Klakhi/temp gen non int

.github/PULL_REQUEST_TEMPLATE.md

@@ -4,6 +4,8 @@
 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.
@@ -21,8 +23,8 @@ is demanded by more than one party. -->
 
 - Bug fix (non-breaking change which fixes an issue)
 - New feature (non-breaking change which adds functionality)
-- Breaking change (fix or feature that would cause existing functionality to not work as expected)
-- This change requires a documentation update
+- Breaking change (existing functionality will not work without user modification)
+- Documentation update
 
 ## Screenshots
 
@@ -40,6 +42,7 @@ To upload images to a PR -- simply drag and drop an image while in edit mode and
 
 ## 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

.github/labeler.yml

@@ -0,0 +1,77 @@
+# 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
+
+# Documentation-related changes
+documentation:
+  - all:
+    - changed-files:
+      - any-glob-to-any-file:
+        - 'docs/**'
+        - '**/README.md'
+      - all-globs-to-all-files:
+        - '!docs/licenses/**'
+
+# Infrastructure changes
+infrastructure:
+  - changed-files:
+    - any-glob-to-any-file:
+      - .github/**
+      - docker/**
+      - .dockerignore
+      - tools/**
+      - .vscode/**
+      - environment.yml
+      - setup.py
+      - pyproject.toml
+      - .pre-commit-config.yaml
+      - .flake8
+      - isaaclab.sh
+      - isaaclab.bat
+      - docs/licenses/**
+
+# Assets (USD, glTF, etc.) related changes.
+asset:
+  - changed-files:
+    - any-glob-to-any-file:
+      - source/isaaclab_assets/**
+
+# Isaac Sim team related changes.
+isaac-sim:
+  - changed-files:
+    - any-glob-to-any-file:
+      - apps/**
+
+# Isaac Mimic team related changes.
+isaac-mimic:
+  - changed-files:
+    - any-glob-to-any-file:
+      - source/isaaclab/isaaclab/devices/**
+      - source/isaaclab_mimic/**
+      - source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack**
+      - source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_and_place**
+      - scripts/imitation_learning/**
+
+# Isaac Lab team related changes.
+isaac-lab:
+  - all:
+    - changed-files:
+      - any-glob-to-any-file:
+        - source/**
+        - scripts/**
+      - all-globs-to-all-files:
+        - '!source/isaaclab_assets/**'
+        - '!source/isaaclab_mimic/**'
+        - '!source/isaaclab/isaaclab/devices'
+        - '!scripts/imitation_learning/**'
+
+# Add 'enhancement' label to any PR where the head branch name
+# starts with `feature` or has a `feature` section in the name
+enhancement:
+  - head-branch: ['^feature', 'feature']
+
+# Add 'bug' label to any PR where the head branch name
+# starts with `fix`/`bug` or has a `fix`/`bug` section in the name
+bug:
+  - head-branch: ['^fix', 'fix', '^bug', 'bug']

.github/workflows/build.yml

@@ -10,6 +10,7 @@ on:
     branches:
       - devel
       - main
+      - 'release/**'
 
 # Concurrency control to prevent parallel runs on the same PR
 concurrency:
@@ -75,6 +76,20 @@ jobs:
         retention-days: 1
         compression-level: 9
 
+    - name: Check Test Results for Fork PRs
+      if: github.event.pull_request.head.repo.full_name != github.repository
+      run: |
+        if [ -f "reports/isaaclab-tasks-report.xml" ]; then
+          # Check if the test results contain any failures
+          if grep -q 'failures="[1-9]' reports/isaaclab-tasks-report.xml || grep -q 'errors="[1-9]' reports/isaaclab-tasks-report.xml; then
+            echo "Tests failed for PR from fork. The test report is in the logs. Failing the job."
+            exit 1
+          fi
+        else
+          echo "No test results file found. This might indicate test execution failed."
+          exit 1
+        fi
+
   test-general:
     runs-on: [self-hosted, gpu]
     timeout-minutes: 180
@@ -121,11 +136,19 @@ jobs:
         retention-days: 1
         compression-level: 9
 
-    - name: Fail on Test Failure for Fork PRs
-      if: github.event.pull_request.head.repo.full_name != github.repository && steps.run-general-tests.outcome == 'failure'
+    - name: Check Test Results for Fork PRs
+      if: github.event.pull_request.head.repo.full_name != github.repository
       run: |
-        echo "Tests failed for PR from fork. The test report is in the logs. Failing the job."
-        exit 1
+        if [ -f "reports/general-tests-report.xml" ]; then
+          # Check if the test results contain any failures
+          if grep -q 'failures="[1-9]' reports/general-tests-report.xml || grep -q 'errors="[1-9]' reports/general-tests-report.xml; then
+            echo "Tests failed for PR from fork. The test report is in the logs. Failing the job."
+            exit 1
+          fi
+        else
+          echo "No test results file found. This might indicate test execution failed."
+          exit 1
+        fi
 
   combine-results:
     needs: [test-isaaclab-tasks, test-general]

