Cherry-picks fixes for visualizers, SKRL template, digit limitations, teleop/mimic dependency

.dockerignore

@@ -23,7 +23,7 @@ recordings/
 **/__pycache__/
 **/*.egg-info/
 # ignore isaac sim symlink
-_isaac_sim?
+_isaac_sim
 # Docker history
 docker/.isaac-lab-docker-history
 # ignore uv environment

.github/workflows/README.md

@@ -0,0 +1,7 @@
+# CI Workflows
+
+`schedule:` and `workflow_dispatch:` triggers fire **only from the default
+branch (`main`)**. A workflow YAML must live on `main` for its cron to
+register — the same file on other branches has no effect. `pull_request:`
+and `push:` triggers fire from the event branch's file and work normally
+on `develop`.

.github/workflows/docs.yaml

@@ -132,3 +132,4 @@ jobs:
         github_token: ${{ secrets.GITHUB_TOKEN }}
         publish_dir: ./docs/_build
         keep_files: false
+        force_orphan: true

.github/workflows/nightly-changelog.yml

@@ -6,64 +6,169 @@
 # Nightly auto-compile: rolls accumulated fragments under
 # ``source/<pkg>/changelog.d/`` into per-package ``CHANGELOG.rst`` entries,
 # bumps each ``extension.toml``, deletes consumed fragments, and pushes the
-# result back to ``develop``. Keeps the develop branch's changelog current
-# without requiring a maintainer to run ``compile`` by hand.
+# result back to each branch in the configured list. Keeps every tracked
+# branch's changelog current without requiring a maintainer to run
+# ``compile`` by hand.
 #
-# The push uses ``CHANGELOG_PAT`` (a personal access token / fine-grained
-# GitHub App token with ``contents:write`` on this repo) when it's
-# available so downstream CI runs on the auto-commit. Falls back to
-# ``GITHUB_TOKEN`` — sufficient for the push itself, but pushes signed
-# with ``GITHUB_TOKEN`` do not trigger workflow runs on the resulting
-# commit, which is by design (avoids infinite loops) but means the
-# Docker / docs rebuild won't re-trigger off the nightly's auto-commit.
+# Scheduled workflow — must live on the default branch (``main``) for the
+# cron to register. See ``.github/workflows/README.md``.
+#
+# Adding a branch to the nightly set is a one-line edit to ``env.CRON_BRANCHES``
+# below. Each target branch uses its own ``tools/changelog/cli.py`` (the
+# same copy the PR gate already runs), so the nightly compile honours the
+# same rules that validated the fragments.
+#
+# The push uses a short-lived GitHub App installation token minted from
+# ``CHANGELOG_APP_ID`` + ``CHANGELOG_APP_PRIVATE_KEY`` (repo secrets). The
+# App must be installed on this repository with ``contents: write`` and
+# added to the bypass-actor list of each target branch's ruleset so the
+# auto-commit can push directly without satisfying required-checks /
+# required-approval gates.
+# Commits signed by an App token (unlike ``GITHUB_TOKEN``) are treated as
+# external pushes, so they DO trigger downstream workflow runs (Docker
+# rebuild, docs, etc.) without needing a separate PAT.
 
 name: Nightly Changelog Compilation
 
+# Branches the nightly cron compiles. Single source of truth — append a
+# ref here to extend the nightly set (the active release branch belongs
+# here). Each branch must carry ``tools/changelog/cli.py`` and the
+# isaaclab-bot App must be in its branch-ruleset bypass list.
+# Surrounding whitespace per entry is stripped by the resolver below.
+env:
+  CRON_BRANCHES: develop,release/3.0.0-beta2
+
 on:
   schedule:
     # Run nightly at 5 AM UTC (one hour after daily-compatibility, so we
     # don't compete for runner capacity).
     - cron: '0 5 * * *'
   workflow_dispatch:
     inputs:
+      branch:
+        # Manual trigger is always a single branch. Free-text on purpose
+        # — scales to any branch (e.g. a new ``release/*`` cut from
+        # develop) without needing to update the workflow. A branch
+        # that lacks ``tools/changelog/cli.py`` fails the verify step
+        # below with a clear error, which is the desired failure mode.
+        description: 'Branch to compile (e.g. develop, release/3.0.0-beta2). Must carry tools/changelog/cli.py.'
+        required: true
+        type: string
       dry_run:
         description: 'Preview only — do not commit / push'
         required: false
         type: boolean
         default: false
 
