Upstream 5.1 sync

.dockerignore

@@ -4,12 +4,15 @@
 .gitignore
 # ignore docs
 docs/
+# copy in licenses folder to the container
+!docs/licenses/
 # ignore logs
 **/logs/
 **/runs/
 **/output/*
 **/outputs/*
 **/videos/*
+**/wandb/*
 *.tmp
 # ignore docker
 docker/cluster/exports/
@@ -21,3 +24,7 @@ recordings/
 **/*.egg-info/
 # ignore isaac sim symlink
 _isaac_sim?
+# Docker history
+docker/.isaac-lab-docker-history
+# ignore uv environment
+env_isaaclab

.gitattributes

@@ -10,3 +10,5 @@
 *.pt filter=lfs diff=lfs merge=lfs -text
 *.jit filter=lfs diff=lfs merge=lfs -text
 *.hdf5 filter=lfs diff=lfs merge=lfs -text
+
+*.bat text eol=crlf

.github/CODEOWNERS

@@ -16,62 +16,86 @@
 
 # App experience files
 # These are the files that are used to launch the app with the correct settings and configurations
-/apps/ @kellyguo11 @hhansen-bdai @Mayankm96 @Dhoeller19
+/apps/ @kellyguo11 @hhansen-bdai @Mayankm96
 
 # Core Framework
-/source/isaaclab/ @Dhoeller19 @Mayankm96 @jsmith-bdai @kellyguo11
-/source/isaaclab/isaaclab/actuators @Dhoeller19 @Mayankm96 @nikitardn @jtigue-bdai
+/source/isaaclab/isaaclab/actuators @Mayankm96 @jtigue-bdai
 /source/isaaclab/isaaclab/app @hhansen-bdai @kellyguo11
-/source/isaaclab/isaaclab/assets @jsmith-bdai @Dhoeller19 @kellyguo11 @Mayankm96 @jtigue-bdai
-/source/isaaclab/isaaclab/assets/deformable_object @kellyguo11 @Mayankm96 @masoudmoghani
+/source/isaaclab/isaaclab/assets @kellyguo11 @Mayankm96 @jtigue-bdai
+/source/isaaclab/isaaclab/assets/deformable_object @masoudmoghani @ooctipus
 /source/isaaclab/isaaclab/controllers @Mayankm96
-/source/isaaclab/isaaclab/envs @jsmith-bdai @Dhoeller19 @kellyguo11 @Mayankm96
-/source/isaaclab/isaaclab/envs/manager_based_* @jsmith-bdai @Dhoeller19 @Mayankm96
+/source/isaaclab/isaaclab/envs/manager_based_* @Mayankm96 @jtigue-bdai @ooctipus
 /source/isaaclab/isaaclab/envs/direct_* @kellyguo11
-/source/isaaclab/isaaclab/managers @jsmith-bdai @Dhoeller19 @Mayankm96
-/source/isaaclab/isaaclab/sensors @jsmith-bdai @Dhoeller19 @pascal-roth @Mayankm96 @jtigue-bdai
+/source/isaaclab/isaaclab/envs/mdp @ooctipus
+/source/isaaclab/isaaclab/envs/mimic_* @peterd-NV
+/source/isaaclab/isaaclab/envs/ui @ooctipus @ossamaAhmed
+/source/isaaclab/isaaclab/envs/utils @Toni-SM
+/source/isaaclab/isaaclab/managers @jtigue-bdai @Mayankm96 @ooctipus
+/source/isaaclab/isaaclab/sensors/sensor_base* @pascal-roth
 /source/isaaclab/isaaclab/sensors/camera @kellyguo11 @pascal-roth
-/source/isaaclab/isaaclab/sensors/contact_sensor @jtigue-bdai
-/source/isaaclab/isaaclab/sensors/frame_transformer @jsmith-bdai
-/source/isaaclab/isaaclab/sensors/ray_caster @pascal-roth @Dhoeller19
-/source/isaaclab/isaaclab/sim @Mayankm96 @jsmith-bdai
-/source/isaaclab/isaaclab/sim/simulation_context.py @Dhoeller19 @kellyguo11
-/source/isaaclab/isaaclab/terrains @Dhoeller19 @Mayankm96 @nikitardn
-/source/isaaclab/isaaclab/utils @Mayankm96 @jsmith-bdai
-/source/isaaclab/isaaclab/utils/modifiers @jtigue-bdai
+/source/isaaclab/isaaclab/sensors/contact_sensor @jtigue-bdai @ooctipus
+/source/isaaclab/isaaclab/sensors/imu @jtigue-bdai @pascal-roth
+/source/isaaclab/isaaclab/sensors/ray_caster @pascal-roth
+/source/isaaclab/isaaclab/sensors/frame_transformer @jtigue-bdai
+/source/isaaclab/isaaclab/sim/converters @Mayankm96 @jtigue-bdai @kellyguo11
+/source/isaaclab/isaaclab/sim/schemas @Mayankm96 @jtigue-bdai @kellyguo11
+/source/isaaclab/isaaclab/sim/spawners @Mayankm96 @jtigue-bdai @ooctipus
+/source/isaaclab/isaaclab/sim/simulation_* @matthewtrepte @ossamaAhmed @kellyguo11
+/source/isaaclab/isaaclab/terrains @Mayankm96
+/source/isaaclab/isaaclab/ui @pascal-roth @jtigue-bdai
+/source/isaaclab/isaaclab/utils/buffers @ooctipus @jtigue-bdai
+/source/isaaclab/isaaclab/utils/datasets @Peter-NV
 /source/isaaclab/isaaclab/utils/interpolation @jtigue-bdai
+/source/isaaclab/isaaclab/utils/io @ooctipus
+/source/isaaclab/isaaclab/utils/modifiers @jtigue-bdai
 /source/isaaclab/isaaclab/utils/noise @jtigue-bdai @kellyguo11
-/source/isaaclab/isaaclab/utils/warp @Dhoeller19 @pascal-roth
-/source/isaaclab/isaaclab/utils/assets.py @Dhoeller19 @kellyguo11 @Mayankm96
-/source/isaaclab/isaaclab/utils/math.py @jsmith-bdai @Dhoeller19 @Mayankm96
-/source/isaaclab/isaaclab/utils/configclass.py @Mayankm96 @Dhoeller19
+/source/isaaclab/isaaclab/utils/warp @pascal-roth
+/source/isaaclab/isaaclab/utils/assets.py @kellyguo11 @Mayankm96
+/source/isaaclab/isaaclab/utils/math.py @jtigue-bdai @Mayankm96
+/source/isaaclab/isaaclab/utils/configclass.py @Mayankm96
+/source/isaaclab/isaaclab/utils/sensors.py @kellyguo11 @pascal-roth
 
