diff --git a/.github/ISSUE_TEMPLATE/bug.md b/.github/ISSUE_TEMPLATE/bug.md
index 54d6f21a8086..f35997221089 100644
--- a/.github/ISSUE_TEMPLATE/bug.md
+++ b/.github/ISSUE_TEMPLATE/bug.md
@@ -31,7 +31,7 @@ Describe the characteristic of your environment:
 
 <!-- Please complete the following description. -->
 - Commit: [e.g. 8f3b9ca]
-- Isaac Sim Version: [e.g. 5.0, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]
+- Isaac Sim Version: [e.g. 6.1, 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]
diff --git a/.github/ISSUE_TEMPLATE/proposal.md b/.github/ISSUE_TEMPLATE/proposal.md
index a6dd4081906a..f18c77deb473 100644
--- a/.github/ISSUE_TEMPLATE/proposal.md
+++ b/.github/ISSUE_TEMPLATE/proposal.md
@@ -27,7 +27,7 @@ Describe the versions where you are observing the missing feature in:
 
 <!-- Please complete the following description. -->
 - Isaac Lab Version: [e.g. 3.0.0]
-- Isaac Sim Version: [e.g. 6.0, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]
+- Isaac Sim Version: [e.g. 6.1, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]
 
 ### Additional context
 
diff --git a/.github/ISSUE_TEMPLATE/question.md b/.github/ISSUE_TEMPLATE/question.md
index ff0ac5b8f122..8ea8ea1a52fc 100644
--- a/.github/ISSUE_TEMPLATE/question.md
+++ b/.github/ISSUE_TEMPLATE/question.md
@@ -18,4 +18,4 @@ Describe the versions that you are currently using:
 
 <!-- Please complete the following description. -->
 - Isaac Lab Version: [e.g. 3.0.0]
-- Isaac Sim Version: [e.g. 6.0, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]
+- Isaac Sim Version: [e.g. 6.1, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]
diff --git a/.github/actions/_lib/compute-deps-hash/action.yml b/.github/actions/_lib/compute-deps-hash/action.yml
index 5a912d9c4261..364f0c61104b 100644
--- a/.github/actions/_lib/compute-deps-hash/action.yml
+++ b/.github/actions/_lib/compute-deps-hash/action.yml
@@ -50,6 +50,7 @@ runs:
           .dockerignore
           docker/docker-compose.yaml
           docker/scripts/install_carb_env_shim.sh
+          docker/scripts/install_git_lfs.sh
           docker/utils/volume_mounts.py
           isaaclab.sh
           environment.yml
@@ -62,16 +63,61 @@ runs:
         deps_manifest_pattern='(setup\.py|pyproject\.toml|setup\.cfg|extension\.toml|requirements[^/]*\.txt|uv\.lock)$'
 
         # Resolve the actual base image digest so a new push of a mutable tag
-        # (e.g. latest-develop) invalidates the deps cache automatically.
-        base_image_digest=$(docker buildx imagetools inspect \
-          "${ISAACSIM_BASE_IMAGE}:${ISAACSIM_VERSION}" \
-          --format '{{json .Manifest.Digest}}' 2>/dev/null | tr -d '"' || true)
-        if [ -n "${base_image_digest}" ]; then
-          base_image_uniq_id="${ISAACSIM_BASE_IMAGE}:${ISAACSIM_VERSION}:${base_image_digest}"
-        else
-          echo "🟠 Could not resolve base image digest, falling back to tag string"
-          base_image_uniq_id="${ISAACSIM_BASE_IMAGE}:${ISAACSIM_VERSION}"
-        fi
+        # (e.g. latest-develop) invalidates the deps cache. A tag that already
+        # carries a digest is its own identity, so it is used directly.
+        case "${ISAACSIM_VERSION}" in
+          *@sha256:*)
+            base_image_digest="${ISAACSIM_VERSION##*@}"
+            if ! printf '%s' "${base_image_digest}" | grep -Eq '^sha256:[0-9a-f]{64}$'; then
+              echo "::error::Base image tag ${ISAACSIM_VERSION} carries a malformed digest pin."
+              exit 1
+            fi
+            echo "🔵 Base image tag is digest-pinned; using it as the cache identity"
+            ;;
+          *)
+            # Reading the manifest can fail transiently, so retry. Failing hard
+            # afterwards is deliberate: falling back to the tag string drops the
+            # digest from the cache key and hides an unreadable manifest until a
+            # later, far less obvious build error. stderr is kept off stdout so
+            # a warning can never be concatenated into the digest.
+            base_image_digest=""
+            inspect_err="$(mktemp)"
+            attempts=5
+            attempt=1
+            while [ "${attempt}" -le "${attempts}" ]; do
+              inspect_out=$(docker buildx imagetools inspect \
+                "${ISAACSIM_BASE_IMAGE}:${ISAACSIM_VERSION}" \
+                --format '{{json .Manifest.Digest}}' 2>"${inspect_err}" || true)
+              candidate=$(printf '%s' "${inspect_out}" | tr -d '"')
+              # A digest is exactly sha256: plus 64 hex characters. Anything
+              # looser lets stray stdout into the cache key, and a stable
+              # diagnostic string would then stop a changed base image from
+              # invalidating it.
+              if printf '%s' "${candidate}" | grep -Eq '^sha256:[0-9a-f]{64}$'; then
+                base_image_digest="${candidate}"
+                break
+              fi
+              echo "🟠 Base image manifest read attempt ${attempt}/${attempts} failed: $(tr '\n' ' ' < "${inspect_err}")"
+              # An authorization refusal will not clear on its own, so stop
+              # retrying and report it as the configuration error it is.
+              if grep -Eqi 'denied|unauthorized|forbidden|insufficient_scope|401|403' "${inspect_err}"; then
+                echo "::error::${ISAACSIM_BASE_IMAGE}:${ISAACSIM_VERSION} cannot be read with the credentials available to this job."
+                rm -f "${inspect_err}"
+                exit 1
+              fi
+              if [ "${attempt}" -lt "${attempts}" ]; then
+                sleep $((attempt * 5))
+              fi
+              attempt=$((attempt + 1))
+            done
+            rm -f "${inspect_err}"
+            if [ -z "${base_image_digest}" ]; then
+              echo "::error::Cannot read the manifest for ${ISAACSIM_BASE_IMAGE}:${ISAACSIM_VERSION} after ${attempts} attempts (see the attempt logs above)."
+              exit 1
+            fi
+            ;;
+        esac
+        base_image_uniq_id="${ISAACSIM_BASE_IMAGE}:${ISAACSIM_VERSION}:${base_image_digest}"
 
         mapfile -t manifest_files < <(git ls-files | grep -E "${deps_manifest_pattern}" || true)
         file_hash=$(git ls-files -s "${deps_files[@]}" "${manifest_files[@]}" 2>/dev/null \
diff --git a/.github/actions/_lib/setup-docker-config/action.yml b/.github/actions/_lib/setup-docker-config/action.yml
index 09effa56eaa3..113a9ad01422 100644
--- a/.github/actions/_lib/setup-docker-config/action.yml
+++ b/.github/actions/_lib/setup-docker-config/action.yml
@@ -7,37 +7,146 @@ name: 'Setup docker config'
 description: >
   Point DOCKER_CONFIG at a temp config with the credential helper disabled and
   log into nvcr.io. Shared by the docker-build and ecr-build-push-pull actions.
-  Idempotent: re-invoking it in the same job is a no-op, so callers (e.g.
-  ecr-build-push-pull delegating to docker-build) don't need to coordinate.
+  Idempotent: re-invoking it in the same job reuses the existing config, and a
+  base-image-ref already checked in this job is not probed again, so callers
+  (e.g. ecr-build-push-pull delegating to docker-build) don't need to coordinate.
   Reads NGC_API_KEY from the environment (optional; warns when missing).
+  When base-image-ref names an nvcr.io image that the configured credentials are
+  refused, falls back to anonymous access for that registry.
+
+inputs:
+  base-image-ref:
+    description: >
+      Optional "<image>:<tag>" that this job must be able to read. nvcr.io can
+      refuse a credential scoped to another organization a pull token for a
+      public repository instead of downgrading to anonymous, so when the
+      configured credentials are denied this image and anonymous access can read
+      it, the stored nvcr.io credential is dropped from the temp config. Only
+      nvcr.io refs are eligible; empty skips the check.
+    required: false
+    default: ''
 
 runs:
   using: composite
   steps:
     - shell: bash
+      env:
+        BASE_IMAGE_REF: ${{ inputs.base-image-ref }}
+        STRIP_HELPER: ${{ github.action_path }}/strip_registry_auth.py
       run: |
         # The runner's credential helper backend is broken ("not implemented")
         # and causes docker login calls to fail unless we point DOCKER_CONFIG at
         # a temp config with credsStore disabled. The value is written to
         # $GITHUB_ENV so subsequent steps in the job inherit it; a second
-        # invocation sees it already set and short-circuits.
+        # invocation reuses it and only re-runs the base-image check.
         if [ -n "${DOCKER_CONFIG:-}" ] && [ -f "${DOCKER_CONFIG}/config.json" ]; then
-          echo "🟢 Docker config already set up at ${DOCKER_CONFIG}, skipping"
+          echo "🟢 Docker config already set up at ${DOCKER_CONFIG}, keeping it"
+          DOCKER_CONFIG_DIR="${DOCKER_CONFIG}"
+        else
+          DOCKER_CONFIG_DIR=$(mktemp -d)
+          if [ -f "${HOME}/.docker/config.json" ]; then
+            python3 -c "import json; cfg=json.load(open('${HOME}/.docker/config.json')); cfg['credsStore']=''; cfg.pop('credHelpers',None); json.dump(cfg,open('${DOCKER_CONFIG_DIR}/config.json','w'))"
+          else
+            echo '{"credsStore":""}' > "${DOCKER_CONFIG_DIR}/config.json"
+          fi
+          export DOCKER_CONFIG="${DOCKER_CONFIG_DIR}"
+          echo "DOCKER_CONFIG=${DOCKER_CONFIG_DIR}" >> "$GITHUB_ENV"
+          # Mark this directory as ours, so a later invocation only ever edits a
+          # config this action created and never the runner's persistent one.
+          echo "SETUP_DOCKER_CONFIG_OWNED=${DOCKER_CONFIG_DIR}" >> "$GITHUB_ENV"
+          SETUP_DOCKER_CONFIG_OWNED="${DOCKER_CONFIG_DIR}"
+
+          if [ -n "${NGC_API_KEY:-}" ]; then
+            echo "🔵 Logging into nvcr.io..."
+            printf '%s' "${NGC_API_KEY}" | docker login -u '$oauthtoken' --password-stdin nvcr.io
+          else
+            echo "🟠 NGC_API_KEY not set - skipping nvcr.io login (normal for fork PRs)"
+          fi
+        fi
+
+        if [ -z "${BASE_IMAGE_REF:-}" ]; then
           exit 0
         fi
 
-        DOCKER_CONFIG_DIR=$(mktemp -d)
-        if [ -f "${HOME}/.docker/config.json" ]; then
-          python3 -c "import json; cfg=json.load(open('${HOME}/.docker/config.json')); cfg['credsStore']=''; cfg.pop('credHelpers',None); json.dump(cfg,open('${DOCKER_CONFIG_DIR}/config.json','w'))"
-        else
-          echo '{"credsStore":""}' > "${DOCKER_CONFIG_DIR}/config.json"
+        # ecr-build-push-pull delegates to docker-build, so this action can run
+        # twice in one job with the same ref. The probes are network calls with
+        # backoff, and the first run already settled the outcome, so a ref
+        # checked in this job is not probed again.
+        if [ "${SETUP_DOCKER_CONFIG_CHECKED_REF:-}" = "${BASE_IMAGE_REF}" ]; then
+          echo "🟢 ${BASE_IMAGE_REF} was already checked in this job, skipping"
+          exit 0
         fi
-        export DOCKER_CONFIG="${DOCKER_CONFIG_DIR}"
-        echo "DOCKER_CONFIG=${DOCKER_CONFIG_DIR}" >> "$GITHUB_ENV"
+        echo "SETUP_DOCKER_CONFIG_CHECKED_REF=${BASE_IMAGE_REF}" >> "$GITHUB_ENV"
 
-        if [ -n "${NGC_API_KEY:-}" ]; then
-          echo "🔵 Logging into nvcr.io..."
-          docker login -u '$oauthtoken' -p "${NGC_API_KEY}" nvcr.io
-        else
-          echo "🟠 NGC_API_KEY not set - skipping nvcr.io login (normal for fork PRs)"
+        # Scope: only nvcr.io shows the refuse-instead-of-downgrade behaviour.
+        # Other registries (Docker Hub in particular) must keep their
+        # credentials, which also serve as pull-rate-limit budget.
+        base_registry="$(printf '%s' "${BASE_IMAGE_REF%%/*}" | tr '[:upper:]' '[:lower:]')"
+        case "${BASE_IMAGE_REF}" in
+          */*) ;;
+          *) base_registry="" ;;
+        esac
+        case "${base_registry%%:*}" in
+          nvcr.io) ;;
+          *)
+            echo "🔵 ${BASE_IMAGE_REF} is not an nvcr.io image; leaving the docker config unchanged"
+            exit 0
+            ;;
+        esac
+
+        if [ "${SETUP_DOCKER_CONFIG_OWNED:-}" != "${DOCKER_CONFIG_DIR}" ]; then
+          echo "🔵 ${DOCKER_CONFIG_DIR} was not created by this action; leaving it unchanged"
+          exit 0
+        fi
+
+        # One transient error must not cost a working credential, so retry and
+        # keep stderr: only an authorization refusal justifies dropping it.
+        probe_err="$(mktemp)"
+        trap 'rm -f "${probe_err}"' EXIT
+        creds_denied=""
+        for attempt in 1 2 3; do
+          if docker buildx imagetools inspect "${BASE_IMAGE_REF}" >/dev/null 2>"${probe_err}"; then
+            echo "🟢 Configured credentials can read ${BASE_IMAGE_REF}"
+            exit 0
+          fi
+          if grep -Eqi 'denied|unauthorized|forbidden|insufficient_scope|401|403' "${probe_err}"; then
+            creds_denied="yes"
+            break
+          fi
+          echo "🟠 Base image read attempt ${attempt}/3 failed for a non-authorization reason: $(tr '\n' ' ' < "${probe_err}")"
+          [ "${attempt}" -lt 3 ] && sleep $((attempt * 5))
+        done
+
+        if [ -z "${creds_denied}" ]; then
+          echo "::warning::${BASE_IMAGE_REF} could not be read and the failure does not look like an authorization refusal; leaving the docker config unchanged"
+          exit 0
+        fi
+
+        anon_config_dir="$(mktemp -d)"
+        trap 'rm -f "${probe_err}"; rm -rf "${anon_config_dir}"' EXIT
+        echo '{"credsStore":"","auths":{}}' > "${anon_config_dir}/config.json"
+        # Retried like the credentialed probe above: a transient failure here
+        # would otherwise keep a credential already proven to be denied, and the
+        # build would then fail on the very pull this fallback exists to rescue.
+        anon_readable=""
+        for attempt in 1 2 3; do
+          if DOCKER_CONFIG="${anon_config_dir}" \
+            docker buildx imagetools inspect "${BASE_IMAGE_REF}" >/dev/null 2>"${probe_err}"; then
+            anon_readable="yes"
+            break
+          fi
+          echo "🟠 Anonymous read attempt ${attempt}/3 failed: $(tr '\n' ' ' < "${probe_err}")"
+          if [ "${attempt}" -lt 3 ]; then
+            sleep $((attempt * 5))
+          fi
+        done
+
+        if [ -z "${anon_readable}" ]; then
+          echo "::warning::${BASE_IMAGE_REF} is unreadable with the configured credentials and anonymously; leaving the docker config unchanged"
+          exit 0
+        fi
+
+        echo "🟠 Configured credentials cannot read ${BASE_IMAGE_REF}; using anonymous access for nvcr.io"
+        if ! python3 "${STRIP_HELPER}" "${DOCKER_CONFIG_DIR}/config.json" "${BASE_IMAGE_REF}"; then
+          echo "::warning::Could not drop the stored nvcr.io credential; the build may still fail to read ${BASE_IMAGE_REF}"
         fi
diff --git a/.github/actions/_lib/setup-docker-config/strip_registry_auth.py b/.github/actions/_lib/setup-docker-config/strip_registry_auth.py
new file mode 100644
index 000000000000..8afde8074bb4
--- /dev/null
+++ b/.github/actions/_lib/setup-docker-config/strip_registry_auth.py
@@ -0,0 +1,95 @@
+# 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
+
+"""Drop the stored credential for one image's registry from a docker config.
+
+A registry can refuse a credential scoped to another organization a pull token
+for a public repository instead of downgrading the request to anonymous, which
+makes a public base image unreadable. Removing just that registry's entry lets
+the pull proceed anonymously while every other registry in the same config
+keeps working.
+
+Usage: strip_registry_auth.py <config.json> <image-ref>
+Exits 0 when a credential was dropped, 3 when nothing matched.
+"""
+
+from __future__ import annotations
+
+import json
+import sys
+
+# Docker Hub is stored under several spellings; treat them as one registry.
+_HUB_ALIASES = frozenset(
+    {
+        "docker.io",
+        "index.docker.io",
+        "registry-1.docker.io",
+    }
+)
+
+
+def registry_host(image_ref):
+    """Return the canonical registry host for a docker image reference."""
+    first = image_ref.split("/")[0]
+    if "/" in image_ref and ("." in first or ":" in first or first == "localhost"):
+        # A registry may carry a port, and hosts are case-insensitive.
+        host = first.lower().rsplit(":", 1)[0] if ":" in first else first.lower()
+    else:
+        # No registry component means Docker Hub.
+        host = "index.docker.io"
+    if host in _HUB_ALIASES:
+        return "index.docker.io"
+    return host
+
+
+def _normalize(auth_key):
+    """Reduce a config.json auths key to a comparable registry host."""
+    trimmed = auth_key.split("://", 1)[-1]
+    host = trimmed.split("/", 1)[0].lower()
+    if ":" in host:
+        host = host.rsplit(":", 1)[0]
+    if host in _HUB_ALIASES:
+        return "index.docker.io"
+    return host
+
+
+def main(argv):
+    config_path, image_ref = argv[1], argv[2]
+    target = registry_host(image_ref)
+
+    with open(config_path) as handle:
+        config = json.load(handle)
+
+    auths = config.get("auths") or {}
+    removed = sorted(key for key in auths if _normalize(key) == target)
+
+    # A credHelpers entry would re-supply the credential from an external helper
+    # even after its `auths` entry is gone, so the mapping for this registry is
+    # removed too. A credential held only by a global credsStore is outside this
+    # file, which is why the caller treats exit 3 as "nothing was dropped".
+    helpers = config.get("credHelpers") or {}
+    helper_keys = sorted(key for key in helpers if _normalize(key) == target)
+    for key in helper_keys:
+        del helpers[key]
+    if helper_keys:
+        config["credHelpers"] = helpers
+
+    if not removed and not helper_keys:
+        print(f"No stored credential for {target} was found in the docker config")
+        return 3
+
+    for key in removed:
+        del auths[key]
+    config["auths"] = auths
+    with open(config_path, "w") as handle:
+        json.dump(config, handle)
+
+    dropped = ", ".join(removed + helper_keys)
+    print(f"Dropped stored credential(s) for {target}: {dropped}")
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main(sys.argv))
diff --git a/.github/actions/_lib/test_registry_credential_fallback.py b/.github/actions/_lib/test_registry_credential_fallback.py
new file mode 100644
index 000000000000..b1010538b44f
--- /dev/null
+++ b/.github/actions/_lib/test_registry_credential_fallback.py
@@ -0,0 +1,305 @@
+# 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
+
+"""Tests for the registry-scoped docker credential fallback.
+
+Covers the helper that drops one registry's stored credential and the composite
+action's guards around it, plus the base image digest resolution that feeds the
+dependency-cache key. The action bodies are extracted from their action.yml and
+run under bash against stubbed executables, so no registry access is needed.
+"""
+
+from __future__ import annotations
+
+import importlib.util
+import json
+import os
+import subprocess
+from pathlib import Path
+
+import yaml
+
+_LIB_DIR = Path(__file__).resolve().parent
+_SETUP_ACTION = _LIB_DIR / "setup-docker-config" / "action.yml"
+_HASH_ACTION = _LIB_DIR / "compute-deps-hash" / "action.yml"
+_STRIP_HELPER = _LIB_DIR / "setup-docker-config" / "strip_registry_auth.py"
+
+_ECR = "968945269301.dkr.ecr.us-west-2.amazonaws.com"
+_HUB = "https://index.docker.io/v1/"
+_DIGEST = "sha256:" + "a" * 64
+
+
+def _load_helper():
+    spec = importlib.util.spec_from_file_location("strip_registry_auth", _STRIP_HELPER)
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+    return module
+
+
+def _step_body(action_path: Path) -> str:
+    action = yaml.safe_load(action_path.read_text(encoding="utf-8"))
+    return action["runs"]["steps"][0]["run"]
+
+
+def _write_config(path: Path, registries: list[str]) -> Path:
+    config = {"credsStore": "", "auths": {name: {"auth": "redacted"} for name in registries}}
+    path.write_text(json.dumps(config), encoding="utf-8")
+    return path
+
+
+def _auths(path: Path) -> set[str]:
+    return set((json.loads(path.read_text(encoding="utf-8")).get("auths") or {}).keys())
+
+
+def _write_stub_docker(bin_dir: Path, body: str) -> None:
+    bin_dir.mkdir(parents=True, exist_ok=True)
+    script = bin_dir / "docker"
+    script.write_text(f"#!/usr/bin/env bash\n{body}\n", encoding="utf-8")
+    script.chmod(0o755)
+
+
+def _run_setup(
+    tmp_path: Path,
+    base_image_ref: str,
+    stub: str,
+    *,
+    owned: bool = True,
+    extra_env: dict[str, str] | None = None,
+) -> subprocess.CompletedProcess:
+    bin_dir = tmp_path / "bin"
+    _write_stub_docker(bin_dir, stub)
+    config_dir = tmp_path / "cfg"
+    config_dir.mkdir(exist_ok=True)
+    _write_config(config_dir / "config.json", ["nvcr.io", _ECR, _HUB])
+    body = tmp_path / "setup.sh"
+    body.write_text(_step_body(_SETUP_ACTION), encoding="utf-8")
+    env = {
+        "PATH": f"{bin_dir}:{os.environ.get('PATH', '/usr/bin:/bin')}",
+        "HOME": str(tmp_path / "home"),
+        "DOCKER_CONFIG": str(config_dir),
+        "GITHUB_ENV": str(tmp_path / "github-env"),
+        "BASE_IMAGE_REF": base_image_ref,
+        "STRIP_HELPER": str(_STRIP_HELPER),
+    }
+    if owned:
+        env["SETUP_DOCKER_CONFIG_OWNED"] = str(config_dir)
+    if extra_env:
+        env.update(extra_env)
+    Path(env["GITHUB_ENV"]).touch()
+    return subprocess.run(["bash", str(body)], env=env, capture_output=True, text=True, check=False)
+
+
+# A stub that refuses credentials but serves an anonymous config (empty auths).
+_DENY_UNLESS_ANONYMOUS = """
+config="${DOCKER_CONFIG:-}/config.json"
+if [ -f "$config" ] && grep -q '"auths":{}' "$config"; then
+  exit 0
+fi
+echo "denied: Access Denied" >&2
+exit 1
+"""
+
+
+def test_public_nvcr_drops_only_that_registry(tmp_path: Path) -> None:
+    """The refused nvcr.io credential goes; the push credentials stay."""
+    result = _run_setup(tmp_path, "nvcr.io/nvidia/isaac-sim:6.1.0", _DENY_UNLESS_ANONYMOUS)
+    assert result.returncode == 0, result.stderr
+    assert _auths(tmp_path / "cfg" / "config.json") == {_ECR, _HUB}
+
+
+def test_non_nvcr_reference_is_left_alone(tmp_path: Path) -> None:
+    """A Docker Hub base image keeps its credential, which is also pull-rate budget."""
+    result = _run_setup(tmp_path, "ubuntu:24.04", _DENY_UNLESS_ANONYMOUS)
+    assert result.returncode == 0, result.stderr
+    assert _auths(tmp_path / "cfg" / "config.json") == {"nvcr.io", _ECR, _HUB}
+
+
+def test_readable_image_keeps_credentials(tmp_path: Path) -> None:
+    """A private image the credentials can read must not trigger the fallback."""
+    result = _run_setup(tmp_path, "nvcr.io/example/isaac-sim:latest", "exit 0")
+    assert result.returncode == 0, result.stderr
+    assert _auths(tmp_path / "cfg" / "config.json") == {"nvcr.io", _ECR, _HUB}
+
+
+def test_transient_failure_keeps_credentials(tmp_path: Path) -> None:
+    """A registry outage is not an authorization refusal, so nothing is dropped."""
+    stub = 'echo "error: received unexpected HTTP status: 503" >&2\nexit 1'
+    result = _run_setup(tmp_path, "nvcr.io/nvidia/isaac-sim:6.1.0", stub)
+    assert result.returncode == 0, result.stderr
+    assert _auths(tmp_path / "cfg" / "config.json") == {"nvcr.io", _ECR, _HUB}
+    assert "::warning::" in result.stdout
+
+
+def test_transient_anonymous_failure_is_retried(tmp_path: Path) -> None:
+    """A flaky anonymous probe must not leave a credential that is already denied.
+
+    Without a retry the action would keep the denied credential and the build
+    would fail on the pull this fallback exists to rescue.
+    """
+    stub = """
+config="${DOCKER_CONFIG:-}/config.json"
+if [ -f "$config" ] && grep -q '"auths":{}' "$config"; then
+  counter=/tmp/il_anon_attempts
+  n=$(cat "$counter" 2>/dev/null || echo 0)
+  n=$((n + 1))
+  echo "$n" > "$counter"
+  if [ "$n" -lt 2 ]; then
+    echo "error: received unexpected HTTP status: 503" >&2
+    exit 1
+  fi
+  exit 0
+fi
+echo "denied: Access Denied" >&2
+exit 1
+"""
+    Path("/tmp/il_anon_attempts").unlink(missing_ok=True)
+    try:
+        result = _run_setup(tmp_path, "nvcr.io/nvidia/isaac-sim:6.1.0", stub)
+        assert result.returncode == 0, result.stderr
+        assert _auths(tmp_path / "cfg" / "config.json") == {_ECR, _HUB}
+    finally:
+        Path("/tmp/il_anon_attempts").unlink(missing_ok=True)
+
+
+def test_unowned_config_is_never_modified(tmp_path: Path) -> None:
+    """A config this action did not create belongs to the runner and stays intact."""
+    result = _run_setup(tmp_path, "nvcr.io/nvidia/isaac-sim:6.1.0", _DENY_UNLESS_ANONYMOUS, owned=False)
+    assert result.returncode == 0, result.stderr
+    assert _auths(tmp_path / "cfg" / "config.json") == {"nvcr.io", _ECR, _HUB}
+
+
+def test_already_checked_reference_is_not_probed_again(tmp_path: Path) -> None:
+    """ecr-build-push-pull delegates to docker-build, so the probe must not repeat.
+
+    The probes are network calls with backoff, and the first invocation already
+    settled the outcome for this ref.
+    """
+    ref = "nvcr.io/nvidia/isaac-sim:6.1.0"
+    stub = 'echo "the probe must not run again" >&2\nexit 1'
+    result = _run_setup(
+        tmp_path,
+        ref,
+        stub,
+        extra_env={"SETUP_DOCKER_CONFIG_CHECKED_REF": ref},
+    )
+    assert result.returncode == 0, result.stderr
+    assert "already checked" in result.stdout
+    assert _auths(tmp_path / "cfg" / "config.json") == {"nvcr.io", _ECR, _HUB}
+
+
+def test_registry_host_canonicalization() -> None:
+    """Case, port, and Docker Hub spellings resolve to one registry identity."""
+    helper = _load_helper()
+    assert helper.registry_host("nvcr.io/nvidia/isaac-sim:6.1.0") == "nvcr.io"
+    assert helper.registry_host("NVCR.IO/nvidia/isaac-sim:6.1.0") == "nvcr.io"
+    assert helper.registry_host("nvcr.io:443/nvidia/isaac-sim:6.1.0") == "nvcr.io"
+    assert helper.registry_host("ubuntu:24.04") == "index.docker.io"
+    assert helper.registry_host("docker.io/library/ubuntu:24.04") == "index.docker.io"
+    assert helper.registry_host("nvcr.io.example.com/team/image:1") == "nvcr.io.example.com"
+
+
+def test_helper_reports_when_nothing_matched(tmp_path: Path) -> None:
+    """No stored credential for the registry is reported rather than claimed as success."""
+    config = _write_config(tmp_path / "config.json", [_ECR])
+    result = subprocess.run(
+        ["python3", str(_STRIP_HELPER), str(config), "nvcr.io/nvidia/isaac-sim:6.1.0"],
+        capture_output=True,
+        text=True,
+        check=False,
+    )
+    assert result.returncode == 3
+    assert _auths(config) == {_ECR}
+
+
+def test_helper_also_clears_credential_helpers(tmp_path: Path) -> None:
+    """A credHelpers entry would re-supply the credential, so it goes too."""
+    config = tmp_path / "config.json"
+    config.write_text(
+        json.dumps({"credHelpers": {"nvcr.io": "example"}, "auths": {"nvcr.io": {"auth": "redacted"}}}),
+        encoding="utf-8",
+    )
+    result = subprocess.run(
+        ["python3", str(_STRIP_HELPER), str(config), "nvcr.io/nvidia/isaac-sim:6.1.0"],
+        capture_output=True,
+        text=True,
+        check=False,
+    )
+    assert result.returncode == 0
+    written = json.loads(config.read_text(encoding="utf-8"))
+    assert not written.get("auths")
+    assert not written.get("credHelpers")
+
+
+def _run_hash(tmp_path: Path, image: str, version: str, stub: str) -> subprocess.CompletedProcess:
+    bin_dir = tmp_path / "bin"
+    _write_stub_docker(bin_dir, stub)
+    body = _step_body(_HASH_ACTION)
+    marker = 'case "${ISAACSIM_VERSION}" in'
+    lines = body.splitlines()
+    start = next(index for index, line in enumerate(lines) if marker in line)
+    end = next(index for index, line in enumerate(lines) if "base_image_uniq_id=" in line)
+    script = tmp_path / "digest.sh"
+    script.write_text(
+        "\n".join(lines[start : end + 1]) + '\necho "RESULT=${base_image_uniq_id}"\n',
+        encoding="utf-8",
+    )
+    env = {
+        "PATH": f"{bin_dir}:{os.environ.get('PATH', '/usr/bin:/bin')}",
+        "ISAACSIM_BASE_IMAGE": image,
+        "ISAACSIM_VERSION": version,
+    }
+    return subprocess.run(["bash", str(script)], env=env, capture_output=True, text=True, check=False)
+
+
+def test_digest_pinned_tag_skips_the_network(tmp_path: Path) -> None:
+    """A tag that already carries a digest is its own cache identity."""
+    stub = 'echo "the manifest read must not run" >&2\nexit 1'
+    result = _run_hash(tmp_path, "nvcr.io/example/isaac-sim", f"latest-develop@{_DIGEST}", stub)
+    assert result.returncode == 0, result.stderr
+    assert f"RESULT=nvcr.io/example/isaac-sim:latest-develop@{_DIGEST}:{_DIGEST}" in result.stdout
+
+
+def test_malformed_digest_pin_fails(tmp_path: Path) -> None:
+    """A malformed pin must not reach the cache key."""
+    result = _run_hash(tmp_path, "nvcr.io/example/isaac-sim", "latest@sha256:short", "exit 0")
+    assert result.returncode == 1
+    assert "malformed digest pin" in result.stdout
+
+
+def test_authorization_refusal_fails_without_retrying(tmp_path: Path) -> None:
+    """An authorization refusal will not clear on its own, so it fails immediately."""
+    stub = 'echo "denied: Access Denied" >&2\nexit 1'
+    result = _run_hash(tmp_path, "nvcr.io/example/isaac-sim", "latest-release-6-1", stub)
+    assert result.returncode == 1
+    assert "cannot be read with the credentials available" in result.stdout
+    assert "attempt 2/" not in result.stdout
+
+
+def test_truncated_digest_is_rejected(tmp_path: Path) -> None:
+    """A value that merely starts with sha256: is not a digest and must not be accepted.
+
+    This distinguishes an exact-format check from a prefix check: a prefix check
+    would accept the value below and fold it into the dependency-cache key.
+    """
+    stub = "echo '\"sha256:abc123\"'"
+    result = _run_hash(tmp_path, "nvcr.io/example/isaac-sim", "latest-release-6-1", stub)
+    assert result.returncode == 1
+    assert "RESULT=" not in result.stdout
+
+
+def test_trailing_output_after_a_digest_is_rejected(tmp_path: Path) -> None:
+    """Extra stdout alongside a well-formed digest must not reach the cache key."""
+    stub = f"echo '\"{_DIGEST} unexpected\"'"
+    result = _run_hash(tmp_path, "nvcr.io/example/isaac-sim", "latest-release-6-1", stub)
+    assert result.returncode == 1
+    assert "RESULT=" not in result.stdout
+
+
+def test_successful_read_ignores_stderr_noise(tmp_path: Path) -> None:
+    """A warning emitted alongside a good digest is not concatenated into it."""
+    stub = f'echo "buildx warning" >&2\necho \'"{_DIGEST}"\''
+    result = _run_hash(tmp_path, "nvcr.io/example/isaac-sim", "latest-release-6-1", stub)
+    assert result.returncode == 0, result.stderr
+    assert f"RESULT=nvcr.io/example/isaac-sim:latest-release-6-1:{_DIGEST}" in result.stdout
diff --git a/.github/actions/docker-build/action.yml b/.github/actions/docker-build/action.yml
index 3c2a08b40fcc..038deac54e98 100644
--- a/.github/actions/docker-build/action.yml
+++ b/.github/actions/docker-build/action.yml
@@ -65,6 +65,8 @@ runs:
 