-concurrency:
-  # Only one nightly compile may be in flight at a time. ``cancel-in-progress``
-  # is intentionally false: if a previous run is still finishing its push, we
-  # queue rather than abort it mid-commit.
-  group: nightly-changelog
-  cancel-in-progress: false
-
 permissions:
-  contents: write
+  # Reduced: the App installation token below carries its own write scope.
+  # GITHUB_TOKEN only needs read access for the standard checkout machinery.
+  contents: read
 
 jobs:
+  resolve-branches:
+    # CSV → JSON array bridge. ``workflow_dispatch`` inputs can only be
+    # string / bool / choice, so the branch list arrives as a comma-
+    # separated string; the matrix below needs a JSON list to fan out.
+    # Mirrors the ``setup-versions`` job in ``daily-compatibility.yml``.
+    name: Resolve branch list
+    runs-on: ubuntu-latest
+    timeout-minutes: 1
+    outputs:
+      branches: ${{ steps.b.outputs.branches }}
+    steps:
+      - id: b
+        env:
+          # Schedule → the CRON_BRANCHES list. Manual → the single branch
+          # the maintainer entered. The two paths are intentionally
+          # asymmetric: cron is the configured set, manual is exactly one
+          # branch (required input).
+          BRANCHES: ${{ github.event_name == 'schedule' && env.CRON_BRANCHES || inputs.branch }}
+          # ``EVENT_NAME`` mirrors ``github.event_name`` so the guard below
+          # branches on it without re-interpolating into the shell.
+          EVENT_NAME: ${{ github.event_name }}
+        run: |
+          # CSV → JSON array, trimming surrounding whitespace per entry.
+          # Manual produces a 1-element array; cron produces N elements.
+          arr=$(echo "$BRANCHES" | tr ',' '\n' | xargs -n1 | jq -R . | jq -s -c .)
+          # Manual trigger contract: exactly one branch. A maintainer who
+          # pastes a comma-separated list into the dispatch form should
+          # see a clear error, not a silent multi-branch fan-out.
+          if [ "$EVENT_NAME" = "workflow_dispatch" ] && [ "$(echo "$arr" | jq 'length')" -ne 1 ]; then
+            echo "::error::Manual trigger accepts exactly one branch; got $arr. Fire the workflow separately per branch."
+            exit 1
+          fi
+          echo "branches=$arr" >> "$GITHUB_OUTPUT"
+          echo "Resolved branches: $arr"
+
   compile-changelog:
-    name: Compile changelog fragments
+    name: Compile changelog fragments (${{ matrix.branch }})
+    needs: resolve-branches
     runs-on: ubuntu-latest
+    timeout-minutes: 10
+    strategy:
+      # Independent branches: one failing shouldn't cancel the others.
+      # Each matrix entry shows up as a separate job tile in the Actions
+      # UI, so ``release/3.0.0-beta2`` failing doesn't hide ``develop``'s
+      # success (and ``gh run rerun --failed`` re-runs only the failed
+      # entry). Mirrors ``daily-compatibility.yml``'s matrix style.
+      fail-fast: false
+      matrix:
+        branch: ${{ fromJson(needs.resolve-branches.outputs.branches) }}
+    concurrency:
+      # Per-branch group: two runs against the same ref queue, but
+      # different refs (develop and a release branch) compile in parallel.
+      group: nightly-changelog-${{ matrix.branch }}
+      cancel-in-progress: false
 
     steps:
+      # Mint a short-lived (1 h) installation access token for the
+      # ``isaaclab-bot`` GitHub App. The App is on each target branch's
+      # ruleset bypass list, so its push lands without needing the
+      # standard required-checks / required-approval pipeline.
+      - uses: actions/create-github-app-token@1b10c78c7865c340bc4f6099eb2f838309f1e8c3  # v3.1.1
+        id: app-token
+        with:
+          # ``client-id`` (the App's OAuth client ID, ``Iv23...``) supersedes
+          # the deprecated ``app-id`` integer input as of v3.x.
+          client-id: ${{ secrets.CHANGELOG_APP_CLIENT_ID }}
+          private-key: ${{ secrets.CHANGELOG_APP_PRIVATE_KEY }}
+          # Declare the scope the App must have so token mint fails loudly
+          # if the App is misconfigured, instead of failing silently at the
+          # push step.
+          permission-contents: write
+
       - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6
         with:
-          # Operate on develop, not the repo's default branch. Scheduled
-          # workflows fire from the default branch's workflow file by
-          # default, but we want the *checkout* to be develop so the
-          # compile sees develop's accumulated fragments and the push
-          # writes back to develop.
-          ref: develop
-          # Use a PAT so the auto-commit triggers downstream CI; falls back
-          # to GITHUB_TOKEN which is sufficient for the push itself.
-          token: ${{ secrets.CHANGELOG_PAT || secrets.GITHUB_TOKEN }}
+          # Operate on the target branch, not the repo's default branch.
+          # Scheduled workflows fire from the default branch's workflow
+          # file, but the *checkout* is the branch we're compiling so the
+          # compile sees that branch's accumulated fragments and the push
+          # writes back to it.
+          ref: ${{ matrix.branch }}
+          # App token (vs. GITHUB_TOKEN) means the push is signed by
+          # ``isaaclab-bot`` — the bypass identity — and downstream CI
+          # workflows DO trigger on the resulting commit.
+          token: ${{ steps.app-token.outputs.token }}
           # Full history so the compiler can resolve each fragment's merge
           # time via ``git log --diff-filter=A --first-parent``.
           fetch-depth: 0
 
