merge updates from main branch

.dockerignore

@@ -12,6 +12,7 @@ docs/
 **/output/*
 **/outputs/*
 **/videos/*
+**/wandb/*
 *.tmp
 # ignore docker
 docker/cluster/exports/
@@ -25,3 +26,5 @@ recordings/
 _isaac_sim?
 # Docker history
 docker/.isaac-lab-docker-history
+# ignore uv environment
+env_isaaclab

.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/actions/combine-results/action.yml

@@ -1,4 +1,4 @@
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# Copyright (c) 2022-2026, 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/actions/docker-build/action.yml

@@ -1,4 +1,4 @@
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# Copyright (c) 2022-2026, 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/actions/run-tests/action.yml

@@ -1,4 +1,4 @@
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# Copyright (c) 2022-2026, 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/labeler.yml

@@ -1,4 +1,4 @@
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
@@ -26,7 +26,6 @@ infrastructure:
       - setup.py
       - pyproject.toml
       - .pre-commit-config.yaml
-      - .flake8
       - isaaclab.sh
       - isaaclab.bat
       - docs/licenses/**

.github/stale.yml

@@ -1,4 +1,4 @@
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# Copyright (c) 2022-2026, 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/workflows/build.yml

@@ -1,4 +1,4 @@
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# Copyright (c) 2022-2026, 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/workflows/check-links.yml

@@ -0,0 +1,120 @@
+# Copyright (c) 2022-2026, 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: Check Documentation Links
+
+on:
+  # Run on pull requests that modify documentation
+  pull_request:
+    paths:
+      - 'docs/**'
+      - '**.md'
+      - '.github/workflows/check-links.yml'
+  # Run on pushes to main branches
+  push:
+    branches:
+      - main
+      - devel
+      - 'release/**'
+    paths:
+      - 'docs/**'
+      - '**.md'
+      - '.github/workflows/check-links.yml'
+  # Allow manual trigger
+  workflow_dispatch:
+  # Run weekly to catch external links that break over time
+  schedule:
+    - cron: '0 0 * * 0'  # Every Sunday at midnight UTC
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  check-links:
+    name: Check for Broken Links
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+
+    - name: Restore lychee cache
+      uses: actions/cache@v4
+      with:
+        path: .lycheecache
+        key: cache-lychee-${{ github.sha }}
+        restore-keys: cache-lychee-
+
+    - name: Run Link Checker
+      uses: lycheeverse/lychee-action@v2
+      with:
+        # Check all markdown files and documentation
+        args: >-
+          --verbose
+          --no-progress
+          --cache
+          --max-cache-age 1d
+          --exclude-path './docs/_build'
+          --exclude-path './apps/warp-*'
+          --exclude-path './logs'
+          --exclude-path './outputs'
+          --exclude-loopback
+          --exclude '^file://'
+          --exclude '^mailto:'
+          --exclude 'localhost'
+          --exclude '127\.0\.0\.1'
+          --exclude 'example\.com'
+          --exclude 'your-organization'
+          --exclude 'YOUR_'
+          --exclude 'yourdomain'
+          --exclude 'user@'
+          --exclude 'helm\.ngc\.nvidia\.com'
+          --exclude 'slurm\.schedmd\.com'
+          --max-retries 3
+          --retry-wait-time 5
+          --timeout 30
+          --accept 200,201,202,203,204,206,301,302,303,307,308,429
+          --scheme https
+          --scheme http
+          '*.md'
+          '**/*.md'
+          'docs/**/*.rst'
+          'docs/**/*.html'
+        # Output results to a file
+        output: ./lychee-output.md
+        # Fail action on broken links
+        fail: true
+        # Optional: Use GitHub token for authenticated requests (higher rate limit)
+        token: ${{ secrets.GITHUB_TOKEN }}
+
+    - name: Print results to logs
+      if: always()
+      run: |
+        echo "========================================"
+        echo "Link Checker Results:"
+        echo "========================================"
+        if [ -f ./lychee-output.md ]; then
+          cat ./lychee-output.md
+          echo ""
+          echo "========================================"
+
+          # Also add to GitHub step summary for easy viewing
+          echo "## Link Checker Results" >> $GITHUB_STEP_SUMMARY
+          echo "" >> $GITHUB_STEP_SUMMARY
+          cat ./lychee-output.md >> $GITHUB_STEP_SUMMARY
+        else
+          echo "No output file generated"
+          echo "========================================"
+        fi
+
+    - name: Fail job if broken links found
+      if: failure()
+      run: |
+        echo "❌ Broken links were found in the documentation!"
+        echo "Please review the link checker report above and fix all broken links."
+        exit 1