     - name: Setup docker config and login to nvcr.io
       uses: ./.github/actions/_lib/setup-docker-config
+      with:
+        base-image-ref: ${{ inputs.isaacsim-base-image }}:${{ inputs.isaacsim-version }}
 
     ##### 2: Host disk snapshot (pre) #####
 
diff --git a/.github/actions/ecr-build-push-pull/README.md b/.github/actions/ecr-build-push-pull/README.md
index 2dea04797126..da3e90d25503 100644
--- a/.github/actions/ecr-build-push-pull/README.md
+++ b/.github/actions/ecr-build-push-pull/README.md
@@ -10,7 +10,7 @@ ECR is also used as the BuildKit layer cache.
   with:
     image-tag: ${{ env.DOCKER_IMAGE_TAG }}
     isaacsim-base-image: nvcr.io/nvidia/isaac-sim
-    isaacsim-version: 6.0.0
+    isaacsim-version: 6.1.0
     dockerfile-path: docker/Dockerfile.base
     cache-tag: cache-base
     ecr-url: (optional, complete url for ECR storage)
diff --git a/.github/actions/ecr-build-push-pull/action.yml b/.github/actions/ecr-build-push-pull/action.yml
index 7c595e7d3407..6c6b7eb6f069 100644
--- a/.github/actions/ecr-build-push-pull/action.yml
+++ b/.github/actions/ecr-build-push-pull/action.yml
@@ -74,6 +74,8 @@ runs:
 
     - name: Setup docker config and login to nvcr.io
       uses: ./.github/actions/_lib/setup-docker-config
+      with:
+        base-image-ref: ${{ inputs.isaacsim-base-image }}:${{ inputs.isaacsim-version }}
 
     ##### 2: Resolve ECR URL #####
 
diff --git a/.github/actions/run-package-tests/action.yml b/.github/actions/run-package-tests/action.yml
index 4289df944fbf..2f32aa5f031c 100644
--- a/.github/actions/run-package-tests/action.yml
+++ b/.github/actions/run-package-tests/action.yml
@@ -166,10 +166,14 @@ runs:
 
     - name: Prepare Docker disk space
       shell: bash
+      env:
+        CONTAINER_NAME: ${{ inputs.container-name }}
+        ISAACSIM_BASE_IMAGE: ${{ inputs.isaacsim-base-image }}
+        ISAACSIM_VERSION: ${{ inputs.isaacsim-version }}
       run: |
         bash .github/actions/run-package-tests/cleanup_docker_storage.sh \
-          "${{ inputs.isaacsim-base-image }}:${{ inputs.isaacsim-version }}" \
-          "isaacsim-pin-${{ inputs.container-name }}-${{ github.run_id }}-${{ github.run_attempt }}-pre" \
+          "${ISAACSIM_BASE_IMAGE}:${ISAACSIM_VERSION}" \
+          "isaacsim-pin-${CONTAINER_NAME}-${{ github.run_id }}-${{ github.run_attempt }}-pre" \
           "pre-test-cleanup" \
           "true"
 
@@ -463,8 +467,10 @@ runs:
     - name: Kill container on cancellation
       if: cancelled()
       shell: bash
+      env:
+        CONTAINER_NAME: ${{ inputs.container-name }}
       run: |
-        CONTAINER="${{ inputs.container-name }}-${{ github.run_id }}-${{ github.run_attempt }}"
+        CONTAINER="${CONTAINER_NAME}-${{ github.run_id }}-${{ github.run_attempt }}"
         echo "🟠 Workflow cancelled, force-killing container ${CONTAINER}..."
         docker kill "${CONTAINER}" 2>/dev/null || true
         docker rm -f "${CONTAINER}" 2>/dev/null || true
@@ -472,9 +478,13 @@ runs:
     - name: Cleanup old Docker images
       if: always()
       shell: bash
+      env:
+        CONTAINER_NAME: ${{ inputs.container-name }}
+        ISAACSIM_BASE_IMAGE: ${{ inputs.isaacsim-base-image }}
+        ISAACSIM_VERSION: ${{ inputs.isaacsim-version }}
       run: |
         bash .github/actions/run-package-tests/cleanup_docker_storage.sh \
-          "${{ inputs.isaacsim-base-image }}:${{ inputs.isaacsim-version }}" \
-          "isaacsim-pin-${{ inputs.container-name }}-${{ github.run_id }}-${{ github.run_attempt }}-post" \
+          "${ISAACSIM_BASE_IMAGE}:${ISAACSIM_VERSION}" \
+          "isaacsim-pin-${CONTAINER_NAME}-${{ github.run_id }}-${{ github.run_attempt }}-post" \
           "post-job-cleanup" \
           "false"
diff --git a/.github/actions/run-tests/action.yml b/.github/actions/run-tests/action.yml
index 811fc76ab94a..510c9e4cc033 100644
--- a/.github/actions/run-tests/action.yml
+++ b/.github/actions/run-tests/action.yml
@@ -133,27 +133,53 @@ runs:
     - name: Run Tests in Docker Container
       shell: bash
       env:
-        # Passed via env instead of inline ${{ }} interpolation: pytest options may
-        # contain spaces and quotes (e.g. -k "not ovphysx"), which would word-split
-        # the run_tests positional arguments if substituted textually.
+        CONTAINER_NAME: ${{ inputs.container-name }}
+        CUROBO_ONLY: ${{ inputs.curobo-only }}
+        EXCLUDE_PATTERN: ${{ inputs.exclude-pattern }}
+        EXTRA_PIP_PACKAGES: ${{ inputs.extra-pip-packages }}
+        EXTRA_UV_PACKAGES: ${{ inputs.extra-uv-packages }}
+        FILTER_PATTERN: ${{ inputs.filter-pattern }}
+        IMAGE_TAG: ${{ inputs.image-tag }}
+        INCLUDE_FILES: ${{ inputs.include-files }}
+        OVRTX_SHADER_CACHE_HOST_DIR: ${{ inputs.ovrtx-shader-cache-host-dir }}
         PYTEST_OPTIONS: ${{ inputs.pytest-options }}
+        QUARANTINED_ONLY: ${{ inputs.quarantined-only }}
+        REPORTS_DIR: ${{ inputs.reports-dir }}
+        RESULT_FILE: ${{ inputs.result-file }}
+        SHARD_COUNT: ${{ inputs.shard-count }}
+        SHARD_INDEX: ${{ inputs.shard-index }}
+        STANDALONE_SCRIPT_RUNTIME_GROUP: ${{ inputs.standalone-script-runtime-group }}
+        STANDALONE_SCRIPT_SCOPE: ${{ inputs.standalone-script-scope }}
+        STANDALONE_SCRIPT_VISUALIZER: ${{ inputs.standalone-script-visualizer }}
+        TEST_NODE_IDS_FILE: ${{ inputs.test-node-ids-file }}
+        TEST_NODE_IDS_KEY: ${{ inputs.test-node-ids-key }}
+        TEST_PATH: ${{ inputs.test-path }}
         TEST_K_EXPR_INPUT: ${{ inputs.test-k-expr }}
         CI_MARKER_INPUT: ${{ inputs.ci-marker }}
+        VOLUME_MOUNT_SOURCE: ${{ inputs.volume-mount-source }}
+        WARP_CACHE_HOST_DIR: ${{ inputs.warp-cache-host-dir }}
+        WHEELHOUSE_HOST_DIR: ${{ inputs.wheelhouse-host-dir }}
+        WHEELHOUSE_PACKAGES: ${{ inputs.wheelhouse-packages }}
       run: |
-        bash .github/actions/run-tests/run_tests.sh "${{ inputs.test-path }}" "${{ inputs.result-file }}" "${{ inputs.container-name }}" "${{ inputs.image-tag }}" "${{ inputs.reports-dir }}" "$PYTEST_OPTIONS" "${{ inputs.filter-pattern }}" "${{ inputs.exclude-pattern }}" "${{ inputs.curobo-only }}" "${{ inputs.include-files }}" "${{ inputs.quarantined-only }}" "${{ inputs.shard-index }}" "${{ inputs.shard-count }}" "${{ inputs.volume-mount-source }}" "${{ inputs.extra-pip-packages }}" "${{ inputs.test-node-ids-file }}" "${{ inputs.test-node-ids-key }}" "${{ inputs.wheelhouse-host-dir }}" "${{ inputs.wheelhouse-packages }}" "$TEST_K_EXPR_INPUT" "$CI_MARKER_INPUT" "${{ inputs.standalone-script-scope }}" "${{ inputs.standalone-script-visualizer }}" "${{ inputs.standalone-script-runtime-group }}" "${{ inputs.warp-cache-host-dir }}" "${{ inputs.extra-uv-packages }}" "${{ inputs.ovrtx-shader-cache-host-dir }}"
+        bash .github/actions/run-tests/run_tests.sh "$TEST_PATH" "$RESULT_FILE" "$CONTAINER_NAME" "$IMAGE_TAG" "$REPORTS_DIR" "$PYTEST_OPTIONS" "$FILTER_PATTERN" "$EXCLUDE_PATTERN" "$CUROBO_ONLY" "$INCLUDE_FILES" "$QUARANTINED_ONLY" "$SHARD_INDEX" "$SHARD_COUNT" "$VOLUME_MOUNT_SOURCE" "$EXTRA_PIP_PACKAGES" "$TEST_NODE_IDS_FILE" "$TEST_NODE_IDS_KEY" "$WHEELHOUSE_HOST_DIR" "$WHEELHOUSE_PACKAGES" "$TEST_K_EXPR_INPUT" "$CI_MARKER_INPUT" "$STANDALONE_SCRIPT_SCOPE" "$STANDALONE_SCRIPT_VISUALIZER" "$STANDALONE_SCRIPT_RUNTIME_GROUP" "$WARP_CACHE_HOST_DIR" "$EXTRA_UV_PACKAGES" "$OVRTX_SHADER_CACHE_HOST_DIR"
     - name: Kill container on cancellation
       if: cancelled()
       shell: bash
+      env:
+        CONTAINER_NAME: ${{ inputs.container-name }}
       run: |
         echo "::warning::Job cancelled - force-killing container"
-        docker kill "${{ inputs.container-name }}" 2>/dev/null || true
-        docker rm -f "${{ inputs.container-name }}" 2>/dev/null || true
+        docker kill "$CONTAINER_NAME" 2>/dev/null || true
+        docker rm -f "$CONTAINER_NAME" 2>/dev/null || true
 
     - name: Write job summary
       if: always()
       shell: bash
+      env:
+        REPORTS_DIR: ${{ inputs.reports-dir }}
+        RESULT_FILE: ${{ inputs.result-file }}
       run: |
-        report="${{ inputs.reports-dir }}/${{ inputs.result-file }}"
+        report="${REPORTS_DIR}/${RESULT_FILE}"
         if [ ! -f "$report" ]; then
           echo "🟠 No test report found" >> "$GITHUB_STEP_SUMMARY"
           exit 0
@@ -222,7 +248,9 @@ runs:
     - name: Clean up Docker container
       if: always() && !cancelled()
       shell: bash
+      env:
+        CONTAINER_NAME: ${{ inputs.container-name }}
       run: |
         echo "🔵 Cleaning up Docker container..."
-        docker kill "${{ inputs.container-name }}" 2>/dev/null || true
-        docker rm -f "${{ inputs.container-name }}" 2>/dev/null || true
+        docker kill "$CONTAINER_NAME" 2>/dev/null || true
+        docker rm -f "$CONTAINER_NAME" 2>/dev/null || true
diff --git a/.github/actions/run-tests/run_tests.sh b/.github/actions/run-tests/run_tests.sh
index 00e7a2e3b536..655f3a3919f3 100755
--- a/.github/actions/run-tests/run_tests.sh
+++ b/.github/actions/run-tests/run_tests.sh
@@ -108,50 +108,50 @@ run_tests() {
   mkdir -p "$reports_dir"
 
   # Clean up any existing container
-  docker rm -f $container_name 2>/dev/null || true
+  docker rm -f "$container_name" 2>/dev/null || true
 
   # Build Docker environment variables
-  docker_env_vars="\
-    -e OMNI_KIT_ACCEPT_EULA=yes \
-    -e ACCEPT_EULA=Y \
-    -e OMNI_KIT_DISABLE_CUP=1 \
-    -e ISAAC_SIM_HEADLESS=1 \
-    -e ISAAC_SIM_LOW_MEMORY=1 \
-    -e PYTHONUNBUFFERED=1 \
-    -e PYTHONIOENCODING=utf-8 \
-    -e GITHUB_ACTIONS=${GITHUB_ACTIONS:-} \
-    -e TEST_RESULT_FILE=$result_file"
+  local -a docker_env_args=(
+    -e "OMNI_KIT_ACCEPT_EULA=yes"
+    -e "ACCEPT_EULA=Y"
+    -e "OMNI_KIT_DISABLE_CUP=1"
+    -e "ISAAC_SIM_HEADLESS=1"
+    -e "ISAAC_SIM_LOW_MEMORY=1"
+    -e "PYTHONUNBUFFERED=1"
+    -e "PYTHONIOENCODING=utf-8"
+    -e "GITHUB_ACTIONS=${GITHUB_ACTIONS:-}"
+    -e "TEST_RESULT_FILE=$result_file"
+  )
 
   if [ "$curobo_only" = "true" ]; then
-    docker_env_vars="$docker_env_vars -e TEST_CUROBO_ONLY=true"
+    docker_env_args+=(-e "TEST_CUROBO_ONLY=true")
     echo "Setting TEST_CUROBO_ONLY=true"
   fi
 
   if [ "$quarantined_only" = "true" ]; then
-    docker_env_vars="$docker_env_vars -e TEST_QUARANTINED_ONLY=true"
+    docker_env_args+=(-e "TEST_QUARANTINED_ONLY=true")
     echo "Setting TEST_QUARANTINED_ONLY=true"
   fi
 
   if [ -n "$include_files" ]; then
-    # Strip spaces so the value is safe to embed in an unquoted docker_env_vars string.
     # conftest.py splits on commas and strips whitespace, so compact form works fine.
     include_files_compact="${include_files// /}"
-    docker_env_vars="$docker_env_vars -e TEST_INCLUDE_FILES=$include_files_compact"
+    docker_env_args+=(-e "TEST_INCLUDE_FILES=$include_files_compact")
     echo "Setting TEST_INCLUDE_FILES=$include_files_compact"
   fi
 
   if [ -n "${TEST_NODE_IDS:-}" ]; then
-    docker_env_vars="$docker_env_vars -e TEST_NODE_IDS"
+    docker_env_args+=(-e TEST_NODE_IDS)
     echo "Setting TEST_NODE_IDS"
   fi
 
   if [ -n "${TEST_NODE_IDS_FILE:-}" ]; then
-    docker_env_vars="$docker_env_vars -e TEST_NODE_IDS_FILE -e TEST_NODE_IDS_KEY"
+    docker_env_args+=(-e TEST_NODE_IDS_FILE -e TEST_NODE_IDS_KEY)
     echo "Setting TEST_NODE_IDS_FILE=$TEST_NODE_IDS_FILE TEST_NODE_IDS_KEY=$TEST_NODE_IDS_KEY"
   fi
 
   if [ -n "$shard_index" ] && [ -n "$shard_count" ]; then
-    docker_env_vars="$docker_env_vars -e TEST_SHARD_INDEX=$shard_index -e TEST_SHARD_COUNT=$shard_count"
+    docker_env_args+=(-e "TEST_SHARD_INDEX=$shard_index" -e "TEST_SHARD_COUNT=$shard_count")
     echo "Setting TEST_SHARD_INDEX=$shard_index TEST_SHARD_COUNT=$shard_count"
   fi
 
@@ -167,7 +167,7 @@ run_tests() {
       fi
     else
       # Handle positive pattern case
-      docker_env_vars="$docker_env_vars -e TEST_FILTER_PATTERN=$filter_pattern"
+      docker_env_args+=(-e "TEST_FILTER_PATTERN=$filter_pattern")
       echo "Setting include pattern: $filter_pattern"
     fi
   else
@@ -175,47 +175,47 @@ run_tests() {
   fi
 
   if [ -n "$exclude_pattern" ]; then
-    docker_env_vars="$docker_env_vars -e TEST_EXCLUDE_PATTERN=$exclude_pattern"
+    docker_env_args+=(-e "TEST_EXCLUDE_PATTERN=$exclude_pattern")
     echo "Setting exclude pattern: $exclude_pattern"
   fi
 
   if [ -n "$extra_pip_packages" ]; then
     export TEST_EXTRA_PIP_PACKAGES="$extra_pip_packages"
-    docker_env_vars="$docker_env_vars -e TEST_EXTRA_PIP_PACKAGES"
+    docker_env_args+=(-e TEST_EXTRA_PIP_PACKAGES)
   fi
   if [ -n "$extra_uv_packages" ]; then
     export TEST_EXTRA_UV_PACKAGES="$extra_uv_packages"
-    docker_env_vars="$docker_env_vars -e TEST_EXTRA_UV_PACKAGES"
+    docker_env_args+=(-e TEST_EXTRA_UV_PACKAGES)
   fi
 
   if [ -n "$test_k_expr" ]; then
     export TEST_K_EXPR="$test_k_expr"
-    docker_env_vars="$docker_env_vars -e TEST_K_EXPR"
+    docker_env_args+=(-e TEST_K_EXPR)
     echo "Setting per-file pytest -k expression: $test_k_expr"
   fi
 
   if [ -n "$ci_marker" ]; then
-    docker_env_vars="$docker_env_vars -e CI_MARKER=$ci_marker"
+    docker_env_args+=(-e "CI_MARKER=$ci_marker")
     echo "Setting CI_MARKER=$ci_marker"
   fi
 
   if [ -n "$standalone_script_scope" ]; then
-    docker_env_vars="$docker_env_vars \
-      -e ISAACLAB_RUN_STANDALONE_SCRIPT_TESTS=1 \
-      -e ISAACLAB_STANDALONE_SCRIPT_SCOPE=$standalone_script_scope \
-      -e ISAACLAB_STANDALONE_VISUALIZER=$standalone_script_visualizer"
+    docker_env_args+=(
+      -e "ISAACLAB_RUN_STANDALONE_SCRIPT_TESTS=1"
+      -e "ISAACLAB_STANDALONE_SCRIPT_SCOPE=$standalone_script_scope"
+      -e "ISAACLAB_STANDALONE_VISUALIZER=$standalone_script_visualizer"
+    )
     echo "Running standalone scripts in scope '$standalone_script_scope' with visualizer '$standalone_script_visualizer'"
     if [ -n "$standalone_script_runtime_group" ]; then
-      docker_env_vars="$docker_env_vars \
-        -e ISAACLAB_STANDALONE_SCRIPT_RUNTIME_GROUP=$standalone_script_runtime_group"
+      docker_env_args+=(-e "ISAACLAB_STANDALONE_SCRIPT_RUNTIME_GROUP=$standalone_script_runtime_group")
       echo "Standalone backend-runtime group: $standalone_script_runtime_group"
     fi
   fi
 
   # Volume mount for deps-cache-hit mode: bind-mount the checked-out
   # source code over /workspace/isaaclab instead of baking it into the image.
-  docker_volume_args=""
-  docker_user_args=""
+  local -a docker_volume_args=()
+  local -a docker_user_args=()
   if [ -n "$volume_mount_source" ]; then
     host_uid="$(id -u)"
     host_gid="$(id -g)"
@@ -241,20 +241,27 @@ run_tests() {
       "${docker_runtime_dir}/isaac-sim/data" \
       "${docker_runtime_dir}/isaac-sim/logs" \
       "${docker_runtime_dir}/isaac-sim/pkg"
-    docker_volume_args="\
-      -v ${volume_mount_source}:/workspace/isaaclab:rw \
-      -v ${docker_runtime_dir}/home:/tmp/isaaclab-ci-home:rw \
-      -v ${docker_runtime_dir}/isaac-sim/kit/cache:/isaac-sim/kit/cache:rw \
-      -v ${docker_runtime_dir}/isaac-sim/kit/data:/isaac-sim/kit/data:rw \
-      -v ${docker_runtime_dir}/isaac-sim/kit/logs:/isaac-sim/kit/logs:rw \
-      -v ${docker_runtime_dir}/isaac-sim/cache:/isaac-sim/.cache:rw \
-      -v ${docker_runtime_dir}/isaac-sim/computecache:/isaac-sim/.nv/ComputeCache:rw \
-      -v ${docker_runtime_dir}/isaac-sim/config:/isaac-sim/.nvidia-omniverse/config:rw \
-      -v ${docker_runtime_dir}/isaac-sim/data:/isaac-sim/.local/share/ov/data:rw \
-      -v ${docker_runtime_dir}/isaac-sim/logs:/isaac-sim/.nvidia-omniverse/logs:rw \
-      -v ${docker_runtime_dir}/isaac-sim/pkg:/isaac-sim/.local/share/ov/pkg:rw"
-    docker_user_args="--user ${host_uid}:${host_gid}"
-    docker_env_vars="$docker_env_vars -e HOME=/tmp/isaaclab-ci-home -e XDG_CACHE_HOME=/tmp/isaaclab-ci-home/.cache -e XDG_DATA_HOME=/tmp/isaaclab-ci-home/.local/share -e USER=${host_user} -e LOGNAME=${host_user}"
+    docker_volume_args=(
+      -v "${volume_mount_source}:/workspace/isaaclab:rw"
+      -v "${docker_runtime_dir}/home:/tmp/isaaclab-ci-home:rw"
+      -v "${docker_runtime_dir}/isaac-sim/kit/cache:/isaac-sim/kit/cache:rw"
+      -v "${docker_runtime_dir}/isaac-sim/kit/data:/isaac-sim/kit/data:rw"
+      -v "${docker_runtime_dir}/isaac-sim/kit/logs:/isaac-sim/kit/logs:rw"
+      -v "${docker_runtime_dir}/isaac-sim/cache:/isaac-sim/.cache:rw"
+      -v "${docker_runtime_dir}/isaac-sim/computecache:/isaac-sim/.nv/ComputeCache:rw"
+      -v "${docker_runtime_dir}/isaac-sim/config:/isaac-sim/.nvidia-omniverse/config:rw"
+      -v "${docker_runtime_dir}/isaac-sim/data:/isaac-sim/.local/share/ov/data:rw"
+      -v "${docker_runtime_dir}/isaac-sim/logs:/isaac-sim/.nvidia-omniverse/logs:rw"
+      -v "${docker_runtime_dir}/isaac-sim/pkg:/isaac-sim/.local/share/ov/pkg:rw"
+    )
+    docker_user_args=(--user "${host_uid}:${host_gid}")
+    docker_env_args+=(
+      -e "HOME=/tmp/isaaclab-ci-home"
+      -e "XDG_CACHE_HOME=/tmp/isaaclab-ci-home/.cache"
+      -e "XDG_DATA_HOME=/tmp/isaaclab-ci-home/.local/share"
+      -e "USER=${host_user}"
+      -e "LOGNAME=${host_user}"
+    )
     echo "🔵 Volume-mounting ${volume_mount_source} >> /workspace/isaaclab"
     echo "🔵 Mounting writable Docker runtime storage from ${docker_runtime_dir}"
     echo "🔵 Running volume-mounted container as host uid:gid ${host_uid}:${host_gid} (${host_user})"
@@ -263,10 +270,8 @@ run_tests() {
   # Must follow the volume_mount_source block, which assigns rather than
   # appends to docker_volume_args. The caller creates the directory.
   if [ -n "$warp_cache_host_dir" ]; then
-    docker_volume_args="$docker_volume_args \
-      -v ${warp_cache_host_dir}:/tmp/isaaclab-warp-cache:rw"
-    docker_env_vars="$docker_env_vars \
-      -e WARP_CACHE_PATH=/tmp/isaaclab-warp-cache"
+    docker_volume_args+=(-v "${warp_cache_host_dir}:/tmp/isaaclab-warp-cache:rw")
+    docker_env_args+=(-e "WARP_CACHE_PATH=/tmp/isaaclab-warp-cache")
   fi
 
   if [ -n "$ovrtx_shader_cache_host_dir" ]; then
@@ -283,12 +288,14 @@ run_tests() {
     kit_cache_dir="${ovrtx_shader_cache_host_dir}/kit"
     kitless_cache_dir="${ovrtx_shader_cache_host_dir}/kitless"
     mkdir -p "$kit_cache_dir" "$kitless_cache_dir"
-    docker_volume_args="$docker_volume_args \
-      -v ${kit_cache_dir}:/isaac-sim/kit/cache/nv_shadercache:rw \
-      -v ${kitless_cache_dir}:/tmp/isaaclab-ovrtx-kitless-cache:rw"
-    docker_env_vars="$docker_env_vars \
-      -e OVRTX_SHADER_CACHE_PATH=/tmp/isaaclab-ovrtx-kitless-cache \
-      -e OVRTX_KIT_SHADER_CACHE_PATH=/isaac-sim/kit/cache/nv_shadercache"
+    docker_volume_args+=(
+      -v "${kit_cache_dir}:/isaac-sim/kit/cache/nv_shadercache:rw"
+      -v "${kitless_cache_dir}:/tmp/isaaclab-ovrtx-kitless-cache:rw"
+    )
+    docker_env_args+=(
+      -e "OVRTX_SHADER_CACHE_PATH=/tmp/isaaclab-ovrtx-kitless-cache"
+      -e "OVRTX_KIT_SHADER_CACHE_PATH=/isaac-sim/kit/cache/nv_shadercache"
+    )
   fi
 
   if [ -n "$wheelhouse_host_dir" ]; then
@@ -306,41 +313,61 @@ run_tests() {
     fi
 
     export TEST_WHEELHOUSE_PACKAGES="$wheelhouse_packages"
-    docker_volume_args="$docker_volume_args \
-      -v ${wheelhouse_host_dir}/wheelhouse:/tmp/ovphysx-wheelhouse:ro \
-      -v ${wheelhouse_host_dir}/manifest.json:/tmp/ovphysx-wheelhouse-manifest.json:ro"
-    docker_env_vars="$docker_env_vars \
-      -e TEST_WHEELHOUSE_PATH=/tmp/ovphysx-wheelhouse \
-      -e TEST_WHEELHOUSE_MANIFEST=/tmp/ovphysx-wheelhouse-manifest.json \
-      -e TEST_WHEELHOUSE_PACKAGES"
+    docker_volume_args+=(
+      -v "${wheelhouse_host_dir}/wheelhouse:/tmp/ovphysx-wheelhouse:ro"
+      -v "${wheelhouse_host_dir}/manifest.json:/tmp/ovphysx-wheelhouse-manifest.json:ro"
+    )
+    docker_env_args+=(
+      -e "TEST_WHEELHOUSE_PATH=/tmp/ovphysx-wheelhouse"
+      -e "TEST_WHEELHOUSE_MANIFEST=/tmp/ovphysx-wheelhouse-manifest.json"
+      -e TEST_WHEELHOUSE_PACKAGES
+    )
     echo "Mounting wheelhouse at /tmp/ovphysx-wheelhouse"
   fi
 
-  echo "Docker environment variables: '$docker_env_vars'"
+  printf "Docker environment arguments:"
+  printf " %q" "${docker_env_args[@]}"
+  printf "\n"
   echo "::endgroup::"
 
+  local -a pytest_args=()
+  if [ -n "$pytest_options" ]; then
+    if ! python3 -c "import shlex, sys; shlex.split(sys.argv[1])" "$pytest_options"; then
+      echo "::error::pytest-options contains invalid shell-style quoting"
+      return 1
+    fi
+    mapfile -d '' -t pytest_args < <(
+      python3 -c \
+        "import shlex, sys; [sys.stdout.buffer.write(arg.encode() + b'\\0') for arg in shlex.split(sys.argv[1])]" \
+        "$pytest_options"
+    )
+  fi
+
   # Run tests in a detached container and follow logs.  Running detached
   # means the container lifecycle is independent of the shell - if the
   # runner kills this step on cancellation, the `if: always()` cleanup
   # step can still `docker kill` the container reliably.
   # `docker logs -f` is the foreground process and is trivially killable.
   echo "🔵 Starting Docker container for tests..."
-  docker run -d --name $container_name \
+  docker run -d --name "$container_name" \
     --init --stop-timeout 5 \
     --entrypoint bash --gpus all --network=host \
     -v "$PWD/.github/actions/_lib/with-python-package-retries.sh:/with-python-package-retries.sh:ro" \
     --security-opt=no-new-privileges:true \
-    --memory=$(echo "$(free -m | awk '/^Mem:/{print $2}') * 0.9 / 1" | bc)m \
-    --cpus=$(echo "$(nproc) * 0.9" | bc) \
+    --memory="$(echo "$(free -m | awk '/^Mem:/{print $2}') * 0.9 / 1" | bc)m" \
+    --cpus="$(echo "$(nproc) * 0.9" | bc)" \
     --oom-kill-disable=false \
     --ulimit nofile=65536:65536 \
     --ulimit nproc=4096:4096 \
-    $docker_volume_args \
-    $docker_user_args \
-    $docker_env_vars \
-    $image_tag \
+    "${docker_volume_args[@]}" \
+    "${docker_user_args[@]}" \
+    "${docker_env_args[@]}" \
+    "$image_tag" \
     -c "
       set -e
+      test_path=\"\$1\"
+      result_file=\"\$2\"
+      shift 2
       cd /workspace/isaaclab
       mkdir -p tests
       # The runtime mounts above create /isaac-sim in every image. Link it only where Kit
@@ -408,9 +435,9 @@ run_tests() {
         bash /with-python-package-retries.sh \"\${uv_executable}\" pip install --python \"\${isaac_python}\" --target \"\${isaac_uv_overlay}\" --no-deps \${TEST_EXTRA_UV_PACKAGES}
         export PYTHONPATH=\"\${isaac_uv_overlay}\${PYTHONPATH:+:\${PYTHONPATH}}\"
       fi
-      echo 'Starting pytest with path: $test_path'
-      ./isaaclab.sh -p -m pytest --ignore=tools/conftest.py $test_path $pytest_options -v --junitxml=tests/$result_file
-    "
+      echo \"Starting pytest with path: \${test_path}\"
+      ./isaaclab.sh -p -m pytest --ignore=tools/conftest.py \"\${test_path}\" \"\$@\" -v --junitxml=\"tests/\${result_file}\"
+    " bash "$test_path" "$result_file" "${pytest_args[@]}"
 