.github/workflows/docs.yaml

@@ -10,6 +10,7 @@ on:
     branches:
       - main
       - devel
+      - 'release/**'
   pull_request:
     types: [opened, synchronize, reopened]
 
@@ -27,8 +28,7 @@ jobs:
     - id: trigger-deploy
       env:
         REPO_NAME: ${{ secrets.REPO_NAME }}
-        BRANCH_REF: ${{ secrets.BRANCH_REF }}
-      if: "${{ github.repository == env.REPO_NAME && github.ref == env.BRANCH_REF }}"
+      if: "${{ github.repository == env.REPO_NAME && (github.ref == 'refs/heads/main' || github.ref == 'refs/heads/devel' || startsWith(github.ref, 'refs/heads/release/')) }}"
       run: echo "defined=true" >> "$GITHUB_OUTPUT"
 
   build-docs:

.github/workflows/labeler.yml

@@ -0,0 +1,17 @@
+# 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
+
+name: "Pull Request Labeler"
+on:
+- pull_request_target
+
+jobs:
+  labeler:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/labeler@v6

.github/workflows/license-check.yaml

@@ -24,16 +24,20 @@ jobs:
     # - name: Install jq
     #   run: sudo apt-get update && sudo apt-get install -y jq
 
+    - name: Clean up disk space
+      run: |
+        rm -rf /opt/hostedtoolcache
+
     - name: Set up Python
       uses: actions/setup-python@v4
       with:
-        python-version: '3.10'  # Adjust as needed
+        python-version: '3.11'  # Adjust as needed
 
     - name: Install dependencies using ./isaaclab.sh -i
       run: |
         # first install isaac sim
         pip install --upgrade pip
-        pip install 'isaacsim[all,extscache]==4.5.0' --extra-index-url https://pypi.nvidia.com
+        pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_BASE_VERSION || '5.0.0' }}' --extra-index-url https://pypi.nvidia.com
         chmod +x ./isaaclab.sh  # Make sure the script is executable
         # install all lab dependencies
         ./isaaclab.sh -i
@@ -48,6 +52,12 @@ jobs:
     - name: Print License Report
       run: pip-licenses --from=mixed --format=markdown
 
+    # Print pipdeptree
+    - name: Print pipdeptree
+      run: |
+        pip install pipdeptree
+        pipdeptree
+
     - name: Check licenses against whitelist and exceptions
       run: |
         # Define the whitelist of allowed licenses
@@ -118,9 +128,3 @@ jobs:
         else
           echo "All packages were checked."
         fi
-
-    # Print pipdeptree
-    - name: Print pipdeptree
-      run: |
-        pip install pipdeptree
-        pipdeptree

.github/workflows/license-exceptions.json

@@ -308,7 +308,7 @@
   },
   {
     "package": "typing_extensions",
-    "license": "UNKNOWN",
+    "license": "Python Software Foundation License",
     "comment": "PSFL / OSRB"
   },
   {
@@ -400,5 +400,30 @@
     "package": "fsspec",
     "license" : "UNKNOWN",
     "comment": "BSD"
+  },
+  {
+    "package": "numpy-quaternion",
+    "license": "UNKNOWN",
+    "comment": "MIT"
+  },
+  {
+    "package": "aiohappyeyeballs",
+    "license": "Other/Proprietary License; Python Software Foundation License",
+    "comment": "PSFL / OSRB"
+  },
+  {
+    "package": "cffi",
+    "license": "UNKNOWN",
+    "comment": "MIT"
+  },
+  {
+    "package": "trio",
+    "license": "UNKNOWN",
+    "comment": "MIT"
+  },
+  {
+    "package": "pipdeptree",
+    "license": "UNKNOWN",
+    "comment": "MIT"
   }
 ]

.github/workflows/pre-commit.yaml

@@ -7,8 +7,7 @@ name: Run linters using pre-commit
 
 on:
   pull_request:
-  push:
-    branches: [main]
+    types: [opened, synchronize, reopened]
 
 jobs:
   pre-commit:

.gitignore

@@ -62,7 +62,7 @@ _build
 /.pretrained_checkpoints/
 
 # Teleop Recorded Dataset
-datasets
+/datasets/
 
 # Tests
 tests/

CONTRIBUTORS.md

@@ -68,6 +68,7 @@ Guidelines for modifications:
 * Gary Lvov
 * Giulio Romualdi
 * Haoran Zhou
+* Harsh Patel
 * HoJin Jeon
 * Hongwei Xiong
 * Hongyu Li
@@ -85,6 +86,7 @@ Guidelines for modifications:
 * Johnson Sun
 * Kaixi Bao
 * Kris Wilson
+* Krishna Lakhi
 * Kourosh Darvish
 * Kousheek Chakraborty
 * Lionel Gulich
@@ -111,6 +113,7 @@ Guidelines for modifications:
 * Özhan Özen
 * Patrick Yin
 * Peter Du
+* Philipp Reist
 * Pulkit Goyal
 * Qian Wan
 * Qinxi Yu