 # RL Environment
-/source/isaaclab_tasks/ @Dhoeller19 @Mayankm96 @jsmith-bdai @kellyguo11
-/source/isaaclab_tasks/isaaclab_tasks/direct @Dhoeller19 @kellyguo11
-/source/isaaclab_tasks/isaaclab_tasks/manager_based @Dhoeller19 @Mayankm96 @jsmith-bdai @jtigue-bdai
+/source/isaaclab_tasks/isaaclab_tasks/direct @kellyguo11
+/source/isaaclab_tasks/isaaclab_tasks/manager_based @Mayankm96
+/source/isaaclab_tasks/isaaclab_tasks/utils @Mayankm96
 
 # Assets
-/source/isaaclab_assets/isaaclab_assets/ @Dhoeller19 @pascal-roth @jsmith-bdai
+/source/isaaclab_assets/isaaclab_assets/ @pascal-roth
+
+# Mimic
+/source/isaaclab_mimic/isaaclab_mimic @peterd-NV
+/source/isaaclab_mimic/isaaclab_mimic @njawale42
+/source/isaaclab_mimic/isaaclab_mimic @michaellin6
+/source/isaaclab_mimic/isaaclab_mimic @jaybdub
+/source/isaaclab_mimic/isaaclab_mimic @huihuaNvidia2023
+/source/isaaclab_mimic/isaaclab_mimic @xyao-nv
+
+# RL
+/source/isaaclab_rl/isaaclab_rl/rsl_rl @Mayankm96 @ClemensSchwarke
+/source/isaaclab_rl/isaaclab_rl/rl_games @Toni-SM
+/source/isaaclab_rl/isaaclab_rl/sb3 @Toni-SM
+/source/isaaclab_rl/isaaclab_rl/skrl @Toni-SM
 