   # Stream container logs in background.
   docker logs -f "$container_name" &
diff --git a/.github/actions/upload-omni-github-test-results/action.yml b/.github/actions/upload-omni-github-test-results/action.yml
index ea581d0f8de9..d74ceb2186b4 100644
--- a/.github/actions/upload-omni-github-test-results/action.yml
+++ b/.github/actions/upload-omni-github-test-results/action.yml
@@ -46,7 +46,9 @@ runs:
       shell: bash
       env:
         ARTIFACT_PREFIX: ${{ inputs.artifact-prefix }}
+        COMPARISON_IMAGES_URL: ${{ inputs.comparison-images-url }}
         JUNIT_FILE: ${{ inputs.junit-file }}
+        JUNIT_LOG_URL: ${{ inputs.junit-log-url }}
         TEST_TOOL_ID: ${{ inputs.test-tool-id }}
         TEST_TYPE: ${{ inputs.test-type }}
       run: |
@@ -87,8 +89,8 @@ runs:
           --app-platform "$app_platform" \
           --app-config "${GITHUB_JOB:-github-job}" \
           --group-name "${GITHUB_WORKFLOW:-github-workflow} / ${GITHUB_JOB:-github-job}" \
-          --junit-log-url "${{ inputs.junit-log-url }}" \
-          --comparison-images-url "${{ inputs.comparison-images-url }}" \
+          --junit-log-url "$JUNIT_LOG_URL" \
+          --comparison-images-url "$COMPARISON_IMAGES_URL" \
           --retries "$retries"
 
         result_json="$artifact_dir/_testoutput/test_results.json"
diff --git a/.github/actions/validate-kitless-image/action.yml b/.github/actions/validate-kitless-image/action.yml
index ebce7e276471..f7010257edf0 100644
--- a/.github/actions/validate-kitless-image/action.yml
+++ b/.github/actions/validate-kitless-image/action.yml
@@ -43,6 +43,20 @@ runs:
       print("core RL frameworks available:", ", ".join(modules))
       '
 
+      # Nothing else in this action runs ``uv run``, the documented entry point -- every other
+      # step calls ``python`` directly, which is how nvbugs 6732972 stayed green here.
+      docker run --rm "${mount_args[@]}" "$IMAGE_TAG" \
+        bash -lc '
+      set -euo pipefail
+      prefix="$(uv run --extra ov python -c "import sys; print(sys.prefix)" | tail -n 1)"
+      test "$prefix" = "$VIRTUAL_ENV" || {
+        echo "::error::uv run resolved ${prefix}, not the image environment ${VIRTUAL_ENV}"
+        exit 1
+      }
+      test ! -e "${ISAACLAB_PATH}/.venv"
+      echo "uv run resolved the image environment: ${prefix}"
+      '
+
       # Renderer construction loads the native OVRTX stack and creates a Vulkan
       # device. Full rendering correctness remains in build.yaml.
       docker run --rm --gpus all --network host \
diff --git a/.github/test-subsets/postmerge-rendering.toml b/.github/test-subsets/postmerge-rendering.toml
index d7d57a8989f7..b11939b6b192 100644
--- a/.github/test-subsets/postmerge-rendering.toml
+++ b/.github/test-subsets/postmerge-rendering.toml
@@ -23,3 +23,17 @@ rendering-correctness-kitless-ovstage = [
   "source/isaaclab_tasks/test/core/test_rendering_cartpole_kitless.py::test_rendering_cartpole_kitless[ovstage-newton-ovrtx_renderer-static]",
   "source/isaaclab_tasks/test/core/test_rendering_cartpole_kitless.py::test_rendering_cartpole_kitless[ovstage-ovphysx-ovrtx_renderer-static]",
 ]
+
+# Nodes the shader-cache warmer runs: the RTX-renderer subset of the lists above,
+# which are the only ones that compile PSO blobs. isaacsim_rtx fills kit/ and ovrtx
+# fills kitless/; the newton_renderer nodes drive the Warp rasterizer and populate
+# neither tree. Exact node IDs rather than a -k expression so a parametrize-ID
+# rename fails collection instead of silently selecting nothing.
+ovrtx-cache-warm = [
+  "source/isaaclab_tasks/test/core/test_rendering_cartpole.py::test_rendering_cartpole[newton-isaacsim_rtx_renderer-static]",
+  "source/isaaclab_tasks/test/core/test_rendering_cartpole.py::test_rendering_cartpole[physx-isaacsim_rtx_renderer-static]",
+  "source/isaaclab_tasks/test/core/test_rendering_cartpole_kitless.py::test_rendering_cartpole_kitless[legacy-newton-ovrtx_renderer-static]",
+  "source/isaaclab_tasks/test/core/test_rendering_cartpole_kitless.py::test_rendering_cartpole_kitless[legacy-ovphysx-ovrtx_renderer-static]",
+  "source/isaaclab_tasks/test/core/test_rendering_cartpole_kitless.py::test_rendering_cartpole_kitless[ovstage-newton-ovrtx_renderer-static]",
+  "source/isaaclab_tasks/test/core/test_rendering_cartpole_kitless.py::test_rendering_cartpole_kitless[ovstage-ovphysx-ovrtx_renderer-static]",
+]
diff --git a/.github/workflows/README.md b/.github/workflows/README.md
index 0e38d5fdd3c8..3958f8cb54ad 100644
--- a/.github/workflows/README.md
+++ b/.github/workflows/README.md
@@ -1,7 +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`.
+`schedule:` triggers run only from the repository's current default branch.
+A scheduled workflow YAML must live on that branch for its cron to register.
+A `workflow_dispatch:` workflow must also exist on the default branch,
+although manual dispatch can select another branch or tag. `pull_request:`
+and `push:` triggers use the event branch normally.
diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 366320344bad..71b2825f107e 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -177,7 +177,7 @@ jobs:
     - uses: actions/checkout@v6
 
     - name: Set up uv
-      uses: astral-sh/setup-uv@v6
+      uses: astral-sh/setup-uv@d0cc045d04ccac9d8b7881df0226f9e82c39688e  # v6.8.0
       with:
         enable-cache: true
 
@@ -185,8 +185,13 @@ jobs:
       shell: bash
       run: |
         set -euo pipefail
-        uv run --no-project --with pytest \
-          python -m pytest -q docker/test/test_dockerfile_nonroot.py
+        contract_env="$(mktemp -d "${RUNNER_TEMP}/isaaclab-contract.XXXXXX")"
+        uv venv --python 3.12 "${contract_env}"
+        uv pip sync --require-hashes --only-binary :all: \
+          --python "${contract_env}/bin/python" docker/test/requirements.txt
+        uv pip check --python "${contract_env}/bin/python"
+        "${contract_env}/bin/python" -m pytest -q \
+          docker/test/test_dockerfile_nonroot.py docker/test/test_security_dependencies.py
 
   #region build jobs
   build:
@@ -203,7 +208,7 @@ jobs:
 
     # The GPU runners have no uv on PATH; the invariant check below needs it.
     - name: Set up uv
-      uses: astral-sh/setup-uv@v6
+      uses: astral-sh/setup-uv@d0cc045d04ccac9d8b7881df0226f9e82c39688e  # v6.8.0
       with:
         enable-cache: true
 
@@ -1020,9 +1025,11 @@ jobs:
           test_rendering_cartpole_kitless.py
         # Only the two RTX paths compile PSO blobs: isaacsim_rtx fills kit/ and
         # ovrtx fills kitless/. newton_warp would exercise the Warp rasterizer,
-        # which populates neither tree.
-        test-k-expr: >-
-          (isaacsim_rtx or ovrtx) and (rgb or depth)
+        # which populates neither tree. The nodes are pinned by exact ID rather
+        # than a -k expression, so a parametrize-ID rename fails collection here
+        # instead of quietly leaving the warmer with nothing to run.
+        test-node-ids-file: .github/test-subsets/postmerge-rendering.toml
+        test-node-ids-key: ovrtx-cache-warm
         ovrtx-shader-cache: ${{ env.PUBLISHES_OVRTX_CACHE == 'true' && 'save' || 'restore' }}
         container-name: isaac-lab-ovrtx-cache-warm
         omni-github-test-type: ovrtx-cache-warm
diff --git a/.github/workflows/check-links.yml b/.github/workflows/check-links.yml
index 7745d8c66ce2..5165690f7643 100644
--- a/.github/workflows/check-links.yml
+++ b/.github/workflows/check-links.yml
@@ -68,7 +68,7 @@ jobs:
 
     - name: Run Link Checker
       if: steps.check_docs.outputs.run_job == 'true' || github.event_name == 'workflow_dispatch' || github.event_name == 'schedule'
-      uses: lycheeverse/lychee-action@v2
+      uses: lycheeverse/lychee-action@e7477775783ea5526144ba13e8db5eec57747ce8  # v2.9.0
       with:
         # Check all markdown files and documentation
         # Excluded are known crawl blockers
@@ -110,6 +110,7 @@ jobs:
           --exclude 'download\.isaacsim\.omniverse\.nvidia\.com/isaaclab/images'
           --exclude 'dx\.doi\.org/10\.1109/JRA\.1987\.1087068'
           --exclude 'andrew\.cmu\.edu/course/10-703/textbook/BartoSutton\.pdf'
+          --exclude 'ethz\.ch/content/dam/ethz/.*/RD_HS2017script\.pdf'
           --exclude 'www\.nvidia\.com/en-us/security'
           --exclude 'bostondynamics\.com/reinforcement-learning-researcher-kit'
           --exclude 'opensource\.org'
diff --git a/.github/workflows/config.yaml b/.github/workflows/config.yaml
index 353d4a65be4f..6d170ef41dbb 100644
--- a/.github/workflows/config.yaml
+++ b/.github/workflows/config.yaml
@@ -10,6 +10,6 @@
 # which the CI credential can reach.
 isaacsim_image_name: nvcr.io/0947644777160149/internal/isaac-sim
 # Isaac Sim 6.1.0-alpha.50 (b86cf6ce) includes Kit 110.3.0-360924's fix for NVBug 6566677.
-isaacsim_image_tag: latest-develop@sha256:0bd319db2e50e667e75abf897ec48c2315e6707fed4faa6bb514bf393e537f8a
+isaacsim_image_tag: latest-develop@sha256:223adbb0a6f1897ed78d40597dac2efc740843e8051779ffdcbb021a9edc1217
 isaaclab_image_name: nvcr.io/0947644777160149/internal/isaac-lab
 ovphysx_wheelhouse_image: ""
diff --git a/.github/workflows/daily-compatibility.yml b/.github/workflows/daily-compatibility.yml
deleted file mode 100644
index eaf05e4d3186..000000000000
--- a/.github/workflows/daily-compatibility.yml
+++ /dev/null
@@ -1,308 +0,0 @@
-# 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
-
-# Nightly canary: runs the IsaacLab test suite against multiple pinned
-# IsaacSim versions to catch backwards-compatibility regressions.
-#
-# Caveats for editors of this file or its action dependencies
-# (`.github/actions/docker-build`, `run-tests`, `combine-results`):
-#
-#   * No `pull_request:` trigger — changes are not validated automatically
-#     at PR time. Manually trigger against the PR branch before merge:
-#         gh workflow run "Backwards Compatibility Tests" --ref <branch>
-#     Otherwise breakage surfaces only on the next nightly cron after merge.
-#
-#   * The build steps below pass `cache-from: type=gha` / `cache-to:
-#     type=gha,mode=max` to docker-build explicitly. Future migration to
-#     `./.github/actions/ecr-build-push-pull` would share build.yaml's
-#     cross-runner ECR layer cache, but that's deferred until daily-compat
-#     is ready to wire ECR auth.
-
-name: Backwards Compatibility Tests
-
-on:
-  schedule:
-    # Run daily at 8 PM PST (4 AM UTC)
-    - cron: '0 4 * * *'
-
-  workflow_dispatch:
-    inputs:
-      isaacsim_version:
-        description: 'IsaacSim version image tag to test'
-        required: true
-        default: '4.5.0'
-        type: string
-
-# Concurrency control to prevent parallel runs
-concurrency:
-  group: compatibility-${{ github.ref }}-${{ github.event_name }}
-  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
-
-permissions:
-  contents: read
-  pull-requests: write
-
-env:
-  NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
-
-jobs:
-  config:
-    name: Load Config
-    runs-on: ubuntu-latest
-    outputs:
-      isaacsim_image_name: ${{ steps.load.outputs.isaacsim_image_name }}
-      isaacsim_image_tag: ${{ steps.load.outputs.isaacsim_image_tag }}
-      isaaclab_image_name: ${{ steps.load.outputs.isaaclab_image_name }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        fetch-depth: 1
-        sparse-checkout: .github/workflows/config.yaml
-        sparse-checkout-cone-mode: false
-    - id: load
-      run: |
-        set -euo pipefail
-        f=.github/workflows/config.yaml
-        echo "isaacsim_image_name=$(yq -r .isaacsim_image_name "$f")" >> "$GITHUB_OUTPUT"
-        echo "isaacsim_image_tag=$(yq -r .isaacsim_image_tag "$f")" >> "$GITHUB_OUTPUT"
-        echo "isaaclab_image_name=$(yq -r .isaaclab_image_name "$f")" >> "$GITHUB_OUTPUT"
-
-  setup-versions:
-    runs-on: ubuntu-latest
-    outputs:
-      versions: ${{ steps.set-versions.outputs.versions }}
-    steps:
-      - name: Set Isaac Sim Versions
-        id: set-versions
-        run: |
-          # Define all versions to test in one place
-          DEFAULT_VERSIONS='["4.5.0", "5.0.0"]'
-
-          if [ -n "${{ github.event.inputs.isaacsim_version }}" ]; then
-            # If a specific version is provided via workflow_dispatch, use only that
-            echo "versions=[\"${{ github.event.inputs.isaacsim_version }}\"]" >> $GITHUB_OUTPUT
-          else
-            # Otherwise, use all default versions
-            echo "versions=$DEFAULT_VERSIONS" >> $GITHUB_OUTPUT
-          fi
-
-  test-isaaclab-tasks-compat:
-    needs: [setup-versions, config]
-    runs-on: [self-hosted, gpu]
-    timeout-minutes: 180
-    continue-on-error: true
-    strategy:
-      matrix:
-        isaacsim_version: ${{ fromJson(needs.setup-versions.outputs.versions) }}
-      fail-fast: false
-    env:
-        CUDA_VISIBLE_DEVICES: all
-        NVIDIA_VISIBLE_DEVICES: all
-        NVIDIA_DRIVER_CAPABILITIES: all
-        CUDA_HOME: /usr/local/cuda
-        LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
-        DOCKER_IMAGE_TAG: isaac-lab-compat:${{ github.ref_name }}-${{ github.sha }}-${{ matrix.isaacsim_version }}
-
-    steps:
-    - name: Checkout Code
-      uses: actions/checkout@v6
-      with:
-        fetch-depth: 1
-        lfs: true
-
-    # Single source of truth: read the OV runtime pins from [tool.isaaclab.versions].
-    - name: Resolve OV runtime pins from pyproject
-      uses: ./.github/actions/resolve-ov-pins
-      id: ov_pins
-
-    - name: Build Docker Image
-      uses: ./.github/actions/docker-build
-      with:
-        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
-        isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
-        isaacsim-version: ${{ matrix.isaacsim_version }}
-        cache-from: type=gha
-        cache-to: type=gha,mode=max
-
-    - name: Run IsaacLab Tasks Tests
-      uses: ./.github/actions/run-tests
-      with:
-        test-path: "tools"
-        result-file: "isaaclab-tasks-compat-report.xml"
-        container-name: "isaac-lab-tasks-compat-test-$$"
-        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
-        pytest-options: ""
-        filter-pattern: "isaaclab_tasks"
-        extra-pip-packages: ${{ format('{0} {1}', steps.ov_pins.outputs.ovphysx, steps.ov_pins.outputs.ovrtx) }}
-
-    - name: Copy All Test Results from IsaacLab Tasks Container
-      run: |
-        CONTAINER_NAME="isaac-lab-tasks-compat-test-$$"
-        if docker ps -a | grep -q $CONTAINER_NAME; then
-          echo "Copying all test results from IsaacLab Tasks container..."
-          docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/isaaclab-tasks-compat-report.xml reports/ 2>/dev/null || echo "No test results to copy from IsaacLab Tasks container"
-        fi
-
-    - name: Upload IsaacLab Tasks Test Results
-      uses: actions/upload-artifact@v7
-      if: always()
-      with:
-        name: isaaclab-tasks-compat-results-${{ matrix.isaacsim_version }}
-        path: reports/isaaclab-tasks-compat-report.xml
-        retention-days: 7
-        compression-level: 9
-
-  test-general-compat:
-    needs: [setup-versions, config]
-    runs-on: [self-hosted, gpu]
-    timeout-minutes: 180
-    strategy:
-      matrix:
-        isaacsim_version: ${{ fromJson(needs.setup-versions.outputs.versions) }}
-      fail-fast: false
-    env:
-        CUDA_VISIBLE_DEVICES: all
-        NVIDIA_VISIBLE_DEVICES: all
-        NVIDIA_DRIVER_CAPABILITIES: all
-        CUDA_HOME: /usr/local/cuda
-        LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
-        DOCKER_IMAGE_TAG: isaac-lab-compat:${{ github.ref_name }}-${{ github.sha }}-${{ matrix.isaacsim_version }}
-
-    steps:
-    - name: Checkout Code
-      uses: actions/checkout@v6
-      with:
-        fetch-depth: 1
-        lfs: true
-
-    - name: Build Docker Image
-      uses: ./.github/actions/docker-build
-      with:
-        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
-        isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
-        isaacsim-version: ${{ matrix.isaacsim_version }}
-        cache-from: type=gha
-        cache-to: type=gha,mode=max
-
-    - name: Run General Tests
-      uses: ./.github/actions/run-tests
-      with:
-        test-path: "tools"
-        result-file: "general-tests-compat-report.xml"
-        container-name: "isaac-lab-general-compat-test-$$"
-        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
-        pytest-options: ""
-        filter-pattern: "not isaaclab_tasks"
-
-    - name: Copy All Test Results from General Tests Container
-      run: |
-        CONTAINER_NAME="isaac-lab-general-compat-test-$$"
-        if docker ps -a | grep -q $CONTAINER_NAME; then
-          echo "Copying all test results from General Tests container..."
-          docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/general-tests-compat-report.xml reports/ 2>/dev/null || echo "No test results to copy from General Tests container"
-        fi
-
-    - name: Upload General Test Results
-      uses: actions/upload-artifact@v7
-      if: always()
-      with:
-        name: general-tests-compat-results-${{ matrix.isaacsim_version }}
-        path: reports/general-tests-compat-report.xml
-        retention-days: 7
-        compression-level: 9
-
-  combine-compat-results:
-    needs: [test-isaaclab-tasks-compat, test-general-compat]
-    runs-on: ubuntu-latest
-    if: always()
-
-    steps:
-    - name: Checkout Code
-      uses: actions/checkout@v6
-      with:
-        fetch-depth: 1
-        lfs: false
-        sparse-checkout: .github/actions
-        sparse-checkout-cone-mode: true
-
-    - name: Create Reports Directory
-      run: |
-        mkdir -p reports
-
-    - name: Download All Test Results
-      uses: actions/download-artifact@v8
-      with:
-        pattern: '*-compat-results-*'
-        path: reports/
-        merge-multiple: true
-      continue-on-error: true
-
-    - name: Combine All Test Results
-      uses: ./.github/actions/combine-results
-      with:
-        tests-dir: "reports"
-        output-file: "reports/combined-compat-results.xml"
-
-    - name: Upload Combined Test Results
-      uses: actions/upload-artifact@v7
-      if: always()
-      with:
-        name: daily-compat-${{ github.run_id }}-combined-test-results
-        path: reports/combined-compat-results.xml
-        retention-days: 30
-        compression-level: 9
-
-    - name: Report Test Results
-      uses: dorny/test-reporter@v2.6.0
-      if: always()
-      with:
-        name: IsaacLab Compatibility Test Results (${{ github.event_name }})
-        path: reports/combined-compat-results.xml
-        reporter: java-junit
-        max-annotations: '50'
-        report-title: "IsaacLab Compatibility Test Results - ${{ github.event_name }} - ${{ github.ref_name }}"
-
-  notify-compatibility-status:
-    needs: [setup-versions, combine-compat-results]
-    runs-on: ubuntu-latest
-    if: always()
-
-    steps:
-    - name: Checkout Code
-      uses: actions/checkout@v6
-      with:
-        fetch-depth: 1
-        lfs: false
-        sparse-checkout: .github/actions
-        sparse-checkout-cone-mode: true
-
-    - name: Create Compatibility Report
-      run: |
-        TRIGGER_INFO="**Trigger:** ${{ github.event_name }}"
-        ISAACSIM_VERSIONS="${{ join(fromJson(needs.setup-versions.outputs.versions), ', ') }}"
-        echo "## Daily Backwards Compatibility Test Results" > compatibility-report.md
-        echo "" >> compatibility-report.md
-        echo "$TRIGGER_INFO" >> compatibility-report.md
-        echo "**IsaacSim Versions Tested:** $ISAACSIM_VERSIONS" >> compatibility-report.md
-        echo "**Branch:** ${{ github.ref_name }}" >> compatibility-report.md
-        echo "**Commit:** ${{ github.sha }}" >> compatibility-report.md
-        echo "**Run ID:** ${{ github.run_id }}" >> compatibility-report.md
-        echo "" >> compatibility-report.md
-        echo "### Test Status:" >> compatibility-report.md
-        echo "- Results: ${{ needs.combine-compat-results.result }}" >> compatibility-report.md
-        echo "" >> compatibility-report.md
-        echo "### Artifacts:" >> compatibility-report.md
-        echo "- [Combined Test Results](https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }})" >> compatibility-report.md
-        echo "" >> compatibility-report.md
-        echo "---" >> compatibility-report.md
-        echo "*This report was generated automatically by the daily compatibility workflow.*" >> compatibility-report.md
-
-    - name: Upload Compatibility Report
-      uses: actions/upload-artifact@v7
-      if: always()
-      with:
-        name: compatibility-report-${{ github.run_id }}
-        path: compatibility-report.md
-        retention-days: 30
diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 977bb4658761..0979f2ed6883 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -59,7 +59,7 @@ jobs:
       uses: actions/checkout@v6
 
     - name: Set up uv
-      uses: astral-sh/setup-uv@v6
+      uses: astral-sh/setup-uv@d0cc045d04ccac9d8b7881df0226f9e82c39688e  # v6.8.0
       with:
         python-version: "3.12"
         enable-cache: true
@@ -85,13 +85,15 @@ jobs:
     needs: [doc-build-type]
     # run on deploy branches to create multi-version docs
     if: needs.doc-build-type.outputs.trigger-deploy == 'true'
+    env:
+      DOCS_DEFAULT_REF: develop
 
     steps:
     - name: Checkout code
       uses: actions/checkout@v6
 
     - name: Set up uv
-      uses: astral-sh/setup-uv@v6
+      uses: astral-sh/setup-uv@d0cc045d04ccac9d8b7881df0226f9e82c39688e  # v6.8.0
       with:
         python-version: "3.12"
         enable-cache: true
@@ -106,7 +108,7 @@ jobs:
       env:
         # "deploy" branches build the full set of versions so every page
         # has a complete version dropdown: main, develop, release/3.0.0, and
-        # tags >= v2.0.0 (including pre-release suffixes like -beta or -rc1).
+        # tags >= v2.0.0 (including pre-release suffixes like -beta, -rc1, or -EA).
         # v1.x tags and other release branches are excluded.
         SMV_BRANCH_WHITELIST: '^(main|develop|release/3\.0\.0)$'
         SMV_TAG_WHITELIST: '^v[2-9]\d*\.\d+\.\d+(-[A-Za-z0-9.]+)?$'
@@ -116,18 +118,9 @@ jobs:
         git for-each-ref --format="%(refname:short)" refs/heads/ | xargs -r git branch -D
         make multi-docs
 
-    - name: Set default docs version
+    - name: Verify default docs version
       working-directory: ./docs
-      env:
-        DOCS_DEFAULT_REF: v3.0.0-beta2
-      run: |
-        test -n "$DOCS_DEFAULT_REF"
-        test -f "_build/$DOCS_DEFAULT_REF/index.html" || {
-          echo "::error::Default docs ref '$DOCS_DEFAULT_REF' was not built"
-          exit 1
-        }
-        sed "s|url=\./[^\"]*/index.html|url=./$DOCS_DEFAULT_REF/index.html|" \
-          _redirect/index.html > _build/index.html
+      run: grep -Fq "url=./$DOCS_DEFAULT_REF/index.html" _build/index.html
 
     - name: Upload GitHub Pages artifact
       uses: actions/upload-pages-artifact@v4
diff --git a/.github/workflows/kitless-docker.yml b/.github/workflows/kitless-docker.yml
index dcf6d449d582..15b1f62489b8 100644
--- a/.github/workflows/kitless-docker.yml
+++ b/.github/workflows/kitless-docker.yml
@@ -49,6 +49,9 @@ jobs:
           ^docker/docker-compose\.yaml$ :: Kit-less Compose definition
           ^docker/test/test_container_profiles\.py$ :: Kit-less profile tests
           ^docker/test/test_dockerfile_nonroot\.py$ :: Dockerfile contract tests
+          ^docker/test/test_security_dependencies\.py$ :: Container dependency tests
+          ^docker/test/requirements\.txt$ :: Locked container test dependencies
+          ^docker/scripts/install_git_lfs\.sh$ :: Verified Git LFS installer
           ^docker/utils/container_interface\.py$ :: Container profile implementation
           ^docker/utils/volume_mounts\.py$ :: Container volume helper
           ^isaaclab\.sh$ :: Install CLI wrapper
@@ -69,7 +72,7 @@ jobs:
 
     - name: Set up uv
       if: steps.detect.outputs.should_run == 'true'
-      uses: astral-sh/setup-uv@v6
+      uses: astral-sh/setup-uv@d0cc045d04ccac9d8b7881df0226f9e82c39688e  # v6.8.0
       with:
         enable-cache: true
 
@@ -78,10 +81,15 @@ jobs:
       shell: bash
       run: |
         set -euo pipefail
-        uv run --no-project --with pytest --with pyyaml \
-          python -m pytest -q \
+        contract_env="$(mktemp -d "${RUNNER_TEMP}/isaaclab-contract.XXXXXX")"
+        uv venv --python 3.12 "${contract_env}"
+        uv pip sync --require-hashes --only-binary :all: \
+          --python "${contract_env}/bin/python" docker/test/requirements.txt
+        uv pip check --python "${contract_env}/bin/python"
+        "${contract_env}/bin/python" -m pytest -q \
           docker/test/test_container_profiles.py \
-          docker/test/test_dockerfile_nonroot.py
+          docker/test/test_dockerfile_nonroot.py \
+          docker/test/test_security_dependencies.py
         (
           cd docker
           docker compose \
diff --git a/.github/workflows/license-check.yaml b/.github/workflows/license-check.yaml
index a80fc8e5e0b1..9964bc72a8a4 100644
--- a/.github/workflows/license-check.yaml
+++ b/.github/workflows/license-check.yaml
@@ -50,7 +50,7 @@ jobs:
 
 
     - name: Set up uv
-      uses: astral-sh/setup-uv@v6
+      uses: astral-sh/setup-uv@d0cc045d04ccac9d8b7881df0226f9e82c39688e  # v6.8.0
       with:
         python-version: '3.12'
         enable-cache: true
@@ -198,6 +198,8 @@ jobs:
 
     - name: Log in to NGC for the base image
       uses: ./.github/actions/_lib/setup-docker-config
+      with:
+        base-image-ref: ${{ steps.config.outputs.base_image }}
 
     - name: Ensure Isaac Lab image is available locally
       shell: bash
@@ -226,7 +228,7 @@ jobs:
       run: docker pull "${{ steps.config.outputs.base_image }}"
 
     - name: Scan Isaac Sim base dependency licenses
-      uses: aquasecurity/trivy-action@v0.36.0
+      uses: aquasecurity/trivy-action@ed142fd0673e97e23eac54620cfb913e5ce36c25  # v0.36.0
       env:
         TRIVY_PKG_TYPES: os,library
         TRIVY_SKIP_VERSION_CHECK: true
@@ -241,7 +243,7 @@ jobs:
         timeout: 30m
 
     - name: Scan Isaac Lab dependency licenses
-      uses: aquasecurity/trivy-action@v0.36.0
+      uses: aquasecurity/trivy-action@ed142fd0673e97e23eac54620cfb913e5ce36c25  # v0.36.0
       env:
         TRIVY_PKG_TYPES: os,library
         TRIVY_SKIP_VERSION_CHECK: true
diff --git a/.github/workflows/nightly-changelog.yml b/.github/workflows/nightly-changelog.yml
index 2b8499183f39..2d4ff55003d4 100644
--- a/.github/workflows/nightly-changelog.yml
+++ b/.github/workflows/nightly-changelog.yml
@@ -10,13 +10,13 @@
 # branch's changelog current without requiring a maintainer to run
 # ``compile`` by hand.
 #
-# Scheduled workflow — must live on the default branch (``main``) for the
+# Scheduled workflow — must live on the repository's default branch 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.
+# Scheduled runs combine ``env.CRON_BRANCHES`` with every remote
+# ``release/*`` branch that carries ``tools/changelog/cli.py``. This picks up
+# new compiler-enabled release branches automatically while leaving historical
+# branches that predate the fragment system untouched.
 #
 # The push uses a short-lived GitHub App installation token minted from
 # ``CHANGELOG_APP_ID`` + ``CHANGELOG_APP_PRIVATE_KEY`` (repo secrets). The
@@ -30,18 +30,15 @@
 
 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.
+# Static branches the nightly cron compiles. The resolver also discovers every
+# remote ``release/*`` branch that carries ``tools/changelog/cli.py``. Every
+# resolved branch must allow the isaaclab-bot App to bypass its ruleset.
 env:
-  CRON_BRANCHES: develop,release/3.0.0-beta2
+  CRON_BRANCHES: develop
 
 on:
   schedule:
-    # Run nightly at 5 AM UTC (one hour after daily-compatibility, so we
-    # don't compete for runner capacity).
+    # Run nightly at 5 AM UTC.
     - cron: '0 5 * * *'
   workflow_dispatch:
     inputs:
@@ -51,7 +48,7 @@ on:
         # 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.'
+        description: 'Branch to compile (e.g. develop, release/3.0.0). Must carry tools/changelog/cli.py.'
         required: true
         type: string
       dry_run:
@@ -67,10 +64,8 @@ permissions:
 
