SB3's template ppo cfg up to date with security-safe syntax for training specification (#3688) # Description This PR fixes the bug where if template is generated using SB3, the code does not run because it couldn't parse from string ``` policy_kwargs: "dict( activation_fn=nn.ELU, net_arch=[32, 32], squash_output=False, )" ``` We have disabled the string parsing, as it is not safe(aka arbitrary code could be parsed) this PR makes sure the sb3's template also adopt the new secure syntax ``` policy_kwargs: activation_fn: nn.ELU net_arch: [32, 32] squash_output: False ``` ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Uses the configuration to obtain the simulation device (#3636) # Description This MR fixes the slow-down observed in recent IsaacLab updates. Previously, the simulation device was read through the configuration; later, this was changed to read the device through the simulation manager. On profiling, I observed that the simulation manager function took 0.01 s per call. This is quite a bit of overhead, considering that `env.device` refers to `sim.device` and gets called at multiple locations in the environment. This MR reverts back to the previous solution for obtaining the device. Fixes #3554 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots ``` ./isaaclab.sh -p scripts/benchmarks/benchmark_non_rl.py --task Isaac-Velocity-Flat-Anymal-C-v0 --headless --seed 0 --num_frames 2000 ``` The numbers reported here are the average FPS on PC with RTX A6000 GPU and Intel i9-9820X: * **Before**: 94784.43553363248 * **Overriding `sim.device`**: 100484.21244511564 ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Adds msgpack to license exception (#3687) # Description msgpack is required by ray when installing rl_games. it has an apache 2.0 license, so we are adding it to the exceptions list since the license shows up as UNKNOWN by the license checker. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Fixes skrl train/play script configurations when using the `--agent` argument and rename agent configuration variable (#3643) # Description This PR address the following points: * Fix skrl train/play script configuration when using the `--agent` argument Example: ```bash python scripts/reinforcement_learning/skrl/train.py --task Isaac-Cart-Double-Pendulum-Direct-v0 --headless --agent skrl_mappo_cfg_entry_point ``` Error: ``` [INFO]: Parsing configuration from: isaaclab_tasks.direct.cart_double_pendulum.cart_double_pendulum_env:CartDoublePendulumEnvCfg [INFO]: Parsing configuration from: /home/toni/Documents/RL/toni_IsaacLab/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_mappo_cfg.yaml [INFO] Logging experiment in directory: /home/toni/Documents/RL/toni_IsaacLab/logs/skrl/cart_double_pendulum_direct Error executing job with overrides: [] Traceback (most recent call last): File "/home/toni/Documents/RL/toni_IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py", line 101, in hydra_main func(env_cfg, agent_cfg, *args, **kwargs) File "/home/toni/Documents/RL/toni_IsaacLab/scripts/reinforcement_learning/skrl/train.py", line 156, in main log_dir = datetime.now().strftime("%Y-%m-%d_%H-%M-%S") + f"_{algorithm}_{args_cli.ml_framework}" ^^^^^^^^^ NameError: name 'algorithm' is not defined ``` * Replace `STATES` by `OBSERVATIONS` when defining skrl's agent configuration model inputs to ensure a smooth and error-free transition when the new mayor version of **skrl** gets released. In such mayor version `OBSERVATIONS` and `STATES` have different value/usage. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) * Updates SkillGen documentation for data gen command and success rates (#3702) # SkillGen documentation: data gen command cleanup and success-rate guidance ## Description This PR updates the SkillGen documentation in `docs/source/overview/imitation-learning/skillgen.rst`: - Removes a redundant `--headless` flag from a data generation command example. - Adds a note with success-rate guidelines and training recommendations for cube stacking and bin cube stacking. - Clarifies minor text details, including correcting the planning phase order to “Retreat → Contact → Approach” for consistency. Motivation: Improve clarity, set realistic expectations on data generation and downstream policy performance, and align docs with actual planner behavior. Dependencies: None ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Configures mesh collision schemas in `convert_mesh.py` (#3558) # Description The collision approximation configuration changed in main branch, but the code in tools/convert_mesh.py does not sync. Fixes #3557 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] 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 <[email protected]> * Fixes warnings when running AutoMate env (#3660) # Description * Fixes the warning messages reported in the QA testing * Remove redundant config argument 'sample_from' * Change the default value of config