-      - uses: actions/setup-python@a26af69be951a213d495a4c3e4e4022e16d87065  # v5
+      - name: Verify changelog tooling exists on target branch
+        env:
+          TARGET_BRANCH: ${{ matrix.branch }}
+        run: |
+          # Loud-fail this matrix entry (not the whole run — ``fail-fast:
+          # false`` keeps siblings going) when the target branch lacks
+          # ``tools/changelog/cli.py``. A red tile is the desired signal:
+          # a branch in the nightly set without the compile tooling is a
+          # configuration error, not a "no-op" condition.
+          if [ ! -f tools/changelog/cli.py ]; then
+            echo "::error::Branch '$TARGET_BRANCH' is missing tools/changelog/cli.py — drop it from env.CRON_BRANCHES (or the dispatch input) or restore the tooling on that branch."
+            exit 1
+          fi
+
+      - uses: actions/setup-python@a309ff8b426b58ec0e2a45f0f869d46889d02405  # v6.2.0
         with:
           python-version: "3.12"
 
@@ -77,10 +182,20 @@ jobs:
           python3 tools/changelog/cli.py compile $ARGS
 
       - name: Commit and push if fragments were compiled
-        if: inputs.dry_run != 'true'
+        if: ${{ !inputs.dry_run }}
+        env:
+          # Pass the matrix branch through an env var rather than
+          # interpolating ``${{ matrix.branch }}`` directly into ``run:``.
+          # The interpolation happens *before* shell quoting, so an
+          # adversarial input could escape the surrounding quotes; the
+          # env passthrough keeps the value inside the shell's variable
+          # space where standard quoting protects it.
+          TARGET_BRANCH: ${{ matrix.branch }}
         run: |
-          git config user.name "github-actions[bot]"
-          git config user.email "41898282+github-actions[bot]@users.noreply.github.com"
+          # Author commits as the App's bot user so the GitHub UI attributes
+          # them correctly. ID 282401363 is isaaclab-bot[bot]'s user ID.
+          git config user.name "isaaclab-bot[bot]"
+          git config user.email "282401363+isaaclab-bot[bot]@users.noreply.github.com"
           git add source/*/changelog.d/ \
                   source/*/docs/CHANGELOG.rst \
                   source/*/config/extension.toml
@@ -113,7 +228,14 @@ jobs:
               done
             } > "$MSG_FILE"
             git commit -F "$MSG_FILE"
-            # Push explicitly to develop so we don't accidentally write
-            # to the source ref of a workflow_dispatch run.
-            git push origin HEAD:develop
+            # Rebase onto the target branch's current tip in case a human
+            # commit landed during this run (~2 min window between
+            # checkout and push). Without this the push fails non-fast-
+            # forward and the batch waits for the next run. ``refs/heads/``
+            # is explicit so a same-named tag (if one ever exists) can't
+            # disambiguate the wrong way.
+            git pull --rebase origin "refs/heads/$TARGET_BRANCH"
+            # Push explicitly to the target branch so we don't accidentally
+            # write to the source ref of a workflow_dispatch run.
+            git push origin "HEAD:refs/heads/$TARGET_BRANCH"
           fi