 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``.
+    # Static/manual branches plus supported ``release/*`` refs → JSON array.
+    # ``workflow_dispatch`` remains exactly one explicitly requested branch.
     name: Resolve branch list
     runs-on: ubuntu-latest
     timeout-minutes: 1
@@ -79,18 +74,39 @@ jobs:
     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).
+          # Schedule → static branches plus supported remote ``release/*``
+          # refs. Manual → exactly the branch the maintainer entered.
           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 }}
+          REPOSITORY: ${{ github.repository }}
+          API_TOKEN: ${{ github.token }}
         run: |
-          # CSV → JSON array, trimming surrounding whitespace per entry.
-          # Manual produces a 1-element array; cron produces N elements.
-          arr=$(echo "$BRANCHES" | tr ',' '\n' | xargs -n1 | jq -R . | jq -s -c .)
+          branches=$(echo "$BRANCHES" | tr ',' '\n' | xargs -n1)
+          if [ "$EVENT_NAME" = "schedule" ]; then
+            release_branches=$(git ls-remote --heads "https://github.com/$REPOSITORY.git" 'refs/heads/release/*' \
+              | awk '{sub(/^refs\/heads\//, "", $2); print $2}')
+            while IFS= read -r branch; do
+              [ -z "$branch" ] && continue
+              encoded_branch=$(jq -rn --arg branch "$branch" '$branch | @uri')
+              http_status=$(curl --silent --show-error --output /dev/null --write-out '%{http_code}' \
+                --header "Authorization: Bearer $API_TOKEN" \
+                --header 'Accept: application/vnd.github+json' \
+                --header 'X-GitHub-Api-Version: 2022-11-28' \
+                "https://api.github.com/repos/$REPOSITORY/contents/tools/changelog/cli.py?ref=$encoded_branch")
+              case "$http_status" in
+                200) branches=$(printf '%s\n%s\n' "$branches" "$branch") ;;
+                404) echo "::notice::Skipping $branch because it predates the changelog compiler." ;;
+                *)
+                  echo "::error::GitHub Contents API returned HTTP $http_status for $branch."
+                  exit 1
+                  ;;
+              esac
+            done <<< "$release_branches"
+          fi
+          # Trim, de-duplicate, and convert the resolved branches to a JSON array.
+          arr=$(printf '%s\n' "$branches" | sed '/^$/d' | sort -u | 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.
@@ -109,9 +125,8 @@ jobs:
     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.
+      # UI, so one release ref failing doesn't hide another ref's success
+      # (and ``gh run rerun --failed`` re-runs only the failed entry).
       fail-fast: false
       matrix:
         branch: ${{ fromJson(needs.resolve-branches.outputs.branches) }}
diff --git a/.github/workflows/nightly-isaacsim-image.yml b/.github/workflows/nightly-isaacsim-image.yml
index 42f59a3cc5de..7759da6d5ebb 100644
--- a/.github/workflows/nightly-isaacsim-image.yml
+++ b/.github/workflows/nightly-isaacsim-image.yml
@@ -7,9 +7,8 @@
 # manifest digest and open (or refresh) a draft PR against ``develop``.
 #
 # Scheduled workflows register only from the default branch, so this file
-# must be present on the current default, ``release/3.0.0-beta2``. The job
-# deliberately checks out ``develop`` because that is where the CI image pin
-# is maintained.
+# must remain on ``develop`` while it is the repository default. The job also
+# checks out ``develop`` because that is where the CI image pin is maintained.
 #
 # The isaaclab-bot GitHub App token is used instead of GITHUB_TOKEN so the
 # branch push and PR events trigger the normal CI workflows. The App must have
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
index 855deabf83a8..36464fd297b3 100644
--- a/.github/workflows/pre-commit.yaml
+++ b/.github/workflows/pre-commit.yaml
@@ -21,7 +21,7 @@ jobs:
     - uses: actions/setup-python@v5
       with:
         python-version: "3.12"
-    - uses: pre-commit/action@v3.0.0
+    - uses: pre-commit/action@646c83fcd040023954eafda54b4db0192ce70507  # v3.0.0
       # The local fragment hook needs a full base-branch history. The
       # dedicated changelog-check workflow supplies that authoritative gate.
       env:
diff --git a/.github/workflows/publish-images.yaml b/.github/workflows/publish-images.yaml
index 8b98e600fe44..9027ef67ab97 100644
--- a/.github/workflows/publish-images.yaml
+++ b/.github/workflows/publish-images.yaml
@@ -14,7 +14,7 @@ on:
   workflow_dispatch:
     inputs:
       branch:
-        description: 'Branch to build and publish (e.g. develop, release/3.0.0-beta2)'
+        description: 'Branch to build and publish (e.g. develop, release/3.0.0)'
         required: true
         type: string
 
@@ -121,12 +121,12 @@ jobs:
         echo "isaaclab_image_name=$isaaclab_image_name" >> "$GITHUB_OUTPUT"
 
     - name: Set up QEMU
-      uses: docker/setup-qemu-action@v3
+      uses: docker/setup-qemu-action@c7c53464625b32c7a7e944ae62b3e17d2b600130  # v3.7.0
       with:
         platforms: linux/arm64
 
     - name: Set up Docker Buildx
-      uses: docker/setup-buildx-action@v3
+      uses: docker/setup-buildx-action@8d2750c68a42422c14e847fe6c8ac0403b4cbd6f  # v3.12.0
       with:
         platforms: linux/amd64,linux/arm64
         driver-opts: |
diff --git a/.github/workflows/tools-tests.yml b/.github/workflows/tools-tests.yml
index 70977f92dc39..0903ebea5727 100644
--- a/.github/workflows/tools-tests.yml
+++ b/.github/workflows/tools-tests.yml
@@ -14,6 +14,8 @@ on:
       # Top-level tools modules and their tests. Deliberately not "tools/**": the
       # subpackages (changelog/, skills/, wheel_builder/) have their own gates.
       - "tools/*.py"
+      # Shared CI action helpers and their co-located tests.
+      - ".github/actions/_lib/**"
       - ".github/workflows/tools-tests.yml"
   workflow_dispatch:
 
@@ -51,7 +53,7 @@ jobs:
       # rerun in test_crash_during_a_flaky_retry_is_blamed_on_the_retried_test; without it
       # installed that test skips itself rather than failing, so keep it in this list.
       - name: Install test dependencies
-        run: bash "$GITHUB_WORKSPACE/.github/actions/_lib/with-python-package-retries.sh" python3 -m pip install pytest junitparser flaky
+        run: bash "$GITHUB_WORKSPACE/.github/actions/_lib/with-python-package-retries.sh" python3 -m pip install pytest junitparser flaky pyyaml
 
       - name: Run tools tests
         env:
@@ -63,4 +65,5 @@ jobs:
         # --noconftest keeps tools/conftest.py out of the session. That file is the CI test
         # orchestrator - its pytest_sessionstart scans source/ and scripts/ and runs the whole
         # suite, so loading it here would ignore the files named below.
-        run: python3 -m pytest tools/test_crash_journal.py tools/test_device_split.py -v --noconftest
+        run: python3 -m pytest tools/test_crash_journal.py tools/test_device_split.py
+          .github/actions/_lib/test_registry_credential_fallback.py -v --noconftest
diff --git a/.github/workflows/wheel.yml b/.github/workflows/wheel.yml
index b68fd57ad6fe..e2237a534faa 100644
--- a/.github/workflows/wheel.yml
+++ b/.github/workflows/wheel.yml
@@ -147,7 +147,7 @@ jobs:
       # resolution work and drops the ~24 MB `pip install uv` bootstrap.
       - name: Set up uv
         if: steps.changes.outputs.run_build == 'true'
-        uses: astral-sh/setup-uv@v6
+        uses: astral-sh/setup-uv@d0cc045d04ccac9d8b7881df0226f9e82c39688e  # v6.8.0
         with:
           enable-cache: true
           # Neither this job nor kitless-docker pins python-version, so both land
diff --git a/.gitignore b/.gitignore
index bc429f201b3e..4bd3675e9df8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,6 +7,9 @@
 # Omniverse
 **/*.dmp
 **/.thumbs
+# Kit's ImGui UI-state file, written to the process working directory by long
+# sessions with a GUI-backed visualizer (e.g. --visualizer kit).
+**/imgui.ini
 
 # No USD files allowed in the repo
 **/*.usd
@@ -82,6 +85,7 @@ _build
 # No benchmarks output
 /benchmarks/
 benchmark_*.json
+/pyrightconfig.json
 
 
 # Ruff cache
diff --git a/.vscode/.gitignore b/.vscode/.gitignore
index 10b0af342ce3..e0a8bea56c6f 100644
--- a/.vscode/.gitignore
+++ b/.vscode/.gitignore
@@ -1,7 +1,6 @@
 # Note: These files are kept for development purposes only.
 !tools/launch.template.json
 !tools/settings.template.json
-!tools/setup_vscode.py
 !extensions.json
 !tasks.json
 
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index f7896a038b45..19da23a46ed0 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -8,10 +8,10 @@
             "label": "setup_python_env",
             "type": "shell",
             "linux": {
-                "command": "${workspaceFolder}/isaaclab.sh -p ${workspaceFolder}/.vscode/tools/setup_vscode.py"
+                "command": "uv run isaaclab --editor"
             },
             "windows": {
-                "command": "${workspaceFolder}/isaaclab.bat -p ${workspaceFolder}/.vscode/tools/setup_vscode.py"
+                "command": "uv run isaaclab --editor"
             }
         },
         {
diff --git a/.vscode/tools/settings.template.json b/.vscode/tools/settings.template.json
index 4b07a6a8f9ad..e9ade2972128 100644
--- a/.vscode/tools/settings.template.json
+++ b/.vscode/tools/settings.template.json
@@ -78,8 +78,5 @@
     },
     "[restructuredtext]": {
         "editor.tabSize": 2
-    },
-    // Python extra paths
-    // Note: this is filled up when "./isaaclab.sh -i" is run
-    "python.analysis.extraPaths": []
+    }
 }
diff --git a/.vscode/tools/setup_vscode.py b/.vscode/tools/setup_vscode.py
deleted file mode 100644
index 8d29dafee080..000000000000
--- a/.vscode/tools/setup_vscode.py
+++ /dev/null
@@ -1,200 +0,0 @@
-# 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
-
-"""This script sets up the vs-code settings for the Isaac Lab project.
-
-This script merges the python.analysis.extraPaths from the "{ISAACSIM_DIR}/.vscode/settings.json" file into
-the ".vscode/settings.json" file.
-
-This is necessary because Isaac Sim 2022.2.1 onwards does not add the necessary python packages to the python path
-when the "setup_python_env.sh" is run as part of the vs-code launch configuration.
-"""
-
-import re
-import subprocess
-import sys
-import os
-import pathlib
-
-
-ISAACLAB_DIR = pathlib.Path(__file__).parents[2]
-"""Path to the Isaac Lab directory."""
-
-# Try to find IsaacSim dir
-_isaacsim_probe = subprocess.run(
-    [sys.executable, "-c", "import isaacsim; import os; print(os.environ.get('ISAAC_PATH', ''))"],
-    capture_output=True,
-    text=True,
-    check=False,
-    # avoid EULA prompt
-    stdin=subprocess.DEVNULL,
-)
-if _isaacsim_probe.returncode == 0 and _isaacsim_probe.stdout.strip():
-    isaacsim_dir = _isaacsim_probe.stdout.strip()
-else:
-    isaacsim_dir = os.path.join(ISAACLAB_DIR, "_isaac_sim")
-
-# check if the isaac-sim directory exists
-if not os.path.exists(isaacsim_dir):
-    print(
-        f"[WARN] Could not find the isaac-sim directory: {isaacsim_dir}."
-        "\n\tIsaac Sim does not appear to be installed. VS Code settings will be generated"
-        "\n\twithout Isaac Sim extra paths."
-    )
-    isaacsim_dir = ""
-
-ISAACSIM_DIR = isaacsim_dir
-"""Path to the isaac-sim directory."""
-
-
-def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
-    """Overwrite the python.analysis.extraPaths in the Isaac Lab settings file.
-
-    The extraPaths are replaced with the path names from the isaac-sim settings file that exists in the
-    "{ISAACSIM_DIR}/.vscode/settings.json" file.
-
-    If the isaac-sim settings file does not exist, the extraPaths are not overwritten.
-
-    Args:
-        isaaclab_settings: The settings string to use as template.
-
-    Returns:
-        The settings string with overwritten python analysis extra paths.
-    """
-    # isaac-sim settings
-    isaacsim_vscode_filename = os.path.join(ISAACSIM_DIR, ".vscode", "settings.json")
-
-    # we use the isaac-sim settings file to get the python.analysis.extraPaths for kit extensions
-    # if this file does not exist, we will not add any extra paths
-    if ISAACSIM_DIR and os.path.exists(isaacsim_vscode_filename):
-        # read the path names from the isaac-sim settings file
-        with open(isaacsim_vscode_filename) as f:
-            vscode_settings = f.read()
-        # extract the path names
-        # search for the python.analysis.extraPaths section and extract the contents
-        settings = re.search(
-            r"\"python.analysis.extraPaths\": \[.*?\]", vscode_settings, flags=re.MULTILINE | re.DOTALL
-        )
-        settings = settings.group(0)
-        settings = settings.split('"python.analysis.extraPaths": [')[-1]
-        settings = settings.split("]")[0]
-
-        # read the path names from the isaac-sim settings file
-        path_names = settings.split(",")
-        path_names = [path_name.strip().strip('"') for path_name in path_names]
-        path_names = [path_name for path_name in path_names if len(path_name) > 0]
-
-        # change the path names to be relative to the Isaac Lab directory
-        rel_path = os.path.relpath(ISAACSIM_DIR, ISAACLAB_DIR)
-        path_names = ['"${workspaceFolder}/' + rel_path + "/" + path_name + '"' for path_name in path_names]
-    else:
-        path_names = []
-
-    # add the path names that are in the Isaac Lab extensions directory
-    isaaclab_extensions = os.listdir(os.path.join(ISAACLAB_DIR, "source"))
-    path_names.extend(['"${workspaceFolder}/source/' + ext + '"' for ext in isaaclab_extensions])
-
-    # combine them into a single string
-    path_names = ",\n\t\t".expandtabs(4).join(path_names)
-    # deal with the path separator being different on Windows and Unix
-    path_names = path_names.replace("\\", "/")
-
-    # replace the path names in the Isaac Lab settings file with the path names parsed
-    isaaclab_settings = re.sub(
-        r"\"python.analysis.extraPaths\": \[.*?\]",
-        '"python.analysis.extraPaths": [\n\t\t'.expandtabs(4) + path_names + "\n\t]".expandtabs(4),
-        isaaclab_settings,
-        flags=re.DOTALL,
-    )
-    # return the Isaac Lab settings string
-    return isaaclab_settings
-
-
-def overwrite_default_python_interpreter(isaaclab_settings: str) -> str:
-    """Overwrite the default python interpreter in the Isaac Lab settings file.
-
-    The default python interpreter is replaced with the path to the python interpreter used by the
-    isaac-sim project. This is necessary because the default python interpreter is the one shipped with
-    isaac-sim.
-
-    Args:
-        isaaclab_settings: The settings string to use as template.
-
-    Returns:
-        The settings string with overwritten default python interpreter.
-    """
-    # read executable name
-    python_exe = sys.executable.replace("\\", "/")
-
-    # We make an exception for replacing the default interpreter if the
-    # path (/kit/python/bin/python3) indicates that we are using a local/container
-    # installation of IsaacSim. We will preserve the calling script as the default, python.sh.
-    # We want to use python.sh because it modifies LD_LIBRARY_PATH and PYTHONPATH
-    # (among other envars) that we need for all of our dependencies to be accessible.
-    if "kit/python/bin/python3" in python_exe:
-        return isaaclab_settings
-    # replace the default python interpreter in the Isaac Lab settings file with the path to the
-    # python interpreter in the Isaac Lab directory
-    isaaclab_settings = re.sub(
-        r"\"python.defaultInterpreterPath\": \".*?\"",
-        f'"python.defaultInterpreterPath": "{python_exe}"',
-        isaaclab_settings,
-        flags=re.DOTALL,
-    )
-    # return the Isaac Lab settings file
-    return isaaclab_settings
-
-
-def main():
-    # Isaac Lab template settings
-    isaaclab_vscode_template_filename = os.path.join(ISAACLAB_DIR, ".vscode", "tools", "settings.template.json")
-    # make sure the Isaac Lab template settings file exists
-    if not os.path.exists(isaaclab_vscode_template_filename):
-        raise FileNotFoundError(
-            f"Could not find the Isaac Lab template settings file: {isaaclab_vscode_template_filename}"
-        )
-    # read the Isaac Lab template settings file
-    with open(isaaclab_vscode_template_filename) as f:
-        isaaclab_template_settings = f.read()
-
-    # overwrite the python.analysis.extraPaths in the Isaac Lab settings file with the path names
-    isaaclab_settings = overwrite_python_analysis_extra_paths(isaaclab_template_settings)
-    # overwrite the default python interpreter in the Isaac Lab settings file with the path to the
-    # python interpreter used to call this script
-    isaaclab_settings = overwrite_default_python_interpreter(isaaclab_settings)
-
-    # add template notice to the top of the file
-    header_message = (
-        "// This file is a template and is automatically generated by the setup_vscode.py script.\n"
-        "// Do not edit this file directly.\n"
-        "// \n"
-        f"// Generated from: {isaaclab_vscode_template_filename}\n"
-    )
-    isaaclab_settings = header_message + isaaclab_settings
-
-    # write the Isaac Lab settings file
-    isaaclab_vscode_filename = os.path.join(ISAACLAB_DIR, ".vscode", "settings.json")
-    with open(isaaclab_vscode_filename, "w") as f:
-        f.write(isaaclab_settings)
-
-    # copy the launch.json file if it doesn't exist
-    isaaclab_vscode_launch_filename = os.path.join(ISAACLAB_DIR, ".vscode", "launch.json")
-    isaaclab_vscode_template_launch_filename = os.path.join(ISAACLAB_DIR, ".vscode", "tools", "launch.template.json")
-    if not os.path.exists(isaaclab_vscode_launch_filename):
-        # read template launch settings
-        with open(isaaclab_vscode_template_launch_filename) as f:
-            isaaclab_template_launch_settings = f.read()
-        # add header
-        header_message = header_message.replace(
-            isaaclab_vscode_template_filename, isaaclab_vscode_template_launch_filename
-        )
-        isaaclab_launch_settings = header_message + isaaclab_template_launch_settings
-        # write the Isaac Lab launch settings file
-        with open(isaaclab_vscode_launch_filename, "w") as f:
-            f.write(isaaclab_launch_settings)
-
-
-if __name__ == "__main__":
-    main()
diff --git a/README.md b/README.md
index bf4b06b96c58..1de257306bf4 100644
--- a/README.md
+++ b/README.md
@@ -2,9 +2,9 @@
 
 ---
 
-# Isaac Lab 3.0.0 Beta 2
+# Isaac Lab 3.0.0
 
-[![IsaacSim](https://img.shields.io/badge/IsaacSim-6.0.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
+[![IsaacSim](https://img.shields.io/badge/IsaacSim-6.1.0-silver.svg)](https://docs.isaacsim.omniverse.nvidia.com/latest/index.html)
 [![Python](https://img.shields.io/badge/python-3.12-blue.svg)](https://docs.python.org/3/whatsnew/3.12.html)
 [![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/22.04/)
 [![Windows platform](https://img.shields.io/badge/platform-windows--64-orange.svg)](https://www.microsoft.com/en-us/)
@@ -14,14 +14,8 @@
 [![License](https://img.shields.io/badge/license-Apache--2.0-yellow.svg)](https://opensource.org/license/apache-2-0)
 
 
-This branch is a development branch for Isaac Sim 6.0, which is currently only available through the Isaac Sim [GitHub repo](https://github.com/isaac-sim/IsaacSim).
-For installation, please refer to the Isaac Sim GitHub repo to build the latest Isaac Sim branch, and follow the binary installation method in the
-Isaac Lab documentation for Isaac Lab installation.
-
-> [!WARNING]
-> A recent breaking change on the Isaac Lab `develop` branch is not compatible with the `develop` branch of Isaac Sim on GitHub.
-> To run Isaac Lab with Isaac Sim's GitHub `develop` branch, use Isaac Lab commit [`f0234a82e432e2a0b0f0a26ca3c5b59e527ddaaa`](https://github.com/isaac-sim/IsaacLab/commit/f0234a82e432e2a0b0f0a26ca3c5b59e527ddaaa) or an earlier commit.
-> Alternatively, use the Isaac Lab [`v3.0.0-beta`](https://github.com/isaac-sim/IsaacLab/tree/v3.0.0-beta) tag.
+This branch targets Isaac Sim 6.1. For installation instructions, see the
+[Isaac Lab documentation](https://isaac-sim.github.io/IsaacLab/develop/source/setup/installation/index.html).
 
 Note that this branch is currently under active development and may experience breaking changes or error messages.
 Performance issues and regressions may also be observed in some use cases.
@@ -53,12 +47,12 @@ Isaac Lab offers a comprehensive set of tools and environments designed to facil
 
 ### Documentation
 
-Our [documentation page](https://isaac-sim.github.io/IsaacLab) provides everything you need to get started, including
+Our [documentation page](https://isaac-sim.github.io/IsaacLab/develop/) provides everything you need to get started, including
 detailed tutorials and step-by-step guides. Follow these links to learn more about:
 
-- [Installation steps](https://isaac-sim.github.io/IsaacLab/develop/source/setup/installation/index.html#local-installation)
-- [Reinforcement learning](docs/source/concepts/reinforcement_learning.rst)
-- [Tutorials](https://isaac-sim.github.io/IsaacLab/develop/source/tutorials/index.html)
+- [Installation steps](https://isaac-sim.github.io/IsaacLab/develop/source/setup/installation/index.html)
+- [Reinforcement learning](https://isaac-sim.github.io/IsaacLab/develop/source/concepts/reinforcement_learning.html)
+- [Tutorials and how-to guides](https://isaac-sim.github.io/IsaacLab/develop/source/how-to/index.html)
 - [Available environments](https://isaac-sim.github.io/IsaacLab/develop/source/setup/environments.html)
 
 ## Performance Dashboard
@@ -76,10 +70,11 @@ dependency versions for Isaac Sim.
 
 | Isaac Lab Version             | Isaac Sim Version         |
 | ----------------------------- | ------------------------- |
-| `release/3.0.0-beta2` branch  | Isaac Sim 6.0             |
-| `develop` branch              | Isaac Sim 6.0             |
+| `release/3.0.0` branch        | Isaac Sim 6.1             |
+| `develop` branch              | Isaac Sim 6.1             |
 | `main` branch                 | Isaac Sim 4.5 / 5.0 / 5.1 |
-| `v3.0.0*`                     | Isaac Sim 6.0             |
+| `v3.0.0-EA` tag               | Isaac Sim 6.1             |
+| `v3.0.0-beta2` tag            | Isaac Sim 6.0             |
 | `v2.3.X`                      | Isaac Sim 4.5 / 5.0 / 5.1 |
 | `v2.2.X`                      | Isaac Sim 4.5 / 5.0       |
 | `v2.1.X`                      | Isaac Sim 4.5             |
diff --git a/apps/isaaclab.python.kit b/apps/isaaclab.python.kit
index 08caadb236c5..44d64c63d42e 100644
--- a/apps/isaaclab.python.kit
+++ b/apps/isaaclab.python.kit
@@ -169,7 +169,9 @@ defaultCamPos.x = 5
 defaultCamPos.y = 5
 defaultCamPos.z = 5
 defaults.fillViewport = false # default to not fill viewport
-grid.enabled = true
+defaults.guide.axis.visible = false
+defaults.guide.grid.visible = false
+grid.enabled = false # keep legacy viewports consistent
 outline.enabled = true
 boundingBoxes.enabled = false
 show.camera=false
diff --git a/docker/.env.base b/docker/.env.base
index 555a91fd5aea..c8e31bcb1f9f 100644
--- a/docker/.env.base
+++ b/docker/.env.base
@@ -6,8 +6,8 @@
 ACCEPT_EULA=Y
 # NVIDIA Isaac Sim base image
 ISAACSIM_BASE_IMAGE=nvcr.io/nvidia/isaac-sim
-# NVIDIA Isaac Sim version to use (e.g. 6.0.0)
-ISAACSIM_VERSION=6.0.0
+# NVIDIA Isaac Sim version to use (e.g. 6.1.0)
+ISAACSIM_VERSION=6.1.0
 # Derived from the default path in the NVIDIA provided Isaac Sim container
 DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim
 # The Isaac Lab path in the container
diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base
index 80869914fa9f..0136558f551e 100644
--- a/docker/Dockerfile.base
+++ b/docker/Dockerfile.base
@@ -8,7 +8,7 @@
 
 # Base image
 ARG ISAACSIM_BASE_IMAGE_ARG=nvcr.io/nvidia/isaac-sim
-ARG ISAACSIM_VERSION_ARG=6.0.0
+ARG ISAACSIM_VERSION_ARG=6.1.0
 
 # uv, pinned by digest. Declared after the ARGs so those stay global for the base FROM.
 FROM ghcr.io/astral-sh/uv:0.12.9@sha256:8b940d3a9d65bed080436972241af2e21c84b5e8c9193f7014ed71479ee795ff AS uv
@@ -63,9 +63,12 @@ RUN apt-get update && \
     ncurses-term \
     cmake \
     git \
-    git-lfs \
+    curl \
     wget
 
+COPY docker/scripts/install_git_lfs.sh /tmp/install_git_lfs.sh
+RUN /bin/bash /tmp/install_git_lfs.sh && rm /tmp/install_git_lfs.sh
+
 # Install the Carbonite environment shim that serializes glibc environment
 # access across Kit worker threads. Use /etc/ld.so.preload because Isaac Sim's
 # python.sh overwrites LD_PRELOAD before launching the interpreter.
diff --git a/docker/Dockerfile.curobo b/docker/Dockerfile.curobo
index ee4bf56d68bf..1ad472f8d88b 100644
--- a/docker/Dockerfile.curobo
+++ b/docker/Dockerfile.curobo
@@ -8,7 +8,7 @@
 
 # Base image
 ARG ISAACSIM_BASE_IMAGE_ARG=nvcr.io/nvidia/isaac-sim
-ARG ISAACSIM_VERSION_ARG=6.0.0
+ARG ISAACSIM_VERSION_ARG=6.1.0
 # uv, pinned by digest. Declared after the ARGs so those stay global for the base FROM.
 FROM ghcr.io/astral-sh/uv:0.12.9@sha256:8b940d3a9d65bed080436972241af2e21c84b5e8c9193f7014ed71479ee795ff AS uv
 
@@ -60,6 +60,7 @@ RUN apt-get update && \
     ncurses-term \
     cmake \
     git \
+    curl \
     wget
 
 # Install the Carbonite environment shim that serializes glibc environment
@@ -92,10 +93,10 @@ RUN set -euo pipefail && \
       *) echo "Unsupported base OS: $ID"; exit 1 ;; \
     esac && \
     apt-get update && apt-get install -y --no-install-recommends wget gnupg ca-certificates && \
-    wget -q https://developer.download.nvidia.com/compute/cuda/repos/${cuda_repo}/x86_64/cuda-keyring_1.1-1_all.deb && \
+    wget -q --max-redirect=0 https://developer.download.nvidia.com/compute/cuda/repos/${cuda_repo}/x86_64/cuda-keyring_1.1-1_all.deb && \
     dpkg -i cuda-keyring_1.1-1_all.deb && \
     rm -f cuda-keyring_1.1-1_all.deb && \
-    wget -q https://developer.download.nvidia.com/compute/cuda/repos/${cuda_repo}/x86_64/cuda-${cuda_repo}.pin && \
+    wget -q --max-redirect=0 https://developer.download.nvidia.com/compute/cuda/repos/${cuda_repo}/x86_64/cuda-${cuda_repo}.pin && \
     mv cuda-${cuda_repo}.pin /etc/apt/preferences.d/cuda-repository-pin-600 && \
     apt-get update && \
     apt-get install -y --no-install-recommends \
diff --git a/docker/Dockerfile.kitless b/docker/Dockerfile.kitless
index 23cd5865bc6f..f45d0f2327e5 100644
--- a/docker/Dockerfile.kitless
+++ b/docker/Dockerfile.kitless
@@ -111,15 +111,23 @@ ENV DOCKER_USER_HOME=${DOCKER_USER_HOME_ARG}
 ENV HOME=${DOCKER_USER_HOME}
 ENV VIRTUAL_ENV=${VENV_PATH_ARG}
 ENV PATH=${VENV_PATH_ARG}/bin:/usr/local/bin:${PATH}
+# ENV does not cross stages and this is the only multi-stage image, so the builder's uv settings
+# are repeated here. uv reads UV_PROJECT_ENVIRONMENT, never VIRTUAL_ENV. UV_PYTHON overrides
+# pyproject's ``python-preference = "only-managed"``, which would fetch a CPython and replace this
+# venv. UV_NO_SYNC stops ``uv run`` rebuilding the editable packages into a mounted ``source/``.
+ENV UV_PROJECT_ENVIRONMENT=${VENV_PATH_ARG}
+ENV UV_PYTHON=/usr/bin/python3.12
+ENV UV_PYTHON_PREFERENCE=only-system
+ENV UV_NO_SYNC=1
 ENV PYTHONDONTWRITEBYTECODE=1
 ENV PYTHONUNBUFFERED=1
 ENV NVIDIA_VISIBLE_DEVICES=all
 ENV NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics
 
-# ``git-lfs`` is required because CI checks out with ``lfs: true`` and bind-mounts that tree in.
+# Git LFS is required because CI checks out with ``lfs: true`` and bind-mounts that tree in.
 # Any ``git`` call then invokes the LFS filter, and without the binary it fails with "the remote
 # end hung up unexpectedly" -- which surfaced as every kit-less case failing before it allocated a
-# single byte of GPU memory. Dockerfile.base does not need this: the Isaac Sim base already has it.
+# single byte of GPU memory. Both images install the same verified Git LFS release below.
 #
 # Libraries ovrtx loads at init. GLVND splits these: libgl1 gives libGL.so.1,
 # but libOpenGL.so.0 and libEGL.so.1 need libopengl0 and libegl1. libxrender1 is
@@ -129,7 +137,8 @@ RUN apt-get update \
  && apt-get install -y --no-install-recommends \
       ca-certificates \
       git \
-      git-lfs \
+      curl \
+      wget \
       libegl1 \
       libgl1 \
       libglib2.0-0 \
@@ -150,6 +159,9 @@ RUN apt-get update \
  && chown -R isaaclab:isaaclab "${HOME}" \
  && chmod 750 "${HOME}"
 