 # Standalone Scripts
-/scripts/demos/ @jsmith-bdai @jtigue-bdai @Dhoeller19 @kellyguo11 @Mayankm96
-/scripts/environments/ @Mayankm96
-/scripts/tools/ @jsmith-bdai @Mayankm96
-/scripts/tutorials/ @jsmith-bdai @pascal-roth @kellyguo11 @Dhoeller19 @Mayankm96
-/scripts/reinforcement_learning/ @jsmith-bdai @Dhoeller19 @kellyguo11 @Mayankm96
-/scripts/imitation_learning/ @jsmith-bdai @Dhoeller19 @kellyguo11 @Mayankm96
+/scripts/benchmarks/ @ooctipus @kellyguo11
+/scripts/demos/ @ooctipus
+/scripts/environments/ @ooctipus
+/scripts/imitation_learning/ @Peter-NV
+/scripts/reinforcement_learning/ @ooctipus @Toni-NV
+/scripts/tools/ @jtigue-bdai @Mayankm96
+/scripts/tutorials/ @jtigue-bdai @pascal-roth
 
 # Github Actions
 # This list is for people wanting to be notified every time there's a change
 # related to Github Actions
-/.github/ @kellyguo11 @jsmith-bdai
+/.github/ @kellyguo11 @hhansen-bdai
 
 # Visual Studio Code
 /.vscode/ @hhansen-bdai @Mayankm96
 
 # Infrastructure (Docker, Docs, Tools)
 /docker/ @hhansen-bdai @pascal-roth
-/docs/ @jsmith-bdai @Dhoeller19 @kellyguo11 @Mayankm96
-/tools/ @hhansen-bdai @jsmith-bdai @Dhoeller19
-/isaaclab.* @hhansen-bdai @Dhoeller19 @Mayankm96 @kellyguo11
+/docs/ @jtigue-bdai @kellyguo11 @Mayankm96
+/tools/ @hhansen-bdai
+/isaaclab.* @hhansen-bdai @Mayankm96 @kellyguo11

.github/ISSUE_TEMPLATE/bug.md

@@ -31,11 +31,11 @@ Describe the characteristic of your environment:
 
 <!-- Please complete the following description. -->
 - Commit: [e.g. 8f3b9ca]
-- Isaac Sim Version: [e.g. 2022.2.0, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]
-- OS: [e.g. Ubuntu 20.04]
-- GPU: [e.g. RTX 2060 Super]
-- CUDA: [e.g. 11.4]
-- GPU Driver: [e.g. 470.82.01, this can be seen by using `nvidia-smi` command.]
+- Isaac Sim Version: [e.g. 5.0, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]
+- OS: [e.g. Ubuntu 22.04]
+- GPU: [e.g. RTX 5090]
+- CUDA: [e.g. 12.8]
+- GPU Driver: [e.g. 553.05, this can be seen by using `nvidia-smi` command.]
 
 ### Additional context
 

.github/ISSUE_TEMPLATE/proposal.md

@@ -21,6 +21,14 @@ If this is related to another GitHub issue, please link here too.
 
 A clear and concise description of any alternative solutions or features you've considered, if any.
 
+### Build Info
+
+Describe the versions where you are observing the missing feature in:
+
+<!-- Please complete the following description. -->
+- Isaac Lab Version: [e.g. 2.3.2]
+- Isaac Sim Version: [e.g. 5.1, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]
+
 ### Additional context
 
 Add any other context or screenshots about the feature request here.

.github/ISSUE_TEMPLATE/question.md

@@ -10,4 +10,12 @@ Basic questions, related to robot learning, that are not bugs or feature request
 
 Advanced/nontrivial questions, especially in areas where documentation is lacking, are very much welcome.
 
-For questions that are related to running and understanding Isaac Sim, please post them at the official [Isaac Sim forums](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/isaac_sim_forums.html).
+For questions that are related to running and understanding Isaac Sim, please post them at the official [Isaac Sim forums](https://forums.developer.nvidia.com/c/omniverse/simulation/69).
+
+### Build Info
+
+Describe the versions that you are currently using:
+
+<!-- Please complete the following description. -->
+- Isaac Lab Version: [e.g. 2.3.2]
+- Isaac Sim Version: [e.g. 5.1, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]

.github/LICENSE_HEADER.txt

@@ -1,4 +1,4 @@
-Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
 All rights reserved.
 
 SPDX-License-Identifier: BSD-3-Clause

.github/LICENSE_HEADER_MIMIC.txt

@@ -1,4 +1,4 @@
-Copyright (c) 2024-2025, The Isaac Lab Project Developers.
+Copyright (c) 2024-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
 All rights reserved.
 
 SPDX-License-Identifier: Apache-2.0