argument 'num_log_traj' ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Kelly Guo <[email protected]> * Exposes `physxscene:solveArticulationContactLast` flag through PhysxCfg (#3502) # Description This PR adds api to set physxscene:solveArticulationContactLast through PhysxCfg, this is only available in sim 5.1 Fixes # (issue) ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - New feature (non-breaking change which adds functionality) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [] I have added tests that prove my fix is effective or that my feature works - [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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: ooctipus <[email protected]> Co-authored-by: Mayank Mittal <[email protected]> * Updates CODEOWNERS for Isaac Lab Mimic (#3714) # Description Update CODEOWNERS for Isaac Lab Mimic ## Type of change - Documentation update ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> Signed-off-by: Yan Chang <[email protected]> * Update gymnasium dependency to version 1.2.1 (#3696) # Description 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 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there Signed-off-by: Mayank Mittal <[email protected]> Co-authored-by: ooctipus <[email protected]> * Updates SB3 ppo cfg so it trains under reasonable amount of time (#3726) # Description 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) ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Fixes the way seed was set in the benchmark_non_rl script (#3741) # Description 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. ## 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 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Removes pickle dependency for cfg load and dump (#3709) # Description 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 ## 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` - [ ] 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 <[email protected]> Co-authored-by: Mayank Mittal <[email protected]> * Adds functions to obtain prim pose and scale from USD Xformable (#3371) # Description This MR adds two functions to obtain the pose and scale of a prim respectively. This is needed for #3298. ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [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 <[email protected]> Co-authored-by: Copilot <[email protected]> Co-authored-by: Kelly Guo <[email protected]> * Sets reward computation in AutoMate env with CUDA or CPU (#3733) # Description 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. ## 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) - [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 <[email protected]> Co-authored-by: Kelly Guo <[email protected]> * Normalizes line endings for docs/make.bat (#3757) # Description 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. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Adds data gen and policy learning times in SkillGen documentation (#3773) ## Description This PR updates the SkillGen docs to include expected data generation and policy training times for clarity. Dependencies: None ## Type of change - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Fixes typo in rl-games configuration for cartpole task (#3767) # Description 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. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots Not applicable (text-only typo fix in YAML configuration file) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> Signed-off-by: G.G <[email protected]> * Updates cuRobo installation instructions and added VRAM baseline perf to SkillGen docs (#3796) ### Description - Add a concise installation caveat for cuRobo when Omniverse Kit/Isaac Sim environment scripts set `PYTHONPATH`/`PYTHONHOME`, with simple mitigations. - Clarify `TORCH_CUDA_ARCH_LIST` usage (match GPU compute capability; add `+PTX` for forward compatibility). - Consolidate and document VRAM usage baselines and GPU recommendations for both Vanilla Cube Stacking and Adaptive Bin Cube Stacking (measured over 10 demos on RTX 6000 Ada 48 GB). - Minor wording fixes for consistency (e.g., “adaptive bin cube stacking”). - **Dependencies**: None ### Type of change - Documentation update ### Checklist - [x] I have read and understood the contribution guidelines - [x] I have run the `pre-commit` checks with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension’s `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Fixes cuda version as float for AutoMate to correctly convert patch versions (#3795) # Description To convert cuda version from a string to a float, I update the function to handle cases with multiple points, e.g. string '12.8.9' will be converted to float 12.89. Before, float('12.8.9') will return None for failure conversion. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Updates package licenses, CPU Governor setting in docs, and flaky tests (#3778) # Description There were some recent updates to a couple of our dependency packages that have updated their licenses. Updating our license checker exceptions to match with the new updated licenses for these packages. Additionally, adds a note in the simulation performance documentation for CPU governor setting to improve performance. Also, updates a few unit tests to mark as flaky as we've shown in recent CI runs. ## 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) - 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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Fixes TiledCamera data types and rlgames training on CPU (#3808) # Description We were incorrectly converting all numpy array data in the TiledCamera class into uint8 type warp arrays when simulation device is set to CPU. Some annotations like depth are float32 while segmentation data is uint32. The correct behavior should convert to warp arrays depending on the input data type of the numpy array. Additionally, rlgames configs were set to cuda device by default but were not being overridden when users specify the simulation device to CPU through cmdline. We should propagate the device setting to the rlgames configs so that we can run training on the same device, similar to how RSL RL is set up. Fixes #3526 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Adds matplotlib-inline to license exceptions (#3853) # Description matplotlib-inline has BSD-3 license, so it's ok for us to include it. We already have the license file specified for it. ## 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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> * Merges release 2.3 changes into main with Isaac Sim 5.1 support (#3857) # Description Merging in updates for the Isaac Lab 2.3 release, moving to support for Isaac Sim 5.1. This change includes many features for teleoperation, disjoint navigation, whole-body control for teleoperation, and IK updates from @rwiltz, @michaellin6, @jaybdub, @huihuaNvidia2023, @hougantc-nvda, @lotusl-code, @yami007007, @cathyliyuanchen, @tifchen-nvda. Additionally, support for DGX Spark is added by @ooctipus and @matthewtrepte. For details of the changes and updates, refer to the release notes. ## Type of change - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - 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 - [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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Harsh Patel <[email protected]> Signed-off-by: rebeccazhang0707 <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: yami007007 <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: Louis LE LAY <[email protected]> Signed-off-by: Mayank Mittal <[email protected]> Signed-off-by: Javier Felix-Rendon <[email protected]> Signed-off-by: Doug Fulop <[email protected]> Signed-off-by: Milad Rakhsha <[email protected]> Signed-off-by: Giulio Romualdi <[email protected]> Signed-off-by: zehao-wang <[email protected]> Signed-off-by: Michael Gussert <[email protected]> Signed-off-by: ooctipus <[email protected]> Signed-off-by: shauryadNv <[email protected]> Co-authored-by: Philipp Reist <[email protected]> Co-authored-by: Harsh Patel <[email protected]> Co-authored-by: James Tigue <[email protected]> Co-authored-by: James Tigue <[email protected]> Co-authored-by: ooctipus <[email protected]> Co-authored-by: rebeccazhang0707 <[email protected]> Co-authored-by: michaellin6 <[email protected]> Co-authored-by: Huihua Zhao <[email protected]> Co-authored-by: Rafael Wiltz <[email protected]> Co-authored-by: Sergey Grizan <[email protected]> Co-authored-by: Alexander Poddubny <[email protected]> Co-authored-by: John <[email protected]> Co-authored-by: yami007007 <[email protected]> Co-authored-by: Weihua Zhang <[email protected]> Co-authored-by: PeterL-NV <[email protected]> Co-authored-by: Mayank Mittal <[email protected]> Co-authored-by: hougantc-nvda <[email protected]> Co-authored-by: peterd-NV <[email protected]> Co-authored-by: njawale42 <[email protected]> Co-authored-by: Cathy Li <[email protected]> Co-authored-by: Louis LE LAY <[email protected]> Co-authored-by: Javier Felix-Rendon <[email protected]> Co-authored-by: Doug Fulop <[email protected]> Co-authored-by: Robin Vishen <[email protected]> Co-authored-by: -T.K.