+COPY docker/scripts/install_git_lfs.sh /tmp/install_git_lfs.sh
+RUN /bin/bash /tmp/install_git_lfs.sh && rm /tmp/install_git_lfs.sh
+
 COPY --from=builder /usr/local/bin/uv /usr/local/bin/uv
 COPY --from=builder /usr/local/bin/uvx /usr/local/bin/uvx
 COPY --from=builder --chown=isaaclab:isaaclab ${VENV_PATH_ARG} ${VENV_PATH_ARG}
diff --git a/docker/cluster/osmo_multi_gpu_workflow.yaml b/docker/cluster/osmo_multi_gpu_workflow.yaml
index dae65a83fc8b..53d4f56960be 100644
--- a/docker/cluster/osmo_multi_gpu_workflow.yaml
+++ b/docker/cluster/osmo_multi_gpu_workflow.yaml
@@ -73,7 +73,7 @@ workflow:
           {% endif %}
 
 default-values:
-  image: nvcr.io/nvidia/isaac-lab:3.0.0-beta2
+  image: nvcr.io/nvidia/isaac-lab:3.0.0-rc1
   rl_library: rsl_rl
   num_gpu: 1
   num_cpu: 16
diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
index f4396974f02d..49e5f88382a3 100644
--- a/docker/docker-compose.yaml
+++ b/docker/docker-compose.yaml
@@ -131,7 +131,7 @@ services:
       dockerfile: docker/Dockerfile.base
       args:
         - ISAACSIM_BASE_IMAGE_ARG=${ISAACSIM_BASE_IMAGE:-nvcr.io/nvidia/isaac-sim}
-        - ISAACSIM_VERSION_ARG=${ISAACSIM_VERSION:-6.0.0}
+        - ISAACSIM_VERSION_ARG=${ISAACSIM_VERSION:-6.1.0}
         - ISAACSIM_ROOT_PATH_ARG=${DOCKER_ISAACSIM_ROOT_PATH:-/isaac-sim}
         - ISAACLAB_PATH_ARG=${DOCKER_ISAACLAB_PATH}
         - DOCKER_USER_HOME_ARG=${DOCKER_USER_HOME}
diff --git a/docker/scripts/install_git_lfs.sh b/docker/scripts/install_git_lfs.sh
new file mode 100755
index 000000000000..892328168a7f
--- /dev/null
+++ b/docker/scripts/install_git_lfs.sh
@@ -0,0 +1,56 @@
+#!/usr/bin/env bash
+# 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
+
+# Install the same upstream executable on each supported container architecture.
+set -euo pipefail
+
+version=3.8.0
+architecture="$(dpkg --print-architecture)"
+# https://github.com/git-lfs/git-lfs/releases/download/v3.8.0/sha256sums.asc
+case "${architecture}" in
+    amd64) checksum=e455e00f15d9b95661b8d53498ffb0c3367962cf1ec73c31ab7369516cd6ab8d ;;
+    arm64) checksum=ac9c8efac980bb0505ead384d087e2acb6486fd8498691a2165fa174ec6118c2 ;;
+    *) echo "Unsupported Git LFS architecture: ${architecture}" >&2; exit 1 ;;
+esac
+
+download_dir="$(mktemp -d)"
+trap 'rm -rf -- "${download_dir}"' EXIT
+archive="git-lfs-linux-${architecture}-v${version}.tar.gz"
+curl --fail --location --proto '=https' --proto-redir '=https' \
+    --retry 2 --connect-timeout 60 --max-time 300 --output "${download_dir}/${archive}" \
+    "https://github.com/git-lfs/git-lfs/releases/download/v${version}/${archive}"
+printf '%s  %s\n' "${checksum}" "${download_dir}/${archive}" | sha256sum --check --strict -
+tar -xzf "${download_dir}/${archive}" --no-same-owner -C "${download_dir}"
+release_dir="${download_dir}/git-lfs-${version}"
+"${release_dir}/git-lfs" version | grep -F "git-lfs/${version} ("
+
+# Preserve upstream and vendored-component notices when replacing the distro package.
+vendor_archive="git-lfs-vendor-v${version}.tar.gz"
+curl --fail --location --proto '=https' --proto-redir '=https' \
+    --retry 2 --connect-timeout 60 --max-time 300 --output "${download_dir}/${vendor_archive}" \
+    "https://github.com/git-lfs/git-lfs/releases/download/v${version}/${vendor_archive}"
+printf '%s  %s\n' 28c49d50bea97d0b860fd1599cc5ab45aac937fd31125db8374bf149bb95622f \
+    "${download_dir}/${vendor_archive}" | sha256sum --check --strict -
+mkdir "${download_dir}/notices"
+tar -xzf "${download_dir}/${vendor_archive}" --no-same-owner -C "${download_dir}/notices"
+notice_root="${download_dir}/notices/git-lfs-${version}"
+test -f "${notice_root}/LICENSE.md"
+
+# Remove an inherited distro build as well: leaving it at /usr/bin would ship
+# a second executable with its own older embedded Go runtime.
+if dpkg-query -W -f='${Status}' git-lfs 2>/dev/null | grep -qx 'install ok installed'; then
+    apt-get remove -y git-lfs
+fi
+install -m 0755 "${release_dir}/git-lfs" /usr/local/bin/git-lfs
+# Configure filters for the non-root runtime user without changing any repository hooks.
+"${release_dir}/git-lfs" install --system --skip-repo
+install -D -m 0644 "${release_dir}/README.md" /usr/local/share/doc/git-lfs/README.md
+while IFS= read -r -d '' manual; do
+    install -D -m 0644 "${manual}" "/usr/local/share/man/${manual#"${release_dir}/man/"}"
+done < <(find "${release_dir}/man" -type f \( -name '*.1' -o -name '*.7' \) -print0)
+while IFS= read -r -d '' notice; do
+    install -D -m 0644 "${notice}" "/usr/local/share/doc/git-lfs/${notice#"${notice_root}/"}"
+done < <(find "${notice_root}" -type f \( -iname 'license*' -o -iname 'notice*' -o -iname 'copying*' \) -print0)
diff --git a/docker/test/requirements.txt b/docker/test/requirements.txt
new file mode 100644
index 000000000000..f620231aa80f
--- /dev/null
+++ b/docker/test/requirements.txt
@@ -0,0 +1,21 @@
+# 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
+
+# Linux CPython 3.12 contract tests only (no simulation dependencies).
+# Versions and wheel hashes selected from the root uv.lock. Update this complete
+# dependency closure together; CI requires hashes and rejects source builds.
+iniconfig==2.3.0 \
+    --hash=sha256:f631c04d2c48c52b84d0d0549c99ff3859c98df65b3101406327ecc7d53fbf12
+packaging==26.0 \
+    --hash=sha256:b36f1fef9334a5588b4166f8bcd26a14e521f2b55e6b9de3aaa80d3ff7a37529
+pluggy==1.6.0 \
+    --hash=sha256:e920276dd6813095e9377c0bc5566d94c932c33b27a3e3945d8389c374dd4746
+pygments==2.20.0 \
+    --hash=sha256:81a9e26dd42fd28a23a2d169d86d7ac03b46e2f8b59ed4698fb4785f946d0176
+pytest==9.1.1 \
+    --hash=sha256:37a86b45efb9a47a61a36449063e8e18d0cab3161329fc099eb21783169c4f0c
+pyyaml==6.0.3 \
+    --hash=sha256:9149cad251584d5fb4981be1ecde53a1ca46c891a79788c0df828d2f166bda28 \
+    --hash=sha256:ba1cc08a7ccde2d2ec775841541641e4548226580ab850948cbfda66a1befcdc
diff --git a/docker/test/test_container_profiles.py b/docker/test/test_container_profiles.py
index 9a17fc87aab7..aca74d328123 100644
--- a/docker/test/test_container_profiles.py
+++ b/docker/test/test_container_profiles.py
@@ -25,7 +25,7 @@ def container_context(tmp_path: Path) -> Path:
         "\n".join(
             (
                 "ISAACSIM_BASE_IMAGE=nvcr.io/nvidia/isaac-sim",
-                "ISAACSIM_VERSION=6.0.0",
+                "ISAACSIM_VERSION=6.1.0",
                 "DOCKER_ISAACSIM_ROOT_PATH=/isaac-sim",
                 "DOCKER_ISAACLAB_PATH=/workspace/isaaclab",
                 "DOCKER_USER_HOME=/root",
diff --git a/docker/test/test_security_dependencies.py b/docker/test/test_security_dependencies.py
new file mode 100644
index 000000000000..2872cd7a6695
--- /dev/null
+++ b/docker/test/test_security_dependencies.py
@@ -0,0 +1,214 @@
+# 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
+
+"""Dependency-selection regressions that also run without the simulation runtime."""
+
+import io
+import os
+import shlex
+import subprocess
+import sys
+import tarfile
+import tempfile
+import unittest
+from pathlib import Path
+
+import tomllib
+
+REPO_ROOT = Path(__file__).resolve().parents[2]
+
+
+class TestSecurityDependencies(unittest.TestCase):
+    def test_centralized_requirements_select_security_updates(self):
+        with (REPO_ROOT / "pyproject.toml").open("rb") as file:
+            project = tomllib.load(file)["project"]
+        self.assertIn("gitpython>=3.1.59", project["dependencies"])
+        self.assertIn("pillow>=12.3.0", project["dependencies"])
+        self.assertIn("pyarrow==23.0.1", project["optional-dependencies"]["rerun"])
+
+    def test_wheel_metadata_preserves_dependency_updates(self):
+        with tempfile.TemporaryDirectory() as directory:
+            output = Path(directory) / "pyproject.toml"
+            subprocess.run(
+                [
+                    sys.executable,
+                    str(REPO_ROOT / "tools/wheel_builder/gen_pyproject.py"),
+                    str(REPO_ROOT / "pyproject.toml"),
+                    str(output),
+                    "3.0.0",
+                ],
+                check=True,
+                capture_output=True,
+                text=True,
+            )
+            with output.open("rb") as file:
+                project = tomllib.load(file)["project"]
+            self.assertIn("gitpython>=3.1.59", project["dependencies"])
+            self.assertIn("pillow>=12.3.0", project["dependencies"])
+            self.assertIn("pyarrow==23.0.1", project["optional-dependencies"]["all"])
+
+    def test_lock_contains_security_updates(self):
+        with (REPO_ROOT / "uv.lock").open("rb") as file:
+            packages = {p["name"]: p["version"] for p in tomllib.load(file)["package"]}
+        for name, version in {
+            "gitpython": "3.1.59",
+            "pillow": "12.3.0",
+            "pyarrow": "23.0.1",
+        }.items():
+            with self.subTest(package=name):
+                self.assertGreaterEqual(tuple(map(int, packages[name].split("."))), tuple(map(int, version.split("."))))
+
+    def test_both_images_install_verified_git_lfs(self):
+        for name in ("Dockerfile.base", "Dockerfile.kitless"):
+            with self.subTest(dockerfile=name):
+                text = (REPO_ROOT / "docker" / name).read_text(encoding="utf-8")
+                self.assertIn("COPY docker/scripts/install_git_lfs.sh /tmp/install_git_lfs.sh", text)
+                self.assertIn("RUN /bin/bash /tmp/install_git_lfs.sh", text)
+                self.assertLess(text.index("RUN /bin/bash /tmp/install_git_lfs.sh"), text.index("USER isaaclab"))
+
+    def test_git_lfs_changes_invalidate_dependency_cache(self):
+        action = REPO_ROOT / ".github/actions/_lib/compute-deps-hash/action.yml"
+        self.assertIn("docker/scripts/install_git_lfs.sh", action.read_text(encoding="utf-8"))
+
+    def test_contract_workflows_use_hash_locked_dependencies(self):
+        requirements = REPO_ROOT / "docker/test/requirements.txt"
+        self.assertTrue(requirements.is_file())
+        for name in ("build.yaml", "kitless-docker.yml"):
+            with self.subTest(workflow=name):
+                text = (REPO_ROOT / ".github/workflows" / name).read_text(encoding="utf-8")
+                self.assertIn("uv pip sync --require-hashes --only-binary :all:", text)
+                self.assertIn("docker/test/requirements.txt", text)
+                self.assertNotIn("--with pytest", text)
+                self.assertIn('"${contract_env}/bin/python" -m pytest', text)
+
+    def test_curobo_avoids_get_pip_bootstrap(self):
+        text = (REPO_ROOT / "docker/Dockerfile.curobo").read_text(encoding="utf-8")
+        self.assertNotIn("raw.githubusercontent.com/pypa/get-pip", text)
+        self.assertNotIn('python3 "${bootstrap_dir}/get-pip.py"', text)
+        self.assertNotIn("site-packages/pip*", text)
+        self.assertIn("uv sync --frozen --inexact", text)
+
+
+class TestGitLfsInstaller(unittest.TestCase):
+    """Exercise the shell installer with no network, root writes or package-manager changes."""
+
+    def setUp(self):
+        self.directory = tempfile.TemporaryDirectory()
+        self.addCleanup(self.directory.cleanup)
+        self.root = Path(self.directory.name)
+        self.bin = self.root / "bin"
+        self.bin.mkdir()
+        self.env = {**os.environ, "PATH": f"{self.bin}:/usr/bin:/bin", "FIXTURE_ROOT": str(self.root)}
+        self.env.update(TEST_ARCH="amd64", TEST_INSTALLED="yes", TEST_CHECKSUM="pass")
+        with tarfile.open(self.root / "fixture.tar.gz", "w:gz") as archive:
+            for name, content, mode in [
+                (
+                    "git-lfs",
+                    b'#!/bin/sh\necho "lfs $*" >> "$FIXTURE_ROOT/events"\necho \'git-lfs/3.8.0 (test)\'\n',
+                    0o755,
+                ),
+                ("README.md", b"Fixture README\n", 0o644),
+                ("man/man1/git-lfs.1", b"Fixture manual\n", 0o644),
+                ("LICENSE.md", b"Fixture license\n", 0o644),
+                ("vendor/example/NOTICE", b"Fixture notice\n", 0o644),
+            ]:
+                member = tarfile.TarInfo(f"git-lfs-3.8.0/{name}")
+                member.size, member.mode = len(content), mode
+                archive.addfile(member, io.BytesIO(content))
+        self._command("dpkg", 'echo "$TEST_ARCH"')
+        self._command("dpkg-query", '[ "$TEST_INSTALLED" = yes ] && printf "install ok installed"')
+        self._command(
+            "curl",
+            """
+printf 'download %s\\n' "$*" >> "$FIXTURE_ROOT/events"
+while [ "$1" != --output ]; do shift; done
+cp "$FIXTURE_ROOT/fixture.tar.gz" "$2"
+""",
+        )
+        # Hash computation belongs to sha256sum. Verify the installer's supplied
+        # hashes separately below; simulate both outcomes of that external command.
+        self._command(
+            "sha256sum",
+            """
+cat >> "$FIXTURE_ROOT/checksums"
+[ "$TEST_CHECKSUM" = pass ]
+""",
+        )
+        self._command("apt-get", 'echo "remove $*" >> "$FIXTURE_ROOT/events"')
+        self._command("install", 'echo "install $*" >> "$FIXTURE_ROOT/events"')
+
+    def _command(self, name: str, body: str):
+        path = self.bin / name
+        path.write_text("#!/bin/sh\nset -eu\n" + body + "\n", encoding="utf-8")
+        path.chmod(0o755)
+
+    def _run(self):
+        return subprocess.run(
+            ["bash", str(REPO_ROOT / "docker/scripts/install_git_lfs.sh")],
+            env=self.env,
+            capture_output=True,
+            text=True,
+            check=False,
+        )
+
+    def test_installs_each_supported_architecture_and_preserves_notices(self):
+        hashes = {
+            "amd64": "e455e00f15d9b95661b8d53498ffb0c3367962cf1ec73c31ab7369516cd6ab8d",
+            "arm64": "ac9c8efac980bb0505ead384d087e2acb6486fd8498691a2165fa174ec6118c2",
+        }
+        for architecture, checksum in hashes.items():
+            with self.subTest(architecture=architecture):
+                self.env["TEST_ARCH"] = architecture
+                result = self._run()
+                self.assertEqual(result.returncode, 0, result.stderr)
+                self.assertIn(checksum, (self.root / "checksums").read_text())
+                events = (self.root / "events").read_text()
+                self.assertIn(f"git-lfs-linux-{architecture}-v3.8.0.tar.gz", events)
+                self.assertLess(events.index("remove remove -y git-lfs"), events.index("install -m 0755"))
+                self.assertIn("/usr/local/share/doc/git-lfs/LICENSE.md", events)
+                self.assertIn("/usr/local/share/doc/git-lfs/vendor/example/NOTICE", events)
+                self.assertIn("/usr/local/share/man/man1/git-lfs.1", events)
+                self.assertIn("lfs install --system --skip-repo", events)
+
+    def test_bad_checksum_cannot_remove_or_install_anything(self):
+        self.env["TEST_CHECKSUM"] = "fail"
+        result = self._run()
+        self.assertNotEqual(result.returncode, 0)
+        events = (self.root / "events").read_text()
+        self.assertNotIn("remove ", events)
+        self.assertNotIn("install ", events)
+
+    def test_both_downloads_only_allow_https_redirects(self):
+        result = self._run()
+        self.assertEqual(result.returncode, 0, result.stderr)
+        downloads = [line for line in (self.root / "events").read_text().splitlines() if line.startswith("download ")]
+        self.assertEqual(len(downloads), 2)
+        for download in downloads:
+            with self.subTest(download=download):
+                args = shlex.split(download)
+                self.assertIn("--fail", args)
+                self.assertIn("--location", args)
+                for option in ("--proto", "--proto-redir"):
+                    self.assertIn(option, args)
+                    self.assertEqual(args[args.index(option) + 1], "=https")
+
+    def test_unsupported_architecture_fails_before_downloading(self):
+        self.env["TEST_ARCH"] = "s390x"
+        result = self._run()
+        self.assertNotEqual(result.returncode, 0)
+        self.assertIn("Unsupported Git LFS architecture", result.stderr)
+        self.assertFalse((self.root / "events").exists())
+
+    def test_fresh_image_does_not_remove_a_package(self):
+        self.env["TEST_INSTALLED"] = "no"
+        result = self._run()
+        self.assertEqual(result.returncode, 0, result.stderr)
+        events = (self.root / "events").read_text()
+        self.assertNotIn("remove ", events)
+        self.assertIn("install -m 0755", events)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/docs/Makefile b/docs/Makefile
index 82f4c708b7f0..9ad7a9a549aa 100644
--- a/docs/Makefile
+++ b/docs/Makefile
@@ -7,11 +7,14 @@ SPHINXOPTS    ?=
 SPHINXBUILD   ?= sphinx-build
 SOURCEDIR     = .
 BUILDDIR      = _build
+DOCS_DEFAULT_REF ?= develop
 
 .PHONY: multi-docs
 multi-docs:
 	@sphinx-multiversion "$(SOURCEDIR)" "$(BUILDDIR)" --jobs=auto $(SPHINXOPTS)
-	@cp _redirect/index.html $(BUILDDIR)/index.html
+	@test -f "$(BUILDDIR)/$(DOCS_DEFAULT_REF)/index.html" || \
+		(echo "Default docs ref '$(DOCS_DEFAULT_REF)' was not built" && exit 1)
+	@sed 's|__DOCS_DEFAULT_REF__|$(DOCS_DEFAULT_REF)|g' _redirect/index.html > $(BUILDDIR)/index.html
 
 .PHONY: current-docs
 current-docs:
diff --git a/docs/_redirect/index.html b/docs/_redirect/index.html
index 5208597ed15e..bd45690b1af5 100644
--- a/docs/_redirect/index.html
+++ b/docs/_redirect/index.html
@@ -3,6 +3,6 @@
   <head>
     <title>Redirecting to the latest Isaac Lab documentation</title>
     <meta charset="utf-8">
-    <meta http-equiv="refresh" content="0; url=./main/index.html">
+    <meta http-equiv="refresh" content="0; url=./__DOCS_DEFAULT_REF__/index.html">
   </head>
 </html>
diff --git a/docs/conf.py b/docs/conf.py
index 1c53a431424d..4f394a911713 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -86,7 +86,7 @@ def _read_pinned_versions() -> dict:
 
 # Short version strings used in external documentation URLs and badges.
 torch_docs_version = ".".join(torch_version.split(".")[:2])  # e.g. "2.11"
-isaacsim_docs_version = ".".join(isaacsim_version.split(".")[:3])  # e.g. "6.0.0"
+isaacsim_docs_version = ".".join(isaacsim_version.split(".")[:3])  # e.g. "6.1.0"
 
 # Copy buttons on highlighted code blocks (including nested directive output).
 copybutton_selector = "div.highlight pre"
@@ -188,7 +188,8 @@ def _read_pinned_versions() -> dict:
     "trimesh": ("https://trimesh.org/", None),
     # pinned to the release version because /docs/stable/objects.inv currently 404s
     "torch": (f"https://docs.pytorch.org/docs/{torch_docs_version}/", None),
-    "isaacsim": (f"https://docs.isaacsim.omniverse.nvidia.com/{isaacsim_docs_version}/py/", None),
+    # Versioned documentation can lag a newly published Isaac Sim package release.
+    "isaacsim": ("https://docs.isaacsim.omniverse.nvidia.com/latest/py/", None),
     "gymnasium": ("https://gymnasium.farama.org/", None),
     # NOTE: pinned to /stable/ because /objects.inv at the root currently 404s
     "warp": ("https://nvidia.github.io/warp/stable/", None),
@@ -325,15 +326,18 @@ def _read_pinned_versions() -> dict:
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = [
-    "source/_static/css",
-    "source/_static/how-to",
-    "source/_static/visualizers",
-    "source/_static/tasks/previews",
-    "source/_static/benchmarks",
+html_static_path = ["source/_static"]
+html_css_files = [
+    "css/custom.css",
+    "css/environment-browser.css",
+    "css/demo-browser.css",
+    "css/guide-browser.css",
+]
+html_js_files = [
+    "css/environment-browser.js",
+    "css/demo-browser.js",
+    "css/guide-browser.js",
 ]
-html_css_files = ["custom.css", "environment-browser.css"]
-html_js_files = ["environment-browser.js"]
 
 html_theme_options = {
     "path_to_docs": "docs/",
diff --git a/docs/index.rst b/docs/index.rst
index 219c9fc9a3ea..29f63b620926 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -93,6 +93,8 @@ Table of Contents
    source/setup/environments
    source/setup/quickstart
    source/setup/tutorial
+   source/setup/demos
+   source/how-to/index
    source/migration/migrating_to_isaaclab_3-0
 
 
@@ -101,44 +103,34 @@ Table of Contents
    :caption: Concepts
 
    source/concepts/backends_and_presets
+   source/concepts/backend_architecture
+   source/concepts/physics_backends
+   source/concepts/solver_differences
+   source/concepts/solver-tuning/index
+   source/concepts/native-physics-api/index
+   source/concepts/renderers
    source/concepts/actuators
+   source/concepts/sensors/index
    source/concepts/coupled_solvers
-   source/concepts/scene_data_providers
    source/concepts/visualization
    source/concepts/reinforcement_learning
-
-
-.. toctree::
-   :maxdepth: 2
-   :caption: Getting Started
-   :titlesonly:
-
-   source/tutorials/index
-   source/how-to/index
-   source/overview/developer-guide/index
-
-
-.. toctree::
-   :maxdepth: 3
-   :caption: Overview
-   :titlesonly:
-
-
-   source/overview/core-concepts/index
-   source/overview/imitation-learning/index
-   source/overview/showroom
+   source/concepts/deformables
+   source/concepts/schema_cfgs
+   source/concepts/schema_fragments
+   source/concepts/task_workflows
+   source/concepts/motion_generators
 
 
 .. toctree::
    :maxdepth: 2
    :caption: Features
 
+   source/features/imitation-learning/index
    source/features/isaac_teleop
    source/features/docker_cloud
    source/features/hydra
    source/features/multi_gpu
    source/features/population_based_training
-   source/features/ray
    source/features/reproducibility
    source/features/draw_markers
    source/features/record_video
@@ -149,7 +141,12 @@ Table of Contents
    :maxdepth: 2
    :caption: Developer Tools
 
+   source/developer-tools/editor_setup
    source/developer-tools/template_generator
+   source/developer-tools/add_physics_backend
+   source/developer-tools/extending_newton_solvers
+   source/developer-tools/scene_data_providers
+   source/developer-tools/agent_skills
    source/developer-tools/benchmarking/index
 
 
@@ -158,6 +155,7 @@ Table of Contents
    :caption: Experimental Features
 
    source/experimental-features/bleeding-edge
+   source/experimental-features/ray
    source/experimental-features/visuo_tactile_sensor
    source/experimental-features/rlinf_vla_posttraining
 
diff --git a/docs/make.bat b/docs/make.bat
index 676a3abc67d6..12c50c4d7303 100644
--- a/docs/make.bat
+++ b/docs/make.bat
@@ -6,6 +6,7 @@ REM Command file to build Sphinx documentation
 
 set SOURCEDIR=.
 set BUILDDIR=_build
+if "%DOCS_DEFAULT_REF%" == "" set DOCS_DEFAULT_REF=develop
 
 REM Check if a specific target was passed
 if "%1" == "multi-docs" (
@@ -26,10 +27,18 @@ if "%1" == "multi-docs" (
 		exit /b 1
 	)
 	%SPHINXBUILD% %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+	if errorlevel 1 exit /b 1
 
-	REM Copy the redirect index.html to the build directory
-	copy _redirect\index.html %BUILDDIR%\index.html
-	goto end
+	if not exist "%BUILDDIR%\%DOCS_DEFAULT_REF%\index.html" (
+		echo Default docs ref '%DOCS_DEFAULT_REF%' was not built
+		exit /b 1
+	)
+
+	REM Render the redirect index.html using the selected default docs ref
+	powershell -NoProfile -Command "$ErrorActionPreference = 'Stop'; $template = [System.IO.File]::ReadAllText('_redirect\index.html'); $output = $template.Replace('__DOCS_DEFAULT_REF__', $env:DOCS_DEFAULT_REF); [System.IO.File]::WriteAllText('%BUILDDIR%\index.html', $output); exit 0"
+	if errorlevel 1 exit /b 1
+	popd
+	exit /b 0
 )
 
 if "%1" == "current-docs" (
@@ -63,3 +72,4 @@ echo.
 