docs/source/overview/core-concepts/visualization.rst

@@ -190,16 +190,18 @@ Also, there is a CLI arg ``--max_visible_envs`` that overrides ``VisualizerCfg.m
 Camera Modes
 ~~~~~~~~~~~~
 
+To configure camera modes, including launching a tiled camera view, edit the fields described below in the
+``VisualizerCfg`` config class.
+
 The default visualizer camera mode is interactive, with ``eye`` and ``lookat`` specifying the initial pose.
 Kit and Newton visualizers can also run additional tiled camera image panels.
-If ``tiled_cam_view=True`` is set, another window is launched in the visualizer which shows
-a non-interactive tiled camera image view.
 
-Kit and Newton cap tiled camera views at 100 tiles.
+If ``tiled_cam_view=True`` is set, another window is launched in the visualizer which shows
+a non-interactive tiled camera image view. Number of tiles is capped at 100.
 
 Note, Kit tiled camera views require launching with ``--enable_cameras``.
 
-.. list-table:: Camera configuration modes
+.. list-table:: Camera Modes
    :header-rows: 1
    :widths: 24 30 46
 
@@ -216,6 +218,15 @@ Note, Kit tiled camera views require launching with ``--enable_cameras``.
      - ``tiled_cam_view=True``, ``tiled_cam_prim_path="/World/envs/*/Camera"``
      - The visualizer displays existing Isaac Lab ``Camera`` sensor output. Generated-camera fields such as ``tiled_cam_eye`` and ``tiled_cam_target_prim_path`` are ignored.
 
+**How to Access the Tiled Camera View in the UI**
+
+- **Kit Visualizer:**
+  To display the tiled camera panel, select the "Visualizer Tiled Camera" viewport from the viewport selection menu.
+
+- **Newton Visualizer:**
+  To enable or disable the tiled camera panel, use the "Visualizer Tiled Camera" option found in the Tiled Camera View dropdown menu on the left sidebar.
+
+
 Video Recording
 ---------------
 

docs/source/overview/environments.rst

@@ -525,14 +525,11 @@ Environments based on legged locomotion tasks.
     | |velocity-rough-g1|          | |velocity-rough-g1-link|                     | Track a velocity command on rough terrain with the Unitree G1 robot          | **physics=** ``physx``,      |
     |                              |                                              |                                                                              | ``newton_mjwarp``            |
     +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+------------------------------+
-    | |velocity-flat-digit|        | |velocity-flat-digit-link|                   | Track a velocity command on flat terrain with the Agility Digit robot        | **physics=** ``physx``,      |
-    |                              |                                              |                                                                              | ``newton_mjwarp``            |
+    | |velocity-flat-digit|        | |velocity-flat-digit-link|                   | Track a velocity command on flat terrain with the Agility Digit robot        | **physics=** ``physx``       |
     +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+------------------------------+
-    | |velocity-rough-digit|       | |velocity-rough-digit-link|                  | Track a velocity command on rough terrain with the Agility Digit robot       | **physics=** ``physx``,      |
-    |                              |                                              |                                                                              | ``newton_mjwarp``            |
+    | |velocity-rough-digit|       | |velocity-rough-digit-link|                  | Track a velocity command on rough terrain with the Agility Digit robot       | **physics=** ``physx``       |
     +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+------------------------------+
-    | |tracking-loco-manip-digit|  | |tracking-loco-manip-digit-link|             | Track a root velocity and hand pose command with the Agility Digit robot     | **physics=** ``physx``,      |
-    |                              |                                              |                                                                              | ``newton_mjwarp``            |
+    | |tracking-loco-manip-digit|  | |tracking-loco-manip-digit-link|             | Track a root velocity and hand pose command with the Agility Digit robot     | **physics=** ``physx``       |
     +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+------------------------------+
 
 .. |velocity-flat-anymal-b-link| replace:: `Isaac-Velocity-Flat-Anymal-B-v0 <../../../source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/flat_env_cfg.py>`__
@@ -1118,7 +1115,7 @@ inferencing, including reading from an already trained checkpoint and disabling
       - Isaac-Tracking-LocoManip-Digit-Play-v0
       - Manager Based
       - **rsl_rl** (PPO)
-      - **physics=** ``physx``, ``newton_mjwarp``
+      - **physics=** ``physx``
     * - Isaac-Navigation-Flat-Anymal-C-v0
       - Isaac-Navigation-Flat-Anymal-C-Play-v0
       - Manager Based
@@ -1384,7 +1381,7 @@ inferencing, including reading from an already trained checkpoint and disabling
       - Isaac-Velocity-Flat-Digit-Play-v0
       - Manager Based
       - **rsl_rl** (PPO)
-      - **physics=** ``physx``, ``newton_mjwarp``
+      - **physics=** ``physx``
     * - Isaac-Velocity-Flat-G1-v0
       - Isaac-Velocity-Flat-G1-Play-v0
       - Manager Based
@@ -1444,7 +1441,7 @@ inferencing, including reading from an already trained checkpoint and disabling
       - Isaac-Velocity-Rough-Digit-Play-v0
       - Manager Based
       - **rsl_rl** (PPO)
-      - **physics=** ``physx``, ``newton_mjwarp``
+      - **physics=** ``physx``
     * - Isaac-Velocity-Rough-G1-v0
       - Isaac-Velocity-Rough-G1-Play-v0
       - Manager Based