- <[email protected]> Co-authored-by: Mayank Mittal <[email protected]> Co-authored-by: Rebecca Zhang <[email protected]> Co-authored-by: Lorenz Wellhausen <[email protected]> Co-authored-by: Lorenz Wellhausen <[email protected]> Co-authored-by: Michael Gussert <[email protected]> Co-authored-by: Antoine RICHARD <[email protected]> Co-authored-by: tifchen-nvda <[email protected]> Co-authored-by: Cathy Li <[email protected]> Co-authored-by: rwiltz <[email protected]> Co-authored-by: Milad-Rakhsha-NV <[email protected]> Co-authored-by: Milad-Rakhsha <[email protected]> Co-authored-by: Giulio Romualdi <[email protected]> Co-authored-by: Xinjie Yao <[email protected]> Co-authored-by: shauryadNv <[email protected]> Co-authored-by: Toni-SM <[email protected]> Co-authored-by: zehao-wang <[email protected]> Co-authored-by: yijieg <[email protected]> Co-authored-by: ndahile-nvidia <[email protected]> Co-authored-by: matthewtrepte <[email protected]> Co-authored-by: yanziz-nvidia <[email protected]> Co-authored-by: lotusl-code <[email protected]> * Updates release notes and driver versions (#3868) # Description Documentation update for release notes for the 2.3 release and some final updates on recommended driver versions. ## 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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> * Fixes broken link for Isaac-Tracking-LocoManip-Digit-v0 (#3883) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> `Isaac-Tracking-LocoManip-Digit-v0` was moved to a different source code path and docs were not updated accordingly. This change fixes the broken URL. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Documentation update ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Milad Rakhsha <[email protected]> Signed-off-by: Giulio Romualdi <[email protected]> Signed-off-by: Mayank Mittal <[email protected]> Signed-off-by: zehao-wang <[email protected]> Signed-off-by: ooctipus <[email protected]> Signed-off-by: Yan Chang <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: G.G <[email protected]> Signed-off-by: Harsh Patel <[email protected]> Signed-off-by: rebeccazhang0707 <[email protected]> Signed-off-by: yami007007 <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Signed-off-by: Louis LE LAY <[email protected]> Signed-off-by: Javier Felix-Rendon <[email protected]> Signed-off-by: Doug Fulop <[email protected]> Signed-off-by: Michael Gussert <[email protected]> Signed-off-by: shauryadNv <[email protected]> Co-authored-by: ooctipus <[email protected]> Co-authored-by: Milad-Rakhsha-NV <[email protected]> Co-authored-by: Giulio Romualdi <[email protected]> Co-authored-by: James Tigue <[email protected]> Co-authored-by: Mayank Mittal <[email protected]> Co-authored-by: Michael Gussert <[email protected]> Co-authored-by: Xinjie Yao <[email protected]> Co-authored-by: Alexander Poddubny <[email protected]> Co-authored-by: Qingyang Jiang <[email protected]> Co-authored-by: co63oc <[email protected]> Co-authored-by: Kelly Guo <[email protected]> Co-authored-by: Toni-SM <[email protected]> Co-authored-by: njawale42 <[email protected]> Co-authored-by: zehao-wang <[email protected]> Co-authored-by: yijieg <[email protected]> Co-authored-by: Yan Chang <[email protected]> Co-authored-by: Copilot <[email protected]> Co-authored-by: G.G <[email protected]> Co-authored-by: Philipp Reist <[email protected]> Co-authored-by: Harsh Patel <[email protected]> Co-authored-by: James Tigue <[email protected]> Co-authored-by: rebeccazhang0707 <[email protected]> Co-authored-by: michaellin6 <[email protected]> Co-authored-by: Huihua Zhao <[email protected]> Co-authored-by: Rafael Wiltz <[email protected]> Co-authored-by: Sergey Grizan <[email protected]> Co-authored-by: John <[email protected]> Co-authored-by: yami007007 <[email protected]> Co-authored-by: Weihua Zhang <[email protected]> Co-authored-by: PeterL-NV <[email protected]> Co-authored-by: hougantc-nvda <[email protected]> Co-authored-by: peterd-NV <[email protected]> Co-authored-by: Cathy Li <[email protected]> Co-authored-by: Louis LE LAY <[email protected]> Co-authored-by: Javier Felix-Rendon <[email protected]> Co-authored-by: Doug Fulop <[email protected]> Co-authored-by: Robin Vishen <[email protected]> Co-authored-by: -T.K.- <[email protected]> Co-authored-by: Mayank Mittal <[email protected]> Co-authored-by: Rebecca Zhang <[email protected]> Co-authored-by: Lorenz Wellhausen <[email protected]> Co-authored-by: Lorenz Wellhausen <[email protected]> Co-authored-by: Antoine RICHARD <[email protected]> Co-authored-by: tifchen-nvda <[email protected]> Co-authored-by: Cathy Li <[email protected]> Co-authored-by: rwiltz <[email protected]> Co-authored-by: Milad-Rakhsha <[email protected]> Co-authored-by: shauryadNv <[email protected]> Co-authored-by: ndahile-nvidia <[email protected]> Co-authored-by: matthewtrepte <[email protected]> Co-authored-by: yanziz-nvidia <[email protected]> Co-authored-by: lotusl-code <[email protected]> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
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Description
There were some recent updates to a couple of our dependency packages that have updated their licenses. Updating our license checker exceptions to match with the new updated licenses for these packages.
Additionally, adds a note in the simulation performance documentation for CPU governor setting to improve performance.
Also, updates a few unit tests to mark as flaky as we've shown in recent CI runs.
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there