 :end
 popd
+exit /b 0
diff --git a/docs/source/_static/actuators/armature-clip.webp b/docs/source/_static/actuators/armature-clip.webp
deleted file mode 100644
index b20c44e2034f..000000000000
--- a/docs/source/_static/actuators/armature-clip.webp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5b2633b6dbdde0e47a95dde8f6f06214ffc3d0786408baeaa9b1f74c6550d5a7
-size 471702
diff --git a/docs/source/_static/actuators/damping-clip.webp b/docs/source/_static/actuators/damping-clip.webp
deleted file mode 100644
index 59d0bf23ada0..000000000000
--- a/docs/source/_static/actuators/damping-clip.webp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e920ee2c0c41309560f3fe6a0addf0cd0f2f714c53f3b9be1a358406da525801
-size 610916
diff --git a/docs/source/_static/actuators/effort-limit-clip.webp b/docs/source/_static/actuators/effort-limit-clip.webp
deleted file mode 100644
index c64193b0572a..000000000000
--- a/docs/source/_static/actuators/effort-limit-clip.webp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1b5bbae849f4fc69c2d6388845ee31b684539a85f66da13aa12791df1ead07ec
-size 581568
diff --git a/docs/source/_static/actuators/friction-clip.webp b/docs/source/_static/actuators/friction-clip.webp
deleted file mode 100644
index bb5988d74b47..000000000000
--- a/docs/source/_static/actuators/friction-clip.webp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:725cbb4170943629b9f49aa4373e61d12a6005d487dad8fd6c90ba95e89672b4
-size 1174082
diff --git a/docs/source/_static/actuators/stiffness-clip.webp b/docs/source/_static/actuators/stiffness-clip.webp
deleted file mode 100644
index 1ad8574e5107..000000000000
--- a/docs/source/_static/actuators/stiffness-clip.webp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:393a7a6a28976a281cba02bc8bc98e6afbc1f74012fab81117fe7ac6b4fce18f
-size 512942
diff --git a/docs/source/_static/benchmarks/COVERAGE.md b/docs/source/_static/benchmarks/COVERAGE.md
new file mode 100644
index 000000000000..29e6df11b4a0
--- /dev/null
+++ b/docs/source/_static/benchmarks/COVERAGE.md
@@ -0,0 +1,124 @@
+# Benchmark coverage — 8,192 environments
+
+All plotted Collection and Training benchmarks use **num_envs = 8192**.
+Camera rows use only `simple_shading_full_mdl`, with 64×64 images and a single
+camera (Kuka uses the equivalent `simple_shading_full_mdl64` preset). RGB, dual-camera,
+and unspecified camera profiles are excluded. Non-camera tasks use headless runs.
+All selected runs use RSL-RL. Select the latest eligible run per task/physics/renderer
+and snapshot; full source presets remain in the CSV and tooltips. These fixed
+profiles give exactly one series and one table row per physics/renderer pair.
+
+## Snapshot coverage
+
+| Snapshot | Paired records | Tasks | Backend/renderer pairs |
+| --- | ---: | ---: | ---: |
+| August 28 | 114 | 36 / 44 | 114 / 156 |
+| Current (September 9 baseline) | 114 | 36 / 44 | 114 / 156 |
+
+Release contains 114 current records. Develop contains 228 records: August 28
+plus the identical current records. Each record supplies both Collection FPS
+(`Mean Collection FPS`, stepping plus inference) and Training FPS (`Mean Total FPS`,
+including policy updates). Their coverage is identical; separate runtime runs are
+not required. Standard deviation and peak values remain in the data.
+
+The figure labels the environment count beside Release/Develop. The compact table shows only the latest
+available FPS per physics + renderer pair, rounded to an integer. Full configurations and
+measurement dates remain in tooltips, and the legend appears above the graph.
+Missing supported combinations retain “Not available”; entirely absent tasks use
+the benchmark-data-unavailable placeholder.
+
+August 28 requires an exact ingestion-date match. Current selects the latest
+eligible record per physics/renderer pair through September 9. All 114 current
+records are from September 9; there are no older fallbacks under this profile.
+August 14 remains omitted as requested.
+
+## Why 8,192
+
+Before restricting camera profiles, the same hardware, validity, and date filters
+gave this current coverage across all recorded camera variants:
+
+| Count policy | Tasks | Backend/renderer pairs | Recorded configurations |
+| --- | ---: | ---: | ---: |
+| Task defaults | 36 | 70 | 87 |
+| 4,096 | 27 | 52 | 61 |
+| **8,192** | **36** | **126** | **209** |
+| 16,384 | 34 | 110 | 149 |
+
+Combining all measured counts also covers only 126 distinct pairs before the
+camera-profile restriction. Using 8,192 adds 56 pairs over task defaults without
+losing any task. Restricting to simple shading now selects 114 pairs, including
+36 ovphysx pairs at each date. The omitted 12 pairs had RGB Newton-renderer runs
+but no matching simple-shading measurement in the queried data.
+
+## Missing data
+
+There are **42 missing backend/renderer pairs out of 156** at each snapshot,
+for both metrics. Of these, 24 pairs belong to eight entirely absent tasks and
+18 are Newton-renderer camera pairs without matching simple-shading runs.
+Six of those 18 were already unavailable before the profile restriction;
+the restriction removes 12 additional RGB-only pairs.
+The latter retain “Not available”; RGB measurements are not substituted.
+No WARM runtime/training entries for the eight absent task names were found on
+any queried machine in the August 14–September 9 window. Kamino, the Kamino-only
+Fourbar task, and incompatible physx/ovrtx and ovphysx/Isaac Sim RTX pairs are excluded.
+
+| Task | Missing backend/renderer combinations |
+| --- | --- |
+| Isaac-Cartpole-Camera | isaacsim_physx/newton_renderer, newton_mjwarp/newton_renderer, ovphysx/newton_renderer |
+| Isaac-Cartpole-Camera-Direct | isaacsim_physx/newton_renderer, newton_mjwarp/newton_renderer, ovphysx/newton_renderer |
+| Isaac-Lift-Cable-Franka | newton_mjwarp_vbd_proxy |
+| Isaac-Lift-Cable-Franka-Camera | newton_mjwarp_vbd_proxy/isaacsim_rtx, newton_mjwarp_vbd_proxy/newton_renderer, newton_mjwarp_vbd_proxy/ovrtx |
+| Isaac-Lift-Cloth-Franka | isaacsim_physx, newton_mjwarp_vbd_proxy |
+| Isaac-Lift-Cloth-Franka-Camera | isaacsim_physx/isaacsim_rtx, isaacsim_physx/newton_renderer, newton_mjwarp_vbd_proxy/isaacsim_rtx, newton_mjwarp_vbd_proxy/newton_renderer, newton_mjwarp_vbd_proxy/ovrtx |
+| Isaac-Lift-KukaAllegro-Camera | isaacsim_physx/newton_renderer, newton_mjwarp/newton_renderer, ovphysx/newton_renderer |
+| Isaac-Lift-Soft-Franka | isaacsim_physx, newton_mjwarp_vbd_proxy |
+| Isaac-Lift-Soft-Franka-Camera | isaacsim_physx/isaacsim_rtx, isaacsim_physx/newton_renderer, newton_mjwarp_vbd_proxy/isaacsim_rtx, newton_mjwarp_vbd_proxy/newton_renderer, newton_mjwarp_vbd_proxy/ovrtx |
+| Isaac-Pendulum-MARL-Direct | isaacsim_physx, newton_mjwarp, ovphysx |
+| Isaac-Reorient-Cube-Shadow-Camera | isaacsim_physx/newton_renderer, newton_mjwarp/newton_renderer, ovphysx/newton_renderer |
+| Isaac-Reorient-Cube-Shadow-Camera-Direct | isaacsim_physx/newton_renderer, newton_mjwarp/newton_renderer, ovphysx/newton_renderer |
+| Isaac-Reorient-KukaAllegro-Camera | isaacsim_physx/newton_renderer, newton_mjwarp/newton_renderer, ovphysx/newton_renderer |
+| Isaac-Shadow-Handover | isaacsim_physx, newton_mjwarp, ovphysx |
+
+[Configuration matrix](coverage-configurations.csv) lists all 156 pairs for each
+snapshot, statuses for both metrics, selected source IDs/dates, and other counts.
+[Environment coverage](coverage-environments.csv) flags missing 8,192 runs per task.
+[Observed profiles](coverage-observed-profiles.csv) preserves full configurations.
+[Preset selectors](coverage-preset-selectors.csv) flags explicitly recorded domain
+selectors; it does not assert that every Cartesian combination is compatible.
+[Task-default audit](coverage-environment-defaults.csv) retains the earlier default-count
+flags for reference only; it does not describe the current plotted count policy.
+
+## Data quality and provenance
+
+The query covers 63,631 database records from
+`2026-08-14 <= created_at < 2026-09-10`. Selected hardware is
+`XEON_GOLD_5512U_1XRTXPRO6000_BW_SV`: one RTX PRO 6000 Blackwell Server Edition GPU,
+world size 1. Only successful WARM training entries with positive finite paired
+FPS metrics, matching configured/measured counts of 8,192, supported backends,
+and unambiguous task metadata are selected.
+
+The [data-issues audit](coverage-data-issues.csv) covers training entries on that
+hardware throughout the query window. Its counts overlap: 3,696 entries lack the
+database physics column, 1,598 camera entries lack the database renderer column,
+182 have misleading physics group labels, and 182 have misleading count labels.
+Explicit per-entry presets or matching successful WARM task presets can recover
+backend identity. The CSV records that evidence; group labels and implicit defaults
+are not used to invent identities. Unresolved camera renderers remain excluded.
+
+Per-record `quality_notes` flag dirty-source metadata, older fallbacks, missing
+camera dimensions/domain metadata, and FPS coefficients of variation above 25%.
+These observations are not guaranteed clean release-source reproductions.
+Original source IDs, commits, measured iterations, and timestamps remain in the CSV.
+Dates are ingestion dates interpreted as UTC; original measurement timestamps lack
+timezones and are preserved verbatim. EA 3.0 is the release display label, not an
+assertion that measured commits are release tags.
+
+## Remaining work
+
+1. Collect missing supported pairs at 8,192 environments and the fixed camera
+   profile where supported. Use each task's
+   supported training library. Pendulum MARL requires RL-Games or SKRL, not RSL-RL.
+2. Collect clean release-source runs and record resolved
+   physics, renderer, camera dimensions/types/count, domain presets, and dependencies.
+3. Repeat noisy runs with longer measurement windows. Keep unavailable placeholders
+   until valid paired measurements exist.
diff --git a/docs/source/_static/benchmarks/README.md b/docs/source/_static/benchmarks/README.md
new file mode 100644
index 000000000000..a22e7ba9fa0a
--- /dev/null
+++ b/docs/source/_static/benchmarks/README.md
@@ -0,0 +1,87 @@
+# Paired environment benchmark snapshots
+
+Both graph modes read the same WARM training records from
+`omni_runtime_isaac_lab_v3` in `ov-runtime-performance` on
+`omniperf-trace.nvidia.com:5432`. Credentials are not stored here.
+
+- **Collection** uses `collection_fps_mean` (`Mean Collection FPS`): rollouts,
+  including environment stepping and policy inference.
+- **Training** uses `total_fps_mean` (`Mean Total FPS`): end-to-end training,
+  including policy updates.
+
+Each CSV row contains both metrics and their own standard deviation and peak.
+`workload=training` identifies the source workflow; it is not a graph-mode filter.
+Standalone runtime measurements are not mixed into either mode.
+
+## Snapshots
+
+- Release: 114 current records across 36 environments, labeled EA 3.0.
+- Develop: August 28 and September 9, with 228 records total. August 14 remains
+  omitted. August 28 has 114 records across 36 environments. The current 114 rows
+  are identical to Release.
+
+Historical dates use exact database ingestion dates. The current baseline selects
+latest eligible measurements through September 9 per physics/renderer pair.
+All 114 current records are from September 9. The graph shows the
+two available snapshot dates. Missing values are not zeroed,
+interpolated, or backfilled into historical snapshots.
+
+## Selection contract
+
+- Query August 14 through September 9, inclusive, using read-only access.
+- Select successful WARM training records on
+  `XEON_GOLD_5512U_1XRTXPRO6000_BW_SV`, one GPU and world size 1.
+- Require finite positive Collection and Total FPS; matching
+  `benchmark_info.num_envs` and `runtime.num_envs`, both equal to **8,192**.
+  Neither mode substitutes a different environment count.
+- Match successful WARM task metadata by task, workflow, and entry-key variant.
+- Prefer explicit database physics/renderer columns. If absent, use an explicit
+  selector in the WARM entry's `benchmark_info.presets`, then the matching
+  successful WARM task preset. Record the source in `physics_backend_source` and
+  `rendering_backend_source`. Never infer missing identity from group names or
+  implicit defaults. Camera renderers must be identifiable.
+- Normalize historical `physx`/`newton` physics to `isaacsim_physx`/`newton_mjwarp`,
+  and `IsaacRtxRenderer`/`NewtonWarpRenderer`/`newton` renderers to their canonical
+  selectors. Exclude Kamino and incompatible PhysX/renderer pairs.
+- Use only RSL-RL, headless non-camera tasks, and 64×64 single-camera
+  `simple_shading_full_mdl` runs (including Kuka's equivalent `simple_shading_full_mdl64`).
+  Do not substitute RGB, dual-camera, or unspecified camera profiles.
+- Keep one record per task/physics/renderer and snapshot. Prefer latest ingestion
+  timestamp, then largest record ID.
+  The two metrics always retain the exact same source record and WARM entry.
+
+Full domain presets come from per-entry metadata when available, otherwise the
+matching task preset. Strip physics/renderer selectors and sort remaining tokens.
+Missing resolved camera dimensions stay empty; preset names do not establish
+verified sensor dimensions.
+
+## Provenance and audit
+
+`snapshot_date_utc` is the graph position. `benchmark_date_utc` and
+`recorded_at_utc` preserve actual ingestion time. `measurement_timestamp`
+preserves the original timestamp without assigning a timezone. Mean/std/peak
+FPS, VRAM, utilization, hardware, versions, source IDs, entry keys, and measured
+base commits are retained. `quality_notes` flags older fallbacks, dirty source,
+unresolved camera details, and variability above 25% for each metric separately.
+
+The shared current baseline is assembled from develop runs; EA 3.0 is a snapshot
+label, not a verified release-commit claim. The legacy `environment-performance.csv`
+is retained as an older unused snapshot.
+
+- [Coverage report](COVERAGE.md): corrected interpretation, dates, OV PhysX,
+  missing 8,192 runs, full current pair matrix, and collection plan.
+- [Environment coverage](coverage-environments.csv): per-task/per-date 8,192-run flags.
+- [Environment defaults](coverage-environment-defaults.csv): retained earlier default-count
+  audit, independent of the current plotted count policy.
+- [Configuration coverage](coverage-configurations.csv): all 156 pairs per displayed date,
+  statuses for both metrics, alternative counts, and source IDs/dates.
+- [Observed profiles](coverage-observed-profiles.csv): selected paired configurations.
+- [Preset selectors](coverage-preset-selectors.csv): explicitly recorded individual
+  selectors, not a validated Cartesian compatibility matrix.
+- [Data issues](coverage-data-issues.csv): training-entry metadata problems and
+  recovered identities across the queried window.
+
+The compact FPS table shows only the latest available value per configuration in
+both channels, rounded to a whole number and labeled as physics + renderer.
+Actual measurement dates and detailed configurations remain in tooltips. The
+legend above the graph uses the same labels; the count sits beside Release/Develop; the CSV retains full precision.
diff --git a/docs/source/_static/benchmarks/coverage-configurations.csv b/docs/source/_static/benchmarks/coverage-configurations.csv
new file mode 100644
index 000000000000..593df62480d6
--- /dev/null
+++ b/docs/source/_static/benchmarks/coverage-configurations.csv
@@ -0,0 +1,313 @@
+snapshot_date_utc,task,num_envs,physics_backend,rendering_backend,collection_status,training_status,selected_profiles,source_record_ids,source_dates,other_measured_counts
+2026-08-28,Isaac-Ant-Direct,8192,isaacsim_physx,none,covered,covered,1,172370,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Ant-Direct,8192,newton_mjwarp,none,covered,covered,1,172486,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Ant-Direct,8192,ovphysx,none,covered,covered,1,172630,2026-08-28,16384
+2026-08-28,Isaac-Ant,8192,isaacsim_physx,none,covered,covered,1,172370,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Ant,8192,newton_mjwarp,none,covered,covered,1,172485,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Ant,8192,ovphysx,none,covered,covered,1,172630,2026-08-28,16384
+2026-08-28,Isaac-Cartpole-Direct,8192,isaacsim_physx,none,covered,covered,1,172371,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Cartpole-Direct,8192,newton_mjwarp,none,covered,covered,1,172491,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Cartpole-Direct,8192,ovphysx,none,covered,covered,1,172629,2026-08-28,16384
+2026-08-28,Isaac-Cartpole,8192,isaacsim_physx,none,covered,covered,1,172369,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Cartpole,8192,newton_mjwarp,none,covered,covered,1,172489,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Cartpole,8192,ovphysx,none,covered,covered,1,172629,2026-08-28,16384
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,isaacsim_rtx,covered,covered,1,172963,2026-08-28,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,isaacsim_rtx,covered,covered,1,171788,2026-08-28,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,ovrtx,covered,covered,1,173001,2026-08-28,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,ovphysx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,ovphysx,ovrtx,covered,covered,1,171813,2026-08-28,
+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,covered,covered,1,172963,2026-08-28,
+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,covered,covered,1,171788,2026-08-28,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,covered,covered,1,173001,2026-08-28,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,covered,covered,1,171813,2026-08-28,
+2026-08-28,Isaac-Humanoid-Direct,8192,isaacsim_physx,none,covered,covered,1,172374,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Humanoid-Direct,8192,newton_mjwarp,none,covered,covered,1,172496,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Humanoid-Direct,8192,ovphysx,none,covered,covered,1,172636,2026-08-28,16384
+2026-08-28,Isaac-Humanoid,8192,isaacsim_physx,none,covered,covered,1,172373,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Humanoid,8192,newton_mjwarp,none,covered,covered,1,172496,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Humanoid,8192,ovphysx,none,covered,covered,1,172636,2026-08-28,16384
+2026-08-28,Isaac-Lift-Cable-Franka,8192,newton_mjwarp_vbd_proxy,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,isaacsim_rtx,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,ovrtx,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Cloth-Franka,8192,isaacsim_physx,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Cloth-Franka,8192,newton_mjwarp_vbd_proxy,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,8192,isaacsim_physx,isaacsim_rtx,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,8192,isaacsim_physx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,isaacsim_rtx,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,ovrtx,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Franka,8192,isaacsim_physx,none,covered,covered,1,172375,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Lift-Franka,8192,newton_mjwarp,none,covered,covered,1,172494,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Lift-Franka,8192,ovphysx,none,covered,covered,1,172638,2026-08-28,16384
+2026-08-28,Isaac-Lift-KukaAllegro,8192,isaacsim_physx,none,covered,covered,1,172382,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Lift-KukaAllegro,8192,newton_mjwarp,none,covered,covered,1,172506,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Lift-KukaAllegro,8192,ovphysx,none,covered,covered,1,173148,2026-08-28,16384
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,covered,covered,1,172970,2026-08-28,16384
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,newton_mjwarp,isaacsim_rtx,covered,covered,1,171806,2026-08-28,16384
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,newton_mjwarp,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,newton_mjwarp,ovrtx,covered,covered,1,172997,2026-08-28,16384
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,ovphysx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,ovphysx,ovrtx,covered,covered,1,171815,2026-08-28,
+2026-08-28,Isaac-Lift-Soft-Franka,8192,isaacsim_physx,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Soft-Franka,8192,newton_mjwarp_vbd_proxy,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Soft-Franka-Camera,8192,isaacsim_physx,isaacsim_rtx,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Soft-Franka-Camera,8192,isaacsim_physx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Soft-Franka-Camera,8192,newton_mjwarp_vbd_proxy,isaacsim_rtx,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Soft-Franka-Camera,8192,newton_mjwarp_vbd_proxy,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Lift-Soft-Franka-Camera,8192,newton_mjwarp_vbd_proxy,ovrtx,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Open-Drawer-Franka-Direct,8192,isaacsim_physx,none,covered,covered,1,172386,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Open-Drawer-Franka-Direct,8192,newton_mjwarp,none,covered,covered,1,172515,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Open-Drawer-Franka-Direct,8192,ovphysx,none,covered,covered,1,173151,2026-08-28,16384
+2026-08-28,Isaac-Open-Drawer-Franka,8192,isaacsim_physx,none,covered,covered,1,172383,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Open-Drawer-Franka,8192,newton_mjwarp,none,covered,covered,1,172515,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Open-Drawer-Franka,8192,ovphysx,none,covered,covered,1,173143,2026-08-28,16384
+2026-08-28,Isaac-Pendulum-MARL-Direct,8192,isaacsim_physx,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Pendulum-MARL-Direct,8192,newton_mjwarp,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Pendulum-MARL-Direct,8192,ovphysx,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Reach-Franka,8192,isaacsim_physx,none,covered,covered,1,172393,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Reach-Franka,8192,newton_mjwarp,none,covered,covered,1,172527,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Reach-Franka,8192,ovphysx,none,covered,covered,1,173139,2026-08-28,16384
+2026-08-28,Isaac-Reach-Franka-OSC,8192,isaacsim_physx,none,covered,covered,1,172393,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Reach-Franka-OSC,8192,newton_mjwarp,none,covered,covered,1,172535,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Reach-Franka-OSC,8192,ovphysx,none,covered,covered,1,173150,2026-08-28,
+2026-08-28,Isaac-Reach-UR10,8192,isaacsim_physx,none,covered,covered,1,172379,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Reach-UR10,8192,newton_mjwarp,none,covered,covered,1,172533,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Reach-UR10,8192,ovphysx,none,covered,covered,1,173138,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,8192,isaacsim_physx,none,covered,covered,1,172391,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,8192,newton_mjwarp,none,covered,covered,1,172546,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,8192,ovphysx,none,covered,covered,1,173156,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Allegro,8192,isaacsim_physx,none,covered,covered,1,172390,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Allegro,8192,newton_mjwarp,none,covered,covered,1,172546,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Allegro,8192,ovphysx,none,covered,covered,1,173156,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,8192,isaacsim_physx,none,covered,covered,1,172389,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,8192,newton_mjwarp,none,covered,covered,1,173586,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,8192,ovphysx,none,covered,covered,1,173171,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow,8192,isaacsim_physx,none,covered,covered,1,172388,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow,8192,newton_mjwarp,none,covered,covered,1,173586,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow,8192,ovphysx,none,covered,covered,1,173171,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,8192,isaacsim_physx,isaacsim_rtx,covered,covered,1,171852,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,8192,isaacsim_physx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,8192,newton_mjwarp,isaacsim_rtx,covered,covered,1,171826,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,8192,newton_mjwarp,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,8192,newton_mjwarp,ovrtx,covered,covered,1,171870,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,8192,ovphysx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,8192,ovphysx,ovrtx,covered,covered,1,171853,2026-08-28,
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,8192,isaacsim_physx,isaacsim_rtx,covered,covered,1,171852,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,8192,isaacsim_physx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,8192,newton_mjwarp,isaacsim_rtx,covered,covered,1,171826,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,8192,newton_mjwarp,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,8192,newton_mjwarp,ovrtx,covered,covered,1,171456,2026-08-28,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,8192,ovphysx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,8192,ovphysx,ovrtx,covered,covered,1,171853,2026-08-28,
+2026-08-28,Isaac-Reorient-Franka,8192,isaacsim_physx,none,covered,covered,1,172400,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Reorient-Franka,8192,newton_mjwarp,none,covered,covered,1,173578,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Reorient-Franka,8192,ovphysx,none,covered,covered,1,173155,2026-08-28,16384
+2026-08-28,Isaac-Reorient-KukaAllegro,8192,isaacsim_physx,none,covered,covered,1,172405,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Reorient-KukaAllegro,8192,newton_mjwarp,none,covered,covered,1,172545,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Reorient-KukaAllegro,8192,ovphysx,none,covered,covered,1,173159,2026-08-28,16384
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,covered,covered,1,173554,2026-08-28,16384
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,newton_mjwarp,isaacsim_rtx,covered,covered,1,173555,2026-08-28,16384
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,newton_mjwarp,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,newton_mjwarp,ovrtx,covered,covered,1,173530,2026-08-28,16384
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,ovphysx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,ovphysx,ovrtx,covered,covered,1,173551,2026-08-28,
+2026-08-28,Isaac-Shadow-Handover-Direct,8192,isaacsim_physx,none,covered,covered,1,172408,2026-08-28,"2048,16384"
+2026-08-28,Isaac-Shadow-Handover-Direct,8192,newton_mjwarp,none,covered,covered,1,172564,2026-08-28,"2048,16384"
+2026-08-28,Isaac-Shadow-Handover-Direct,8192,ovphysx,none,covered,covered,1,173178,2026-08-28,16384
+2026-08-28,Isaac-Shadow-Handover,8192,isaacsim_physx,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Shadow-Handover,8192,newton_mjwarp,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Shadow-Handover,8192,ovphysx,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-08-28,Isaac-Velocity-Flat-AnymalD,8192,isaacsim_physx,none,covered,covered,1,172407,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Flat-AnymalD,8192,newton_mjwarp,none,covered,covered,1,172539,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Flat-AnymalD,8192,ovphysx,none,covered,covered,1,173165,2026-08-28,16384
+2026-08-28,Isaac-Velocity-Flat-Cassie,8192,isaacsim_physx,none,covered,covered,1,172406,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Flat-Cassie,8192,newton_mjwarp,none,covered,covered,1,172541,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Flat-Cassie,8192,ovphysx,none,covered,covered,1,173163,2026-08-28,16384
+2026-08-28,Isaac-Velocity-Flat-G1,8192,isaacsim_physx,none,covered,covered,1,172414,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Flat-G1,8192,newton_mjwarp,none,covered,covered,1,172549,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Flat-G1,8192,ovphysx,none,covered,covered,1,173170,2026-08-28,16384
+2026-08-28,Isaac-Velocity-Flat-H1,8192,isaacsim_physx,none,covered,covered,1,172409,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Flat-H1,8192,newton_mjwarp,none,covered,covered,1,172544,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Flat-H1,8192,ovphysx,none,covered,covered,1,173169,2026-08-28,16384
+2026-08-28,Isaac-Velocity-Flat-UnitreeGo2,8192,isaacsim_physx,none,covered,covered,1,172413,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Flat-UnitreeGo2,8192,newton_mjwarp,none,covered,covered,1,172551,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Flat-UnitreeGo2,8192,ovphysx,none,covered,covered,1,173176,2026-08-28,16384
+2026-08-28,Isaac-Velocity-Rough-AnymalD,8192,isaacsim_physx,none,covered,covered,1,172417,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Rough-AnymalD,8192,newton_mjwarp,none,covered,covered,1,173906,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Rough-AnymalD,8192,ovphysx,none,covered,covered,1,173177,2026-08-28,16384
+2026-08-28,Isaac-Velocity-Rough-Cassie,8192,isaacsim_physx,none,covered,covered,1,172412,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Rough-Cassie,8192,newton_mjwarp,none,covered,covered,1,172554,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Rough-Cassie,8192,ovphysx,none,covered,covered,1,173173,2026-08-28,16384
+2026-08-28,Isaac-Velocity-Rough-G1,8192,isaacsim_physx,none,covered,covered,1,172366,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Rough-G1,8192,newton_mjwarp,none,covered,covered,1,172488,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Rough-G1,8192,ovphysx,none,covered,covered,1,172624,2026-08-28,16384
+2026-08-28,Isaac-Velocity-Rough-H1,8192,isaacsim_physx,none,covered,covered,1,172415,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Rough-H1,8192,newton_mjwarp,none,covered,covered,1,172560,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Rough-H1,8192,ovphysx,none,covered,covered,1,173179,2026-08-28,16384
+2026-08-28,Isaac-Velocity-Rough-UnitreeGo2,8192,isaacsim_physx,none,covered,covered,1,172425,2026-08-28,"4096,16384"
+2026-08-28,Isaac-Velocity-Rough-UnitreeGo2,8192,newton_mjwarp,none,covered,covered,1,172557,2026-08-28,4096
+2026-08-28,Isaac-Velocity-Rough-UnitreeGo2,8192,ovphysx,none,covered,covered,1,173189,2026-08-28,16384
+2026-09-09,Isaac-Ant-Direct,8192,isaacsim_physx,none,covered,covered,1,206246,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Ant-Direct,8192,newton_mjwarp,none,covered,covered,1,206329,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Ant-Direct,8192,ovphysx,none,covered,covered,1,206416,2026-09-09,16384
+2026-09-09,Isaac-Ant,8192,isaacsim_physx,none,covered,covered,1,206246,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Ant,8192,newton_mjwarp,none,covered,covered,1,206328,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Ant,8192,ovphysx,none,covered,covered,1,206415,2026-09-09,16384
+2026-09-09,Isaac-Cartpole-Direct,8192,isaacsim_physx,none,covered,covered,1,206242,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Cartpole-Direct,8192,newton_mjwarp,none,covered,covered,1,206332,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Cartpole-Direct,8192,ovphysx,none,covered,covered,1,206418,2026-09-09,16384
+2026-09-09,Isaac-Cartpole,8192,isaacsim_physx,none,covered,covered,1,206242,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Cartpole,8192,newton_mjwarp,none,covered,covered,1,206330,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Cartpole,8192,ovphysx,none,covered,covered,1,206414,2026-09-09,16384
+2026-09-09,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,isaacsim_rtx,covered,covered,1,206582,2026-09-09,
+2026-09-09,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,isaacsim_rtx,covered,covered,1,205119,2026-09-09,
+2026-09-09,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,ovrtx,covered,covered,1,206626,2026-09-09,
+2026-09-09,Isaac-Cartpole-Camera-Direct,8192,ovphysx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Cartpole-Camera-Direct,8192,ovphysx,ovrtx,covered,covered,1,205152,2026-09-09,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,covered,covered,1,206582,2026-09-09,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,covered,covered,1,205119,2026-09-09,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,covered,covered,1,206626,2026-09-09,
+2026-09-09,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,covered,covered,1,205152,2026-09-09,
+2026-09-09,Isaac-Humanoid-Direct,8192,isaacsim_physx,none,covered,covered,1,206251,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Humanoid-Direct,8192,newton_mjwarp,none,covered,covered,1,206342,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Humanoid-Direct,8192,ovphysx,none,covered,covered,1,206426,2026-09-09,16384
+2026-09-09,Isaac-Humanoid,8192,isaacsim_physx,none,covered,covered,1,206251,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Humanoid,8192,newton_mjwarp,none,covered,covered,1,206338,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Humanoid,8192,ovphysx,none,covered,covered,1,206426,2026-09-09,16384
+2026-09-09,Isaac-Lift-Cable-Franka,8192,newton_mjwarp_vbd_proxy,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,isaacsim_rtx,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,ovrtx,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Cloth-Franka,8192,isaacsim_physx,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Cloth-Franka,8192,newton_mjwarp_vbd_proxy,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,8192,isaacsim_physx,isaacsim_rtx,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,8192,isaacsim_physx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,isaacsim_rtx,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,ovrtx,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Franka,8192,isaacsim_physx,none,covered,covered,1,206254,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Lift-Franka,8192,newton_mjwarp,none,covered,covered,1,206709,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Lift-Franka,8192,ovphysx,none,covered,covered,1,206427,2026-09-09,16384
+2026-09-09,Isaac-Lift-KukaAllegro,8192,isaacsim_physx,none,covered,covered,1,206259,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Lift-KukaAllegro,8192,newton_mjwarp,none,covered,covered,1,206344,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Lift-KukaAllegro,8192,ovphysx,none,covered,covered,1,206430,2026-09-09,16384
+2026-09-09,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,covered,covered,1,206590,2026-09-09,16384
+2026-09-09,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-KukaAllegro-Camera,8192,newton_mjwarp,isaacsim_rtx,covered,covered,1,205120,2026-09-09,16384
+2026-09-09,Isaac-Lift-KukaAllegro-Camera,8192,newton_mjwarp,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-KukaAllegro-Camera,8192,newton_mjwarp,ovrtx,covered,covered,1,206620,2026-09-09,16384
+2026-09-09,Isaac-Lift-KukaAllegro-Camera,8192,ovphysx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-KukaAllegro-Camera,8192,ovphysx,ovrtx,covered,covered,1,205154,2026-09-09,
+2026-09-09,Isaac-Lift-Soft-Franka,8192,isaacsim_physx,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Soft-Franka,8192,newton_mjwarp_vbd_proxy,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Soft-Franka-Camera,8192,isaacsim_physx,isaacsim_rtx,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Soft-Franka-Camera,8192,isaacsim_physx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Soft-Franka-Camera,8192,newton_mjwarp_vbd_proxy,isaacsim_rtx,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Soft-Franka-Camera,8192,newton_mjwarp_vbd_proxy,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Lift-Soft-Franka-Camera,8192,newton_mjwarp_vbd_proxy,ovrtx,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Open-Drawer-Franka-Direct,8192,isaacsim_physx,none,covered,covered,1,206260,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Open-Drawer-Franka-Direct,8192,newton_mjwarp,none,covered,covered,1,206352,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Open-Drawer-Franka-Direct,8192,ovphysx,none,covered,covered,1,206431,2026-09-09,16384
+2026-09-09,Isaac-Open-Drawer-Franka,8192,isaacsim_physx,none,covered,covered,1,206260,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Open-Drawer-Franka,8192,newton_mjwarp,none,covered,covered,1,206352,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Open-Drawer-Franka,8192,ovphysx,none,covered,covered,1,206431,2026-09-09,16384
+2026-09-09,Isaac-Pendulum-MARL-Direct,8192,isaacsim_physx,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Pendulum-MARL-Direct,8192,newton_mjwarp,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Pendulum-MARL-Direct,8192,ovphysx,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Reach-Franka,8192,isaacsim_physx,none,covered,covered,1,206262,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Reach-Franka,8192,newton_mjwarp,none,covered,covered,1,206351,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Reach-Franka,8192,ovphysx,none,covered,covered,1,206432,2026-09-09,16384
+2026-09-09,Isaac-Reach-Franka-OSC,8192,isaacsim_physx,none,covered,covered,1,206262,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Reach-Franka-OSC,8192,newton_mjwarp,none,covered,covered,1,206351,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Reach-Franka-OSC,8192,ovphysx,none,covered,covered,1,206432,2026-09-09,16384
+2026-09-09,Isaac-Reach-UR10,8192,isaacsim_physx,none,covered,covered,1,206252,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Reach-UR10,8192,newton_mjwarp,none,covered,covered,1,206350,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Reach-UR10,8192,ovphysx,none,covered,covered,1,206425,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Allegro-Direct,8192,isaacsim_physx,none,covered,covered,1,206266,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Allegro-Direct,8192,newton_mjwarp,none,covered,covered,1,206357,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Allegro-Direct,8192,ovphysx,none,covered,covered,1,206434,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Allegro,8192,isaacsim_physx,none,covered,covered,1,206257,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Allegro,8192,newton_mjwarp,none,covered,covered,1,206357,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Allegro,8192,ovphysx,none,covered,covered,1,206434,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow-Direct,8192,isaacsim_physx,none,covered,covered,1,206282,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow-Direct,8192,newton_mjwarp,none,covered,covered,1,206386,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow-Direct,8192,ovphysx,none,covered,covered,1,206443,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow,8192,isaacsim_physx,none,covered,covered,1,206282,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow,8192,newton_mjwarp,none,covered,covered,1,206386,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow,8192,ovphysx,none,covered,covered,1,206443,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera-Direct,8192,isaacsim_physx,isaacsim_rtx,covered,covered,1,205159,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera-Direct,8192,isaacsim_physx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera-Direct,8192,newton_mjwarp,isaacsim_rtx,covered,covered,1,205146,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera-Direct,8192,newton_mjwarp,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera-Direct,8192,newton_mjwarp,ovrtx,covered,covered,1,205105,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera-Direct,8192,ovphysx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera-Direct,8192,ovphysx,ovrtx,covered,covered,1,205166,2026-09-09,
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera,8192,isaacsim_physx,isaacsim_rtx,covered,covered,1,205159,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera,8192,isaacsim_physx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera,8192,newton_mjwarp,isaacsim_rtx,covered,covered,1,205146,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera,8192,newton_mjwarp,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera,8192,newton_mjwarp,ovrtx,covered,covered,1,205105,2026-09-09,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera,8192,ovphysx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera,8192,ovphysx,ovrtx,covered,covered,1,205165,2026-09-09,
+2026-09-09,Isaac-Reorient-Franka,8192,isaacsim_physx,none,covered,covered,1,206281,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Reorient-Franka,8192,newton_mjwarp,none,covered,covered,1,206355,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Reorient-Franka,8192,ovphysx,none,covered,covered,1,206436,2026-09-09,16384
+2026-09-09,Isaac-Reorient-KukaAllegro,8192,isaacsim_physx,none,covered,covered,1,206273,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Reorient-KukaAllegro,8192,newton_mjwarp,none,covered,covered,1,206358,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Reorient-KukaAllegro,8192,ovphysx,none,covered,covered,1,206441,2026-09-09,16384
+2026-09-09,Isaac-Reorient-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,covered,covered,1,206601,2026-09-09,16384
+2026-09-09,Isaac-Reorient-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Reorient-KukaAllegro-Camera,8192,newton_mjwarp,isaacsim_rtx,covered,covered,1,205136,2026-09-09,16384
+2026-09-09,Isaac-Reorient-KukaAllegro-Camera,8192,newton_mjwarp,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Reorient-KukaAllegro-Camera,8192,newton_mjwarp,ovrtx,covered,covered,1,206625,2026-09-09,16384
+2026-09-09,Isaac-Reorient-KukaAllegro-Camera,8192,ovphysx,newton_renderer,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Reorient-KukaAllegro-Camera,8192,ovphysx,ovrtx,covered,covered,1,205153,2026-09-09,
+2026-09-09,Isaac-Shadow-Handover-Direct,8192,isaacsim_physx,none,covered,covered,1,206285,2026-09-09,"2048,16384"
+2026-09-09,Isaac-Shadow-Handover-Direct,8192,newton_mjwarp,none,covered,covered,1,206371,2026-09-09,"2048,16384"
+2026-09-09,Isaac-Shadow-Handover-Direct,8192,ovphysx,none,covered,covered,1,206450,2026-09-09,16384
+2026-09-09,Isaac-Shadow-Handover,8192,isaacsim_physx,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Shadow-Handover,8192,newton_mjwarp,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Shadow-Handover,8192,ovphysx,none,no usable matching-profile training record,no usable matching-profile training record,0,,,
+2026-09-09,Isaac-Velocity-Flat-AnymalD,8192,isaacsim_physx,none,covered,covered,1,206271,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Flat-AnymalD,8192,newton_mjwarp,none,covered,covered,1,206363,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Flat-AnymalD,8192,ovphysx,none,covered,covered,1,206437,2026-09-09,16384
+2026-09-09,Isaac-Velocity-Flat-Cassie,8192,isaacsim_physx,none,covered,covered,1,206269,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Flat-Cassie,8192,newton_mjwarp,none,covered,covered,1,206362,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Flat-Cassie,8192,ovphysx,none,covered,covered,1,206440,2026-09-09,16384
+2026-09-09,Isaac-Velocity-Flat-G1,8192,isaacsim_physx,none,covered,covered,1,206274,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Flat-G1,8192,newton_mjwarp,none,covered,covered,1,206368,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Flat-G1,8192,ovphysx,none,covered,covered,1,206446,2026-09-09,16384
+2026-09-09,Isaac-Velocity-Flat-H1,8192,isaacsim_physx,none,covered,covered,1,206272,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Flat-H1,8192,newton_mjwarp,none,covered,covered,1,206361,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Flat-H1,8192,ovphysx,none,covered,covered,1,206447,2026-09-09,16384
+2026-09-09,Isaac-Velocity-Flat-UnitreeGo2,8192,isaacsim_physx,none,covered,covered,1,206279,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Flat-UnitreeGo2,8192,newton_mjwarp,none,covered,covered,1,206367,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Flat-UnitreeGo2,8192,ovphysx,none,covered,covered,1,206451,2026-09-09,16384
+2026-09-09,Isaac-Velocity-Rough-AnymalD,8192,isaacsim_physx,none,covered,covered,1,206293,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Rough-AnymalD,8192,newton_mjwarp,none,covered,covered,1,206373,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Rough-AnymalD,8192,ovphysx,none,covered,covered,1,206712,2026-09-09,16384
+2026-09-09,Isaac-Velocity-Rough-Cassie,8192,isaacsim_physx,none,covered,covered,1,206275,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Rough-Cassie,8192,newton_mjwarp,none,covered,covered,1,206384,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Rough-Cassie,8192,ovphysx,none,covered,covered,1,206445,2026-09-09,16384
+2026-09-09,Isaac-Velocity-Rough-G1,8192,isaacsim_physx,none,covered,covered,1,206248,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Rough-G1,8192,newton_mjwarp,none,covered,covered,1,206349,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Rough-G1,8192,ovphysx,none,covered,covered,1,206420,2026-09-09,16384
+2026-09-09,Isaac-Velocity-Rough-H1,8192,isaacsim_physx,none,covered,covered,1,206280,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Rough-H1,8192,newton_mjwarp,none,covered,covered,1,206369,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Rough-H1,8192,ovphysx,none,covered,covered,1,206448,2026-09-09,16384
+2026-09-09,Isaac-Velocity-Rough-UnitreeGo2,8192,isaacsim_physx,none,covered,covered,1,206278,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Rough-UnitreeGo2,8192,newton_mjwarp,none,covered,covered,1,206370,2026-09-09,"4096,16384"
+2026-09-09,Isaac-Velocity-Rough-UnitreeGo2,8192,ovphysx,none,covered,covered,1,206456,2026-09-09,16384
diff --git a/docs/source/_static/benchmarks/coverage-data-issues.csv b/docs/source/_static/benchmarks/coverage-data-issues.csv
new file mode 100644
index 000000000000..6e3d6c9d2a51
--- /dev/null
+++ b/docs/source/_static/benchmarks/coverage-data-issues.csv
@@ -0,0 +1,3927 @@
+source_record_id,source_entry_key,date,task,physics_backend,rendering_backend,physics_backend_source,rendering_backend_source,measured_num_envs,runtime_num_envs,comparison_group_name,issues
+143262,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-14,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+143265,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-14,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
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+144705,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-16,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+144715,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-16,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+144719,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-16,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+144722,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-16,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+144730,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-16,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+144733,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-16,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+144737,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-16,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+144747,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-16,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+144756,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-16,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+144762,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-16,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+144765,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-16,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+144772,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-16,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+144776,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-16,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+144780,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-16,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+144789,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-16,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+144848,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-16,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+153024,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153025,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+165791,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165794,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-27,Isaac-Cartpole-Camera,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165794,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165795,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165798,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165799,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165800,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165804,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165805,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165806,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165811,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165812,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165813,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165815,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+153028,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-23,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+153028,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+153028,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+153028,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+153029,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_depth64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+153032,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153037,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153038,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+153038,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+153072,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153082,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153083,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153090,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153109,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153117,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153118,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153119,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153128,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153138,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153146,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153149,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153163,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153170,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153190,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153202,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153278,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153292,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153296,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153306,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153307,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153310,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153311,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153316,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153321,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153323,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153324,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153333,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153335,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153366,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153367,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153370,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153375,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153379,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153383,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153386,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153387,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153389,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+165816,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,successful WARM task preset,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165816,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165817,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165826,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165826,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165840,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165840,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165842,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+153391,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153410,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153414,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153418,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153421,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153426,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153429,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153528,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-23,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+153921,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+153924,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-23,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153935,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-23,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153937,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-23,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153940,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-23,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153940,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-23,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153947,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-23,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153952,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+153959,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-23,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153959,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+153960,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-23,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153960,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-23,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153961,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-23,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153963,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-23,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153964,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-23,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153965,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-23,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153965,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-23,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153971,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153976,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-23,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153977,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-23,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153978,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-23,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153978,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153981,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-23,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153982,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-23,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153983,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-23,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153983,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+153984,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-23,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153986,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-23,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153989,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-23,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153990,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-23,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153993,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-23,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153995,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153996,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-23,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+153997,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E16384,database renderer missing; unresolved
+154007,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154008,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-23,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154010,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-23,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154013,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-23,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154015,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-23,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154017,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154018,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-23,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154018,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-23,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154019,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-23,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154019,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-23,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154020,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-23,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154021,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-23,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154021,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-23,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154024,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-23,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154027,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-23,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154027,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154027,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154027,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154028,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-23,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154030,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-23,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154030,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-23,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154032,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-23,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154036,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154039,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-23,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154039,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-23,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154040,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-23,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154040,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154041,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-23,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154041,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154047,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154047,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154049,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154052,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-23,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154054,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-23,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154055,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-23,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154057,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-23,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154058,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-23,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154059,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-23,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154060,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154064,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-23,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154064,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154070,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-23,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154071,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-23,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154072,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-23,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154076,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154089,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-23,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154095,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154096,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+154097,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+154098,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-23,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+154098,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+154099,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154103,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154104,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154105,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+154109,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154111,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+154115,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+154115,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+154116,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+154119,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-23,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154119,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154119,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+154119,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154121,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154123,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-23,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+154123,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+154126,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154127,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_depth64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+154128,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154135,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_depth64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+154136,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154141,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154147,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154147,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154177,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154187,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154189,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154190,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154217,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154218,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154221,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154228,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154241,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154302,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154307,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154311,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154319,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154429,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+154430,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+154436,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-23,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+154436,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+154437,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154440,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_depth64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+154441,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+154442,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154445,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+154445,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+154446,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+154448,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+154450,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+154459,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_depth64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+154461,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154487,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154503,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154507,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154526,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154532,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154649,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154654,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154674,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154680,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+154852,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,database renderer missing; unresolved
+154938,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154939,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-23,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154943,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-23,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154944,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-23,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154944,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-23,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154947,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-23,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154953,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-23,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154954,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-23,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154954,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-23,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154959,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154961,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-23,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154962,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-23,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154962,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-23,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154966,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-23,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154966,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-23,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154967,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-23,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154972,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-23,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154974,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-23,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154974,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154975,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-23,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154975,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-23,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154976,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-23,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154978,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-23,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154980,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154983,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-23,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154984,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-23,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154984,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+154986,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-23,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154988,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-23,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154990,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-23,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154991,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-23,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154991,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154992,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-23,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154994,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-23,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154995,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-23,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+154998,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-23,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155002,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-23,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155009,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E16384,database renderer missing; unresolved
+155011,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155017,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-23,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155019,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-23,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155020,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-23,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155020,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-23,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155022,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155025,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-23,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155026,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155029,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-23,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155029,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-23,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155033,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-23,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155033,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-23,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155034,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-23,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155035,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-23,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155036,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-23,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155036,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155038,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-23,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155042,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-23,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155043,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-23,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155043,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155043,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155043,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155045,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-23,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155046,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-23,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155046,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-23,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155047,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-23,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155047,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-23,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155048,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-23,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155050,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-23,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155050,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155055,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-23,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155056,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-23,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155059,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155061,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-23,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155062,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-23,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155063,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-23,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155065,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-23,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155066,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155066,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155070,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-23,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155070,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155072,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155074,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155079,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155081,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-23,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155097,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+155099,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155109,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+155112,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-23,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+155112,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+155113,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155115,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+155116,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+155117,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-23,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+155117,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+155122,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_depth64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+155124,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+155127,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+155127,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+155129,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_depth64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+155133,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155141,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-23,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155141,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155141,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155141,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155145,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155151,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155151,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155182,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155185,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155194,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155195,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155283,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155289,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155300,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155311,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155475,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,database renderer missing; unresolved
+155516,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-23,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155523,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-23,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155523,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-23,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155524,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-23,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155525,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155529,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-23,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155531,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-23,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155531,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-23,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155534,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-23,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155536,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-23,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155537,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-23,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155537,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-23,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155542,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155544,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-23,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155544,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155545,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-23,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155546,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-23,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155546,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-23,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155547,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-23,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155547,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-23,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155549,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-23,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155550,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-23,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155551,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-23,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155553,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155556,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-23,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155556,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155559,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-23,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155559,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155560,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155561,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E16384,database renderer missing; unresolved
+155565,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-23,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155567,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-23,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155569,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-23,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155570,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-23,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155571,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-23,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155573,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-23,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155574,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-23,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155578,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-23,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155579,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-23,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155582,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-23,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155597,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-23,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155597,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155597,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+155597,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155601,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155603,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-23,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155605,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155606,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-23,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155607,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-23,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155608,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-23,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155608,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-23,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155612,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-23,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155613,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-23,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155613,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-23,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155618,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-23,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155618,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-23,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155619,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-23,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155621,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-23,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155623,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-23,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155623,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-23,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155624,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-23,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155624,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-23,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155625,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-23,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155626,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155626,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155627,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-23,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155627,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155633,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155641,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155642,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-23,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155642,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155643,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-23,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155649,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-23,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155650,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-23,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155652,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-23,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155653,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-23,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155653,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155658,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-23,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155659,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-23,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155660,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-23,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155661,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-23,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155662,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155663,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-23,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155668,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155673,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-23,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155684,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+155692,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155694,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+155697,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+155698,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+155701,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+155703,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-23,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+155703,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+155708,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_depth64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+155709,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_depth64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+155714,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-23,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155714,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155714,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+155714,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155722,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+155725,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155725,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+155731,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155732,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155736,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+155736,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+155742,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155767,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155859,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155868,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155878,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+155886,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156028,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-23,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156031,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-23,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156048,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+156053,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+156056,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156058,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-23,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+156058,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+156062,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156070,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+156071,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+156072,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+156072,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+156073,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_depth64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+156077,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_depth64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+156079,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-23,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+156079,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+156086,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156090,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+156105,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156107,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156113,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156120,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156126,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156177,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156180,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156184,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156185,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156188,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156209,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156673,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,database renderer missing; unresolved
+156733,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156736,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-24,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156737,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-24,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156740,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-24,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156740,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-24,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156742,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-24,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156744,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-24,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156745,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-24,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156745,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-24,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156746,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-24,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156746,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-24,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156747,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-24,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156748,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156750,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-24,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156750,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-24,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156751,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-24,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156751,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-24,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156752,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-24,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156753,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-24,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156753,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156754,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-24,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156755,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-24,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156757,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-24,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156759,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-24,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156759,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156760,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-24,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156761,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156762,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-24,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156763,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-24,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156764,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-24,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156765,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-24,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156766,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-24,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156767,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-24,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156768,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-24,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156768,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156769,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-24,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156771,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156774,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-24,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156776,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E16384,database renderer missing; unresolved
+156778,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-24,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156779,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-24,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156780,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-24,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156781,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156782,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-24,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156784,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156786,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-24,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156786,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-24,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156787,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-24,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156787,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-24,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156789,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-24,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156789,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-24,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156790,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-24,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156790,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-24,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156791,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-24,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156792,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-24,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156793,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-24,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156794,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-24,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156796,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-24,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156796,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156797,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-24,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156797,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-24,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156798,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-24,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156798,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156798,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+156798,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156800,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-24,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156801,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-24,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156802,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-24,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156803,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-24,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156803,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156804,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156806,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-24,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156807,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-24,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156809,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-24,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156809,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156814,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-24,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156816,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-24,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156817,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156817,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156819,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156820,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156822,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156824,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-24,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156830,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+156833,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+156835,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156836,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156837,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156840,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_4096,2026-08-24,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+156841,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-24,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+156841,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+156845,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156850,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_4096,2026-08-24,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+156852,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+156854,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156855,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156856,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156858,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+156858,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+156862,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-24,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+156862,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+156868,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156870,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-24,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156870,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156870,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+156870,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156871,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156874,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_depth64_4096,2026-08-24,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+156878,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156878,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+156879,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156922,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156928,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156931,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156935,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156950,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156964,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156967,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156969,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156971,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156986,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+156995,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157005,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157016,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157027,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157040,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157050,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157083,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157091,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157117,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157125,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157125,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157134,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157140,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157147,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157248,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157265,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157275,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157290,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157290,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157306,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157309,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157313,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157320,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157322,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157324,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157325,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157329,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157329,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157331,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157332,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157333,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157334,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157337,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157338,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157339,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157345,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157345,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157362,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157365,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157366,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157369,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157374,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157378,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157380,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157382,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157383,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157384,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157386,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157387,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157387,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157388,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157393,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157393,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157394,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157397,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157401,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157402,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157409,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157426,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157426,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+157506,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-24,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158027,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,database renderer missing; unresolved
+158062,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158065,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-24,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158066,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-24,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158067,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-24,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158070,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-24,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158071,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-24,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158071,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-24,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158072,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-24,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158072,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-24,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158073,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-24,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158073,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-24,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158076,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-24,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158078,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158080,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-24,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158080,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158081,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-24,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158082,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-24,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158082,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-24,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158084,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-24,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158085,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-24,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158086,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158087,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-24,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158088,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-24,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158088,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-24,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158089,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-24,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158090,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-24,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158091,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-24,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158091,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158092,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-24,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158093,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-24,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158094,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-24,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158094,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158095,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-24,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158097,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-24,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158098,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158099,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-24,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158101,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-24,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158104,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158106,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E16384,database renderer missing; unresolved
+158107,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-24,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158108,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-24,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158108,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-24,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158109,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-24,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158110,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-24,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158111,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-24,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158112,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158113,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-24,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158113,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-24,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158116,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-24,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158117,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-24,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158117,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-24,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158118,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-24,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158118,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-24,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158119,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-24,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158120,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-24,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158121,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-24,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158121,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158122,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-24,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158122,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158122,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158122,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158123,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-24,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158125,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-24,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158125,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-24,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158127,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158129,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-24,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158129,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158130,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158130,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158131,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-24,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158132,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-24,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158134,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-24,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158135,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-24,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158136,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-24,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158136,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158139,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158140,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-24,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158141,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158143,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-24,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158148,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158149,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-24,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158151,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+158160,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-24,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+158160,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+158161,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+158163,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+158164,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_4096,2026-08-24,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+158165,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_4096,2026-08-24,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+158168,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-24,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+158168,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+158169,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_4096,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+158172,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+158172,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+158176,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_depth64_4096,2026-08-24,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+158177,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_depth64_4096,2026-08-24,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+158182,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-24,Isaac-Cartpole-Camera,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+158182,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+158185,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_depth64_4096,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+158188,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_depth64_4096,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+158190,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_4096,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+165844,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165851,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165853,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165859,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165861,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165867,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165870,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+158194,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-24,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158194,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158194,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158199,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158199,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158235,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158236,benchmark_rsl_rl_Isaac-Ant_4096,2026-08-24,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158236,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-24,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158238,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-24,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158243,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_4096,2026-08-24,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158244,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-24,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158254,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158255,benchmark_rsl_rl_Isaac-Cartpole_4096,2026-08-24,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158255,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-24,Isaac-Cartpole-Camera,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158255,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-24,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158255,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158257,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+158265,benchmark_rsl_rl_Isaac-Humanoid_4096,2026-08-24,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158265,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-24,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158272,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-24,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158276,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-24,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158278,benchmark_rsl_rl_Isaac-Lift-Franka_4096,2026-08-24,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158281,benchmark_rsl_rl_Isaac-Reach-UR10_4096,2026-08-24,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158282,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_4096,2026-08-24,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158283,benchmark_rsl_rl_Isaac-Reach-Franka_4096,2026-08-24,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158283,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-24,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158286,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_4096,2026-08-24,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158287,benchmark_rsl_rl_Isaac-Reorient-Franka_4096,2026-08-24,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158288,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_4096,2026-08-24,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158289,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_4096,2026-08-24,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158290,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_4096,2026-08-24,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158291,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_4096,2026-08-24,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158291,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158292,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_4096,2026-08-24,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158292,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158293,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_4096,2026-08-24,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158294,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-24,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158295,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_4096,2026-08-24,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158295,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-24,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158298,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_4096,2026-08-24,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158299,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_4096,2026-08-24,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158300,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158306,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_4096,2026-08-24,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+158308,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-24,Isaac-Cartpole-Camera,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158308,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158310,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+158311,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158318,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+158323,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+158336,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158372,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+158379,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+158386,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+158390,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+158394,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+158708,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158709,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-24,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158711,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-24,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158711,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-24,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158712,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-24,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158712,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-24,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158714,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-24,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158715,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-24,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158715,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-24,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158719,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-24,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158720,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-24,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158723,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158724,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-24,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158724,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158726,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-24,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158726,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-24,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158727,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-24,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158729,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-24,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158732,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-24,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158733,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-24,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158733,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-24,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158734,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E16384,database renderer missing; unresolved
+158735,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-24,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158736,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158737,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-24,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158737,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158738,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-24,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158739,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-24,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158739,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158740,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158742,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-24,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158744,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-24,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158746,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-24,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158747,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-24,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158748,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-24,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158749,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-24,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158750,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-24,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158752,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-24,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158754,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-24,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158754,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158754,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158755,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-24,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158755,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-24,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158756,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158757,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-24,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158758,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-24,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+158760,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-24,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158761,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-24,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158761,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-24,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158762,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-24,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158762,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-24,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158764,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-24,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158765,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-24,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158767,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-24,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158768,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-24,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158769,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-24,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158770,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-24,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158770,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-24,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158771,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158772,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-24,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158772,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-24,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158773,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-24,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158773,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158774,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-24,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158774,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158775,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158776,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158776,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158777,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158778,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-24,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158779,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-24,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158780,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-24,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158781,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-24,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158783,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-24,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158784,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-24,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158785,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-24,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158785,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158787,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158788,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-24,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158789,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-24,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158792,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158793,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-24,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158795,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-24,Isaac-Ant-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158796,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-24,Isaac-Ant,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158796,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-24,Isaac-Ant-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158797,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158798,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-24,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158800,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158802,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-24,Isaac-Cartpole-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158803,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-24,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158803,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158803,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+158803,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158804,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-24,Isaac-Cartpole,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158804,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-24,Isaac-Cartpole-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158805,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-24,Isaac-Humanoid-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158806,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-24,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158807,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-24,Isaac-Humanoid,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158807,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-24,Isaac-Humanoid-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158809,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-24,Isaac-Lift-Franka,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158811,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-24,Isaac-Open-Drawer-Franka,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158811,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-24,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158812,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-24,Isaac-Reach-UR10,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158813,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-24,Isaac-Lift-KukaAllegro,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158813,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158814,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-24,Isaac-Reach-Franka-OSC,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158815,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-24,Isaac-Reach-Franka,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158815,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-24,Isaac-Reach-Franka-OSC,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158816,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158818,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158818,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158820,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158822,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-24,Isaac-Reorient-Cube-Allegro,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158822,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158826,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-24,Isaac-Velocity-Flat-H1,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158827,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-24,Isaac-Velocity-Rough-Cassie,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158828,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-24,Isaac-Velocity-Flat-AnymalD,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158829,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-24,Isaac-Shadow-Handover-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158830,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-24,Isaac-Velocity-Flat-Cassie,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158831,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-24,Isaac-Reorient-KukaAllegro,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158831,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158832,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-24,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158836,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-24,Isaac-Velocity-Rough-AnymalD,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158837,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-24,Isaac-Velocity-Flat-G1,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158839,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-24,Isaac-Reorient-Franka,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158840,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-24,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158849,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-24,Isaac-Reorient-Cube-Shadow,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158849,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158849,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+158849,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158856,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-24,Isaac-Cartpole-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158857,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158865,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-24,Isaac-Ant-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158868,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-24,Isaac-Ant,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158868,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-24,Isaac-Ant-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158869,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-24,Isaac-Reach-UR10,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158871,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-24,Isaac-Humanoid-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158873,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-24,Isaac-Cartpole,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158873,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-24,Isaac-Cartpole-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158876,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-24,Isaac-Reach-Franka-OSC,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158880,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158883,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-24,Isaac-Humanoid,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158883,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-24,Isaac-Humanoid-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158884,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158884,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158886,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-24,Isaac-Lift-Franka,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158887,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158888,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-24,Isaac-Reach-Franka,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158888,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-24,Isaac-Reach-Franka-OSC,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158892,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-24,Isaac-Open-Drawer-Franka,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158892,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-24,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158895,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158897,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158899,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-24,Isaac-Reorient-Franka,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158902,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-24,Isaac-Velocity-Flat-Cassie,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158903,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-24,Isaac-Velocity-Flat-AnymalD,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158904,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-24,Isaac-Lift-KukaAllegro,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158904,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158907,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-24,Isaac-Reorient-Cube-Allegro,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158907,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158915,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-24,Isaac-Velocity-Flat-H1,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158918,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-24,Isaac-Velocity-Rough-Cassie,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158919,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-24,Isaac-Velocity-Flat-G1,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158922,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-24,Isaac-Velocity-Rough-AnymalD,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158923,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-24,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158926,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-24,Isaac-Velocity-Rough-H1,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158936,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_16384,2026-08-24,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158939,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158946,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-24,Isaac-Reorient-KukaAllegro,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158946,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158948,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-24,Isaac-Shadow-Handover-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158952,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-24,Isaac-Cartpole-Camera,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+158952,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+158978,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-24,Isaac-Reorient-Cube-Shadow,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158978,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158978,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+158978,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158984,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+158985,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158985,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+158999,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-24,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159001,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159002,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-24,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159005,benchmark_rsl_rl_Isaac-Ant_4096,2026-08-24,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159005,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-24,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159008,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_4096,2026-08-24,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159012,benchmark_rsl_rl_Isaac-Cartpole_4096,2026-08-24,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159012,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-24,Isaac-Cartpole-Camera,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159012,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-24,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159012,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159015,benchmark_rsl_rl_Isaac-Humanoid_4096,2026-08-24,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159015,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-24,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159016,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159018,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-24,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159023,benchmark_rsl_rl_Isaac-Lift-Franka_4096,2026-08-24,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159027,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_4096,2026-08-24,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159027,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-24,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159028,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-24,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159030,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_4096,2026-08-24,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159030,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-24,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159033,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-24,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159034,benchmark_rsl_rl_Isaac-Reach-UR10_4096,2026-08-24,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159035,benchmark_rsl_rl_Isaac-Reach-Franka_4096,2026-08-24,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159035,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-24,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159037,benchmark_rsl_rl_Isaac-Reorient-Franka_4096,2026-08-24,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159038,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_4096,2026-08-24,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159039,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_4096,2026-08-24,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159040,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_4096,2026-08-24,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159042,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_4096,2026-08-24,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159044,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159045,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_4096,2026-08-24,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159045,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159046,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_4096,2026-08-24,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159047,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_4096,2026-08-24,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159051,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_4096,2026-08-24,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159052,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_4096,2026-08-24,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159053,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_4096,2026-08-24,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159058,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-24,Isaac-Cartpole-Camera,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159058,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159060,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159061,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159062,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_2048,2026-08-24,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,2048,2048,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159065,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159068,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159070,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159072,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159072,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159197,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-24,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159457,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-24,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+159460,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-24,Isaac-Ant-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159461,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-24,Isaac-Cartpole-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159463,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-24,Isaac-Ant,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159463,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-24,Isaac-Ant-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159465,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-24,Isaac-Cartpole,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159465,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-24,Isaac-Cartpole-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159466,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159468,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-24,Isaac-Humanoid-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159471,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-24,Isaac-Humanoid,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159471,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-24,Isaac-Humanoid-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159482,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-24,Isaac-Lift-Franka,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159484,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159486,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-24,Isaac-Reach-UR10,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159488,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-24,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159489,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-24,Isaac-Reach-Franka-OSC,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159492,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-24,Isaac-Open-Drawer-Franka,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159492,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-24,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159495,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159498,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159500,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-24,Isaac-Reorient-Cube-Allegro,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159500,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159502,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-24,Isaac-Lift-KukaAllegro,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159502,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-24,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159509,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-24,Isaac-Reach-Franka,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159509,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-24,Isaac-Reach-Franka-OSC,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159511,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-24,Isaac-Velocity-Flat-AnymalD,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159512,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-24,Isaac-Velocity-Flat-Cassie,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159513,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-24,Isaac-Velocity-Flat-H1,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159517,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-24,Isaac-Velocity-Flat-G1,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159520,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-24,Isaac-Reorient-Franka,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159522,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-24,Isaac-Reorient-KukaAllegro,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159522,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159525,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-24,Isaac-Reorient-Cube-Shadow,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159525,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159525,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159525,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159527,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-24,Isaac-Shadow-Handover-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159531,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-24,Isaac-Velocity-Rough-Cassie,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159532,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-24,Isaac-Velocity-Rough-AnymalD,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159534,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-24,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159540,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-24,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159547,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159552,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-24,Isaac-Cartpole-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159553,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-24,Isaac-Velocity-Rough-H1,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+159554,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-24,Isaac-Ant,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159554,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-24,Isaac-Ant-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159556,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-24,Isaac-Cartpole,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159556,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-24,Isaac-Cartpole-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159559,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159561,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159561,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159562,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-24,Isaac-Humanoid-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159563,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-24,Isaac-Ant-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159565,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-24,Isaac-Humanoid,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159565,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-24,Isaac-Humanoid-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159566,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159570,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-24,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159572,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-24,Isaac-Reach-UR10,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159574,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-24,Isaac-Open-Drawer-Franka,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159574,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-24,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159583,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-24,Isaac-Lift-Franka,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159584,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159587,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-24,Isaac-Lift-KukaAllegro,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159587,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-24,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159588,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159590,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-24,Isaac-Reorient-Cube-Allegro,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159590,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159591,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-24,Isaac-Reach-Franka,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159593,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-24,Isaac-Velocity-Flat-AnymalD,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159595,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-24,Isaac-Velocity-Flat-H1,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159597,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-24,Isaac-Reorient-Franka,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159599,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-24,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159602,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-24,Isaac-Velocity-Rough-Cassie,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159603,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-24,Isaac-Velocity-Rough-AnymalD,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159604,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-24,Isaac-Velocity-Flat-G1,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159607,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-24,Isaac-Velocity-Rough-H1,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159609,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-24,Isaac-Velocity-Flat-Cassie,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159617,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_16384,2026-08-24,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159621,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-24,Isaac-Reorient-KukaAllegro,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159621,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159623,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-24,Isaac-Shadow-Handover-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159624,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159633,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159635,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159636,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_2048,2026-08-24,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,2048,2048,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+159637,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159638,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-24,Isaac-Reorient-Cube-Shadow,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159638,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159638,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+159638,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159639,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159639,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159641,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159644,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159646,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159651,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159653,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159654,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159654,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-24,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+159659,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159664,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159683,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159691,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159699,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159714,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159717,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159719,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159727,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-24,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+159984,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-24,Isaac-Velocity-Rough-H1,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160011,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-24,Isaac-Cartpole-Camera,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+160011,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-24,Isaac-Cartpole-Camera-Direct,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+160053,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160061,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160062,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+160066,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_4096,2026-08-25,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160070,benchmark_rsl_rl_Isaac-Ant_4096,2026-08-25,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160070,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-25,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160071,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-25,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160076,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-25,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160077,benchmark_rsl_rl_Isaac-Cartpole_4096,2026-08-25,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160077,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-25,Isaac-Cartpole-Camera,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160077,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-25,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160077,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160078,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-25,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160080,benchmark_rsl_rl_Isaac-Humanoid_4096,2026-08-25,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160080,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-25,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160083,benchmark_rsl_rl_Isaac-Lift-Franka_4096,2026-08-25,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160086,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_4096,2026-08-25,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160086,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160087,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-25,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160091,benchmark_rsl_rl_Isaac-Reach-UR10_4096,2026-08-25,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160092,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_4096,2026-08-25,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160092,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-25,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160095,benchmark_rsl_rl_Isaac-Reach-Franka_4096,2026-08-25,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160095,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-25,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160097,benchmark_rsl_rl_Isaac-Reorient-Franka_4096,2026-08-25,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160099,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-25,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160100,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_4096,2026-08-25,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160103,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_4096,2026-08-25,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160103,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160105,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_4096,2026-08-25,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160107,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_2048,2026-08-25,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,2048,2048,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160109,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_4096,2026-08-25,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160114,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_4096,2026-08-25,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160116,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160118,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_4096,2026-08-25,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160119,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_4096,2026-08-25,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160120,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_4096,2026-08-25,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160122,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_4096,2026-08-25,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160125,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160127,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-25,Isaac-Cartpole-Camera,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160127,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160128,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_4096,2026-08-25,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160129,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+160130,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+160132,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+160136,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+160139,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160139,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160150,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+160157,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+160158,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+160161,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+160167,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+160223,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+160230,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+160241,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+160297,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-25,Isaac-Cartpole-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160305,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-25,Isaac-Cartpole,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160305,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-25,Isaac-Cartpole-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160309,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160310,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-25,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160319,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-25,Isaac-Ant,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160319,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-25,Isaac-Ant-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160320,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-25,Isaac-Lift-Franka,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160322,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-25,Isaac-Humanoid-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160324,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-25,Isaac-Ant-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160326,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-25,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160327,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-25,Isaac-Humanoid,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160327,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-25,Isaac-Humanoid-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160331,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-25,Isaac-Open-Drawer-Franka,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160331,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-25,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160333,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-25,Isaac-Reach-Franka-OSC,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160334,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-25,Isaac-Reach-Franka,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160334,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-25,Isaac-Reach-Franka-OSC,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160341,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-25,Isaac-Reach-UR10,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160345,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-25,Isaac-Reorient-Franka,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160346,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160347,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-25,Isaac-Velocity-Flat-Cassie,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160348,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-25,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160349,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-25,Isaac-Velocity-Flat-AnymalD,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160350,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-25,Isaac-Reorient-Cube-Allegro,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160350,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-25,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160352,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-25,Isaac-Velocity-Flat-G1,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160354,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-25,Isaac-Velocity-Flat-H1,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160355,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-25,Isaac-Velocity-Rough-Cassie,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160356,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-25,Isaac-Velocity-Rough-AnymalD,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160357,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-25,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160364,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-25,Isaac-Velocity-Rough-H1,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160367,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-25,Isaac-Reorient-KukaAllegro,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160367,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160372,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-25,Isaac-Shadow-Handover-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160373,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-25,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160379,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-25,Isaac-Ant-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160381,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160382,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-25,Isaac-Reorient-Cube-Shadow,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160382,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160382,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets
+160382,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160383,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-25,Isaac-Ant,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160383,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-25,Isaac-Ant-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160386,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-25,Isaac-Cartpole-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160388,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-25,Isaac-Cartpole,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160388,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-25,Isaac-Cartpole-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160392,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-25,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160393,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160393,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160395,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160397,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-25,Isaac-Lift-Franka,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160399,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-25,Isaac-Humanoid-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160406,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-25,Isaac-Reach-UR10,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160407,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-25,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160409,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-25,Isaac-Humanoid,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160409,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-25,Isaac-Humanoid-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160415,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160416,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-25,Isaac-Reorient-Franka,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160418,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-25,Isaac-Reach-Franka,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160419,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-25,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160423,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-25,Isaac-Reorient-Cube-Allegro,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160423,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-25,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160426,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-25,Isaac-Velocity-Flat-Cassie,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160428,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-25,Isaac-Velocity-Flat-AnymalD,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160430,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-25,Isaac-Lift-KukaAllegro,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160430,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-25,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160431,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-25,Isaac-Open-Drawer-Franka,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160431,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-25,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160433,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-25,Isaac-Velocity-Flat-H1,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160438,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-25,Isaac-Velocity-Flat-G1,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160439,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-25,Isaac-Velocity-Rough-AnymalD,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160440,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-25,Isaac-Velocity-Rough-Cassie,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160441,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-25,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160447,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-25,Isaac-Velocity-Rough-H1,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160453,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_16384,2026-08-25,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160455,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-25,Isaac-Reorient-KukaAllegro,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160455,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160461,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160462,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-25,Isaac-Shadow-Handover-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160477,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-25,Isaac-Cartpole-Camera,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+160477,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-25,Isaac-Cartpole-Camera-Direct,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+160482,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-25,Isaac-Reorient-Cube-Shadow,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160482,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160482,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets
+160482,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160491,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160491,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160508,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+160522,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160524,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_4096,2026-08-25,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160527,benchmark_rsl_rl_Isaac-Ant_4096,2026-08-25,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160527,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-25,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160529,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160532,benchmark_rsl_rl_Isaac-Humanoid_4096,2026-08-25,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160532,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-25,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160533,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-25,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160534,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-25,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160535,benchmark_rsl_rl_Isaac-Cartpole_4096,2026-08-25,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160535,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-25,Isaac-Cartpole-Camera,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160535,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-25,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160535,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160536,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-25,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160549,benchmark_rsl_rl_Isaac-Lift-Franka_4096,2026-08-25,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160552,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_4096,2026-08-25,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160552,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160555,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_4096,2026-08-25,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160555,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-25,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160556,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-25,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160557,benchmark_rsl_rl_Isaac-Reach-Franka_4096,2026-08-25,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160557,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-25,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160558,benchmark_rsl_rl_Isaac-Reach-UR10_4096,2026-08-25,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160559,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-25,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160561,benchmark_rsl_rl_Isaac-Reorient-Franka_4096,2026-08-25,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160562,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_4096,2026-08-25,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160563,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_4096,2026-08-25,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160564,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_4096,2026-08-25,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160566,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_4096,2026-08-25,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160567,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_2048,2026-08-25,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,2048,2048,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160568,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_4096,2026-08-25,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160569,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_4096,2026-08-25,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160570,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_4096,2026-08-25,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+160570,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+160635,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160636,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160637,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160645,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160645,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160655,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160670,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160677,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160696,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160730,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160748,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160780,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160785,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160790,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160803,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160803,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160852,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160853,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160857,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160859,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160867,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160870,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160873,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160876,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160878,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160878,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160883,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160886,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160887,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160891,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160892,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160893,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160908,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160908,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160933,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160938,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-25,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160944,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160952,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160957,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-25,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160960,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160963,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160964,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160965,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160968,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160969,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160972,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160972,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160973,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160986,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160990,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160990,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160991,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160995,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-25,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+160998,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+161011,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+161011,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+161078,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+161097,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-25,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161686,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,database renderer missing; unresolved
+161743,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-25,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161747,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-25,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161747,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-25,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161750,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-25,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161752,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161753,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-25,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161753,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-25,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161754,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-25,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161755,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-25,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161755,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-25,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161757,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161759,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-25,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161760,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-25,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161761,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-25,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161762,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-25,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161762,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161765,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-25,Isaac-Open-Drawer-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161765,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-25,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161766,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-25,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161768,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-25,Isaac-Reach-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161768,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-25,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161769,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-25,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161771,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-25,Isaac-Lift-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161775,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-25,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161777,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E16384,database renderer missing; unresolved
+161779,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161782,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-25,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161782,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-25,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161783,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-25,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161784,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-25,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161786,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-25,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161786,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161789,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-25,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161790,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-25,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161792,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-25,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161792,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161792,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161794,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-25,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161795,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-25,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161796,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-25,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161800,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-25,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161803,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161807,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-25,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+161810,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-25,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161810,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-25,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161811,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-25,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161813,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-25,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161814,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161817,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-25,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161819,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-25,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161819,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-25,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161822,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-25,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161822,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-25,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161824,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-25,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161826,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-25,Isaac-Lift-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161830,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161830,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161834,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-25,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161835,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-25,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161835,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161836,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-25,Isaac-Reach-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161836,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-25,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161837,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-25,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161838,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-25,Isaac-Open-Drawer-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161838,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-25,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161843,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161844,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-25,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161844,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-25,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161845,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-25,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161849,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161852,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-25,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161853,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-25,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161853,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161856,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-25,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161860,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-25,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161861,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-25,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161862,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-25,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161863,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-25,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161865,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-25,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161870,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-25,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161876,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-25,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161876,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161876,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161876,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161905,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-25,Isaac-Cartpole-Camera,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+161905,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-25,Isaac-Cartpole-Camera-Direct,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+161920,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+161944,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161945,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_4096,2026-08-25,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161952,benchmark_rsl_rl_Isaac-Cartpole_4096,2026-08-25,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161952,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-25,Isaac-Cartpole-Camera,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161952,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-25,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161952,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161954,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-25,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161956,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-25,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161957,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-25,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161963,benchmark_rsl_rl_Isaac-Ant_4096,2026-08-25,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161963,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-25,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161968,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_4096,2026-08-25,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161968,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+161969,benchmark_rsl_rl_Isaac-Lift-Franka_4096,2026-08-25,Isaac-Lift-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161972,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-25,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161973,benchmark_rsl_rl_Isaac-Reach-Franka_4096,2026-08-25,Isaac-Reach-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161973,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-25,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161974,benchmark_rsl_rl_Isaac-Humanoid_4096,2026-08-25,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161974,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-25,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161979,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-25,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+161985,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-25,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161987,benchmark_rsl_rl_Isaac-Reach-UR10_4096,2026-08-25,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+161995,benchmark_rsl_rl_Isaac-Reorient-Franka_4096,2026-08-25,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162006,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_4096,2026-08-25,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162006,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162011,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_2048,2026-08-25,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,2048,2048,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162026,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_4096,2026-08-25,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162040,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_4096,2026-08-25,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162048,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_4096,2026-08-25,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162051,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_4096,2026-08-25,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162061,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162063,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_4096,2026-08-25,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162066,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_4096,2026-08-25,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162067,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-25,Isaac-Cartpole-Camera,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162067,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162069,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_4096,2026-08-25,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162074,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_4096,2026-08-25,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162076,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162083,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,successful WARM task preset,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162083,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162085,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162088,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162089,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162094,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162114,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162118,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162123,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162125,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162126,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162126,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162127,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162132,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162140,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162142,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162152,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162152,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162182,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162183,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162184,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162185,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162187,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162190,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162192,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162201,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162204,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162207,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162209,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162216,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-25,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162217,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162219,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-25,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162226,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_4096,2026-08-25,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162289,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-25,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162335,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162340,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162345,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162351,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162354,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-25,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+162487,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_4096,2026-08-26,Isaac-Open-Drawer-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162487,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-26,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162506,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E16384,database renderer missing; unresolved
+162520,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-26,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162523,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162525,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162530,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-26,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162530,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-26,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162535,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-26,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162535,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-26,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162536,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-26,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162538,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-26,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162538,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-26,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162539,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-26,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162540,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-26,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162541,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-26,Isaac-Lift-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162544,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-26,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162547,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-26,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162548,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-26,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162552,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-26,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162552,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162554,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-26,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162554,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162555,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-26,Isaac-Reach-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162555,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-26,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162558,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-26,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162559,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-26,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162560,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162564,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162565,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-26,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162566,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-26,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162569,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-26,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162570,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-26,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162573,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-26,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162575,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-26,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162576,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-26,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162576,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162582,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-26,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162582,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162582,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162582,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162583,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-26,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162585,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-26,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162588,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-26,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162591,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-26,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+162596,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162600,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162601,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-26,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162601,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-26,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162602,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-26,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162603,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-26,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162603,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-26,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162605,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-26,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162606,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-26,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162606,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-26,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162609,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162609,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162611,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-26,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162615,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-26,Isaac-Lift-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162617,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162619,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-26,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162620,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-26,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162621,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-26,Isaac-Open-Drawer-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162621,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-26,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162622,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-26,Isaac-Reach-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162622,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-26,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162623,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-26,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162625,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162627,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-26,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162627,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162629,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-26,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162630,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-26,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162630,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162633,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162634,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-26,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162637,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-26,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162637,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162638,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-26,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162640,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-26,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162642,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-26,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162643,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-26,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162644,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-26,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162656,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-26,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162657,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162663,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-26,Isaac-Ant,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162663,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-26,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162664,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-26,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162665,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-26,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162666,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-26,Isaac-Velocity-Rough-G1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162669,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-26,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162670,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-26,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162671,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-26,Isaac-Cartpole,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162671,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-26,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162674,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-26,Isaac-Humanoid,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162674,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-26,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162681,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-26,Isaac-Open-Drawer-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162681,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-26,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162682,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-26,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162685,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162687,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-26,Isaac-Reach-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162687,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-26,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162691,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162692,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162694,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162695,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-26,Isaac-Lift-KukaAllegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162695,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162696,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-26,Isaac-Lift-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162697,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-26,Isaac-Reorient-Cube-Allegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162697,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162699,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-26,Isaac-Reorient-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162700,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-26,Isaac-Reach-UR10,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162702,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-26,Isaac-Velocity-Flat-AnymalD,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162703,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162703,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162705,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-26,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162705,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162705,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+162705,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162707,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-26,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162708,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-26,Isaac-Velocity-Flat-Cassie,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162709,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-26,Isaac-Reorient-KukaAllegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162709,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162710,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-26,Isaac-Shadow-Handover-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162712,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-26,Isaac-Velocity-Flat-G1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162714,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-26,Isaac-Velocity-Rough-H1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162715,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-26,Isaac-Velocity-Flat-H1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162716,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-26,Isaac-Velocity-Rough-AnymalD,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162717,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-26,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162718,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-26,Isaac-Velocity-Rough-Cassie,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162722,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-26,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162726,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162729,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-26,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162730,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-26,Isaac-Reorient-Cube-Shadow,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162730,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162730,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+162730,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162731,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-26,Isaac-Ant,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162731,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-26,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162732,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-26,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162733,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-26,Isaac-Velocity-Rough-G1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162734,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-26,Isaac-Cartpole,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162734,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-26,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162735,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162738,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162739,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162739,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162743,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-26,Isaac-Lift-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162745,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-26,Isaac-Humanoid,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162745,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-26,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162749,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-26,Isaac-Open-Drawer-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162749,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-26,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162752,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-26,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162753,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-26,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162754,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-26,Isaac-Reach-UR10,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162755,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-26,Isaac-Reach-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162755,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-26,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162757,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162758,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-26,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162759,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-26,Isaac-Reorient-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162761,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-26,Isaac-Lift-KukaAllegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162761,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162763,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-26,Isaac-Velocity-Flat-Cassie,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162764,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162765,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-26,Isaac-Velocity-Flat-G1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162767,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-26,Isaac-Velocity-Flat-H1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162768,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-26,Isaac-Velocity-Rough-Cassie,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162774,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-26,Isaac-Reorient-Cube-Allegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162774,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162775,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-26,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162776,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-26,Isaac-Velocity-Rough-AnymalD,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162779,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-26,Isaac-Velocity-Flat-AnymalD,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162781,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-26,Isaac-Velocity-Rough-H1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162786,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-26,Isaac-Reorient-KukaAllegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162786,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162787,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_16384,2026-08-26,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162791,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-26,Isaac-Shadow-Handover-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162795,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162798,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-26,Isaac-Reorient-Cube-Shadow,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162798,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162798,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+162798,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162815,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162815,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162823,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-26,Isaac-Cartpole-Camera,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+162823,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-26,Isaac-Cartpole-Camera-Direct,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+162859,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+162886,benchmark_rsl_rl_Isaac-Ant_4096,2026-08-26,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162886,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-26,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162889,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162890,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-26,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162891,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_4096,2026-08-26,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162893,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-26,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162897,benchmark_rsl_rl_Isaac-Humanoid_4096,2026-08-26,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162897,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-26,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162899,benchmark_rsl_rl_Isaac-Cartpole_4096,2026-08-26,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162899,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-26,Isaac-Cartpole-Camera,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162899,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-26,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162899,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162903,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162904,benchmark_rsl_rl_Isaac-Lift-Franka_4096,2026-08-26,Isaac-Lift-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162907,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-26,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162910,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_4096,2026-08-26,Isaac-Open-Drawer-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162910,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-26,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162911,benchmark_rsl_rl_Isaac-Reach-Franka_4096,2026-08-26,Isaac-Reach-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162911,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-26,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162912,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_4096,2026-08-26,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162912,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162913,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-26,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162914,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-26,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162917,benchmark_rsl_rl_Isaac-Reach-UR10_4096,2026-08-26,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162921,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_4096,2026-08-26,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162921,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162924,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_4096,2026-08-26,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162925,benchmark_rsl_rl_Isaac-Reorient-Franka_4096,2026-08-26,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162926,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_2048,2026-08-26,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,2048,2048,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162929,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_4096,2026-08-26,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162931,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_4096,2026-08-26,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162935,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_4096,2026-08-26,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162937,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_4096,2026-08-26,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162938,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_4096,2026-08-26,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162939,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_4096,2026-08-26,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162940,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_4096,2026-08-26,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162943,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_4096,2026-08-26,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+162950,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-26,Isaac-Cartpole-Camera,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162950,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162951,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162956,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162957,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,successful WARM task preset,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+162959,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+162962,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+162968,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+162969,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+162977,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+162983,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+162987,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+162994,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+163000,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+163085,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163134,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163139,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163249,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-26,Isaac-Ant,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163249,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-26,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163250,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-26,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163251,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-26,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163253,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163254,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-26,Isaac-Velocity-Rough-G1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163255,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163258,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-26,Isaac-Cartpole,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163258,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-26,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163260,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-26,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163261,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-26,Isaac-Lift-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163263,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-26,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163265,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-26,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163267,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-26,Isaac-Open-Drawer-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163267,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-26,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163269,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-26,Isaac-Humanoid,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163269,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-26,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163271,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-26,Isaac-Reach-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163271,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-26,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163272,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-26,Isaac-Reach-UR10,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163274,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-26,Isaac-Lift-KukaAllegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163274,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163278,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163279,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-26,Isaac-Reorient-Cube-Allegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163279,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163280,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-26,Isaac-Reorient-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163281,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163285,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-26,Isaac-Velocity-Flat-H1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163286,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-26,Isaac-Velocity-Flat-Cassie,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163287,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-26,Isaac-Velocity-Flat-AnymalD,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163291,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-26,Isaac-Velocity-Flat-G1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163292,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-26,Isaac-Velocity-Rough-Cassie,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163293,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-26,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163296,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-26,Isaac-Velocity-Rough-AnymalD,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163301,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-26,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163305,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-26,Isaac-Shadow-Handover-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163306,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-26,Isaac-Reorient-KukaAllegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163306,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163310,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163311,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-26,Isaac-Velocity-Rough-H1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163316,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-26,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163317,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-26,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163318,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-26,Isaac-Reorient-Cube-Shadow,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163318,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163318,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+163318,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163319,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-26,Isaac-Ant,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163319,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-26,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163320,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-26,Isaac-Cartpole,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163320,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-26,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163322,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-26,Isaac-Velocity-Rough-G1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163323,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163323,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163324,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-26,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163325,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-26,Isaac-Reach-UR10,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163327,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163328,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-26,Isaac-Lift-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163333,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-26,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163334,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163335,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-26,Isaac-Humanoid,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163335,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-26,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163337,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-26,Isaac-Open-Drawer-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163337,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-26,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163338,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-26,Isaac-Reach-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163340,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163343,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163347,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-26,Isaac-Velocity-Flat-AnymalD,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163354,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-26,Isaac-Reorient-Cube-Allegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163354,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163357,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-26,Isaac-Velocity-Flat-H1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163358,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-26,Isaac-Velocity-Rough-Cassie,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163359,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-26,Isaac-Velocity-Flat-Cassie,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163360,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-26,Isaac-Lift-KukaAllegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163360,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163361,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-26,Isaac-Reorient-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163364,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-26,Isaac-Velocity-Flat-G1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163365,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-26,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163366,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-26,Isaac-Velocity-Rough-AnymalD,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163367,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-26,Isaac-Velocity-Rough-H1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163372,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_16384,2026-08-26,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163384,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-26,Isaac-Reorient-KukaAllegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163384,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163394,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-26,Isaac-Shadow-Handover-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163400,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163416,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-26,Isaac-Reorient-Cube-Shadow,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163416,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163416,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+163416,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163420,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-26,Isaac-Cartpole-Camera,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+163420,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-26,Isaac-Cartpole-Camera-Direct,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+163431,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163431,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163456,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+163471,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163474,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-26,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163476,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_4096,2026-08-26,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163482,benchmark_rsl_rl_Isaac-Ant_4096,2026-08-26,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163482,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-26,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163486,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-26,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163487,benchmark_rsl_rl_Isaac-Cartpole_4096,2026-08-26,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163487,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-26,Isaac-Cartpole-Camera,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163487,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-26,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163487,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163488,benchmark_rsl_rl_Isaac-Lift-Franka_4096,2026-08-26,Isaac-Lift-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163493,benchmark_rsl_rl_Isaac-Humanoid_4096,2026-08-26,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163493,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-26,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163498,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-26,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163499,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_4096,2026-08-26,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163499,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163500,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-26,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163501,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_4096,2026-08-26,Isaac-Open-Drawer-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163501,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-26,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163502,benchmark_rsl_rl_Isaac-Reach-UR10_4096,2026-08-26,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163504,benchmark_rsl_rl_Isaac-Reach-Franka_4096,2026-08-26,Isaac-Reach-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163504,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-26,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163506,benchmark_rsl_rl_Isaac-Reorient-Franka_4096,2026-08-26,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163509,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-26,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163511,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_4096,2026-08-26,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163511,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163512,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_4096,2026-08-26,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163517,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_4096,2026-08-26,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163518,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_4096,2026-08-26,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163519,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_4096,2026-08-26,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163521,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_4096,2026-08-26,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163523,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_4096,2026-08-26,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163526,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_4096,2026-08-26,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163528,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_4096,2026-08-26,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163532,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163533,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-26,Isaac-Cartpole-Camera,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163533,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163535,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_4096,2026-08-26,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+163536,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163543,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163546,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163547,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163548,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163550,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163551,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163562,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,successful WARM task preset,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163562,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+163565,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163570,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163573,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163573,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163574,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163577,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163579,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163587,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163590,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163590,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163628,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163629,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163633,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163640,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163647,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163651,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163670,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163674,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163676,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163679,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163680,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163682,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163688,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163779,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163785,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163787,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163790,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163801,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163809,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163809,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163811,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163834,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+163847,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164001,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164004,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164014,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164032,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164032,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164046,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164047,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164048,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164052,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164055,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164057,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164060,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164061,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164064,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164072,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164075,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164083,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164084,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164086,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164087,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164089,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164089,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164127,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164130,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164131,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164133,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164137,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164141,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164142,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164143,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164144,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164145,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164147,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164148,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164150,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164150,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164152,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164152,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164162,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164163,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-26,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164165,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164168,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164170,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164174,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164174,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+164267,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-26,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+164966,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,database renderer missing; unresolved
+165049,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165051,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-26,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165057,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-26,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165057,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-26,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165060,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-26,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165064,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-26,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165070,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-26,Isaac-Lift-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165071,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165072,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-26,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165072,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-26,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165074,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-26,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165074,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-26,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165075,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-26,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165080,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-26,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165080,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165084,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-26,Isaac-Open-Drawer-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165084,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-26,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165085,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-26,Isaac-Reach-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165085,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-26,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165086,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-26,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165088,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-26,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165089,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-26,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165090,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-26,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165092,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E16384,database renderer missing; unresolved
+165093,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-26,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165096,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165098,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-26,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165098,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165099,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-26,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165101,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-26,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165101,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165104,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-26,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165105,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165106,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-26,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165107,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-26,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165109,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-26,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165110,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-26,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165112,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-26,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165118,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-26,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165119,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-26,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165120,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-26,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165121,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165122,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165124,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-26,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165124,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-26,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165125,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-26,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165125,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-26,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165126,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-26,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165126,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-26,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165127,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-26,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165131,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-26,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165133,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-26,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165133,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165133,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165133,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165134,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-26,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165134,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+172485,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-28,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172485,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-28,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172489,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-28,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172489,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-28,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172486,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-28,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172491,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-28,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172492,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-28,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172506,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-28,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172513,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-28,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172515,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-28,Isaac-Open-Drawer-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172515,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-28,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172527,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-28,Isaac-Reach-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172527,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-28,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172488,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-28,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172494,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-28,Isaac-Lift-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172541,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-28,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172549,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-28,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172551,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-28,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172560,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-28,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172568,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-28,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172568,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-28,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172578,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-28,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172590,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-28,Isaac-Reach-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172590,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-28,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172535,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-28,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172539,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-28,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172543,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172552,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172557,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-28,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172561,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-28,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172564,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-28,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172579,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-28,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172579,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-28,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172592,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-28,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172496,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-28,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172496,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-28,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172533,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-28,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172544,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-28,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172565,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-28,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172584,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-28,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172545,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-28,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172554,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-28,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172585,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-28,Isaac-Open-Drawer-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172585,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-28,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172595,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-28,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172595,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-28,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172546,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-28,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172546,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172555,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+172576,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-28,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172602,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-28,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172603,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-28,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172605,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-28,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172607,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-28,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172607,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172612,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-28,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172613,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172616,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-28,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172616,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172624,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-28,Isaac-Velocity-Rough-G1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172639,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-28,Isaac-Reach-UR10,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172648,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-28,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172587,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-28,Isaac-Lift-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172608,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-28,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172614,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-28,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172617,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-28,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172640,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-28,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172598,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-28,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172651,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-28,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172679,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-28,Isaac-Reorient-KukaAllegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172681,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-28,Isaac-Velocity-Flat-H1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172684,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-28,Isaac-Velocity-Flat-G1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172688,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-28,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172697,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-28,Isaac-Shadow-Handover-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172732,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-28,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172743,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-28,Isaac-Humanoid,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172743,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-28,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172745,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-28,Isaac-Open-Drawer-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172745,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-28,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172619,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-28,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172627,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-28,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172642,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-28,Isaac-Lift-KukaAllegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172700,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-28,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172737,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-28,Isaac-Cartpole,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172737,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-28,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172746,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-28,Isaac-Reach-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172600,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172628,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-28,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172653,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172666,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-28,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172690,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-28,Isaac-Velocity-Rough-AnymalD,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172693,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-28,Isaac-Velocity-Rough-Cassie,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172753,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172764,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-28,Isaac-Velocity-Flat-AnymalD,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172765,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-28,Isaac-Reorient-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172601,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-28,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+172629,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-28,Isaac-Cartpole,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172629,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-28,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172654,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-28,Isaac-Reach-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172654,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-28,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172661,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-28,Isaac-Reorient-Cube-Allegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172661,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172702,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-28,Isaac-Velocity-Rough-H1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172735,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-28,Isaac-Lift-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172739,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-28,Isaac-Lift-KukaAllegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172763,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-28,Isaac-Velocity-Flat-Cassie,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172630,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-28,Isaac-Ant,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172630,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-28,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172645,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-28,Isaac-Open-Drawer-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172645,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-28,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172655,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172667,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-28,Isaac-Velocity-Flat-Cassie,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172703,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-28,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172768,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-28,Isaac-Reorient-Cube-Allegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172768,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172634,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-28,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172771,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-28,Isaac-Reorient-Cube-Shadow,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172771,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172672,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-28,Isaac-Reorient-Cube-Shadow,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172672,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172781,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-28,Isaac-Velocity-Rough-H1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172782,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172817,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-28,Isaac-Shadow-Handover-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172875,benchmark_rsl_rl_Isaac-Humanoid_4096,2026-08-28,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172875,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-28,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172886,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_4096,2026-08-28,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172889,benchmark_rsl_rl_Isaac-Reach-Franka_4096,2026-08-28,Isaac-Reach-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172889,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-28,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172894,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_4096,2026-08-28,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172904,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_4096,2026-08-28,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172906,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_4096,2026-08-28,Isaac-Open-Drawer-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172906,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-28,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172910,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_4096,2026-08-28,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172636,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-28,Isaac-Humanoid,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172636,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-28,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172665,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-28,Isaac-Reorient-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172773,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-28,Isaac-Velocity-Flat-H1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172899,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_2048,2026-08-28,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,2048,2048,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172877,benchmark_rsl_rl_Isaac-Reach-UR10_4096,2026-08-28,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172891,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_4096,2026-08-28,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172900,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_4096,2026-08-28,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172922,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172638,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-28,Isaac-Lift-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172785,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-28,Isaac-Velocity-Flat-G1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172823,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_16384,2026-08-28,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172878,benchmark_rsl_rl_Isaac-Ant_4096,2026-08-28,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172878,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-28,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172901,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_4096,2026-08-28,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172902,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_4096,2026-08-28,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172914,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_4096,2026-08-28,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172713,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-28,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172777,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-28,Isaac-Velocity-Rough-Cassie,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172880,benchmark_rsl_rl_Isaac-Reorient-Franka_4096,2026-08-28,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172915,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_4096,2026-08-28,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172881,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_4096,2026-08-28,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172926,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172981,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172983,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172986,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,Isaac-Cartpole-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172986,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172989,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172992,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172996,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172677,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-28,Isaac-Velocity-Flat-AnymalD,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172779,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-28,Isaac-Velocity-Rough-AnymalD,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172882,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_4096,2026-08-28,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172927,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172974,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172997,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172999,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172780,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-28,Isaac-Reorient-KukaAllegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172883,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-28,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172918,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,Isaac-Cartpole-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172918,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172928,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+173004,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172919,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+173001,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,Isaac-Cartpole-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+173001,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+173003,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172885,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-28,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172719,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-28,Isaac-Velocity-Rough-G1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172860,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-28,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172921,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+172931,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+173052,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+172721,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-28,Isaac-Ant,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172721,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-28,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173067,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173072,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+172863,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-28,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173070,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+172864,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-28,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172865,benchmark_rsl_rl_Isaac-Cartpole_4096,2026-08-28,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172865,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-28,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173112,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-28,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+173124,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-28,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+173124,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+173104,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-28,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+173127,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-28,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+173138,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-28,Isaac-Reach-UR10,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173149,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173150,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-28,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173151,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-28,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173163,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-28,Isaac-Velocity-Flat-Cassie,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173169,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-28,Isaac-Velocity-Flat-H1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173170,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-28,Isaac-Velocity-Flat-G1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173171,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-28,Isaac-Reorient-Cube-Shadow,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173171,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+172727,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-28,Isaac-Reach-UR10,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173139,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-28,Isaac-Reach-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173139,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-28,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173159,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-28,Isaac-Reorient-KukaAllegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173173,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-28,Isaac-Velocity-Rough-Cassie,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173207,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173210,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-28,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172728,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-28,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+172869,benchmark_rsl_rl_Isaac-Lift-Franka_4096,2026-08-28,Isaac-Lift-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173165,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-28,Isaac-Velocity-Flat-AnymalD,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173154,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173214,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-28,Isaac-Lift-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173220,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-28,Isaac-Reach-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173230,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173241,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-28,Isaac-Reorient-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173242,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-28,Isaac-Velocity-Flat-Cassie,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173155,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-28,Isaac-Reorient-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173176,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-28,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173213,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-28,Isaac-Reach-UR10,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173216,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-28,Isaac-Lift-KukaAllegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173252,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-28,Isaac-Reorient-Cube-Allegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173252,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173143,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-28,Isaac-Open-Drawer-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173143,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-28,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173156,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-28,Isaac-Reorient-Cube-Allegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173156,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173177,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-28,Isaac-Velocity-Rough-AnymalD,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173224,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-28,Isaac-Open-Drawer-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173224,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-28,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173157,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173178,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-28,Isaac-Shadow-Handover-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173245,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-28,Isaac-Reorient-Cube-Shadow,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173245,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173254,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-28,Isaac-Velocity-Flat-H1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173261,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-28,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173270,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-28,Isaac-Velocity-Rough-H1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173273,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_16384,2026-08-28,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173284,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-28,Isaac-Velocity-Rough-Cassie,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173179,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-28,Isaac-Velocity-Rough-H1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173219,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-28,Isaac-Humanoid,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173219,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-28,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173226,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-28,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173246,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-28,Isaac-Reorient-KukaAllegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173257,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173146,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-28,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+173258,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-28,Isaac-Velocity-Flat-G1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173272,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-28,Isaac-Shadow-Handover-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173353,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-28,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+172809,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-28,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173189,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-28,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173365,benchmark_rsl_rl_Isaac-Reorient-Franka_4096,2026-08-28,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173392,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_2048,2026-08-28,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,2048,2048,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173456,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173460,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173148,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-28,Isaac-Lift-KukaAllegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+173249,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-28,Isaac-Velocity-Flat-AnymalD,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173331,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-28,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173366,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-28,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173191,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-28,Isaac-Ant,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173191,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-28,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173266,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-28,Isaac-Velocity-Rough-AnymalD,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173332,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_4096,2026-08-28,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173357,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_4096,2026-08-28,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173420,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173333,benchmark_rsl_rl_Isaac-Ant_4096,2026-08-28,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173333,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-28,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173428,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173449,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173469,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173334,benchmark_rsl_rl_Isaac-Cartpole_4096,2026-08-28,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173334,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-28,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173369,benchmark_rsl_rl_Isaac-Reach-Franka_4096,2026-08-28,Isaac-Reach-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173369,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-28,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173429,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173521,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173194,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-28,Isaac-Velocity-Rough-G1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173370,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_4096,2026-08-28,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173522,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173361,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_4096,2026-08-28,Isaac-Open-Drawer-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173361,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-28,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173398,benchmark_rsl_rl_Isaac-Reach-UR10_4096,2026-08-28,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173452,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173452,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173372,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_4096,2026-08-28,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173399,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_4096,2026-08-28,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173453,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173338,benchmark_rsl_rl_Isaac-Humanoid_4096,2026-08-28,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173338,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-28,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173373,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-28,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173433,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173198,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-28,Isaac-Cartpole,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173198,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-28,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173340,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-28,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173375,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_4096,2026-08-28,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173200,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-28,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173201,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-28,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+173377,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_4096,2026-08-28,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173530,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173380,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_4096,2026-08-28,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173407,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_4096,2026-08-28,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173381,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_4096,2026-08-28,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173408,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_4096,2026-08-28,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173533,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173551,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173586,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-28,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+173586,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+173623,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173624,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173625,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173625,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173642,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173594,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,Isaac-Cartpole-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173594,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173630,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173413,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_4096,2026-08-28,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+173609,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173637,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173414,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,Isaac-Cartpole-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173414,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173591,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173598,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173417,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173578,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-28,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+173698,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173955,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-29,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173916,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173937,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-29,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173973,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-29,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173991,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-29,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173921,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+174019,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-29,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173906,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-28,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+174006,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-29,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173924,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173978,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-29,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+174028,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-29,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+173925,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+174260,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-29,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+174261,benchmark_rsl_rl_Isaac-Ant_4096,2026-08-29,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+174261,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-29,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+174246,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_4096,2026-08-29,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+174263,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-29,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+174251,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-29,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+174254,benchmark_rsl_rl_Isaac-Cartpole_4096,2026-08-29,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+174254,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-29,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+174268,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_4096,2026-08-29,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+174269,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_4096,2026-08-29,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+174269,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-29,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+174258,benchmark_rsl_rl_Isaac-Humanoid_4096,2026-08-29,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+174258,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-29,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+174276,benchmark_rsl_rl_Isaac-Lift-Franka_4096,2026-08-29,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+148231,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+152758,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,database renderer missing; unresolved
+152815,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-23,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152815,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-23,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152818,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-23,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152831,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-23,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152831,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-23,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152832,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-23,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152834,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-23,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152835,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+152837,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-23,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152837,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-23,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152842,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+152847,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-23,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152847,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+152848,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-23,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152850,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-23,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152850,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-23,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152851,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-23,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152853,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-23,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152854,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-23,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152858,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-23,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152858,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-23,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152860,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-23,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152861,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-23,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152864,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-23,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152865,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-23,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152865,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+152867,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-23,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152873,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E16384,database renderer missing; unresolved
+152874,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-23,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152874,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152875,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152878,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-23,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152880,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-23,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152882,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-23,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152884,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-23,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152888,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-23,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152892,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-23,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152895,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152896,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-23,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152908,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+152909,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-23,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152910,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-23,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152911,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-23,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152912,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152913,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-23,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152913,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-23,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152914,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-23,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152915,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+152916,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-23,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152916,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-23,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152917,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-23,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152918,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-23,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152920,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-23,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152920,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-23,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152922,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-23,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152923,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-23,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152923,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+152924,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-23,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152927,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-23,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152929,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-23,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152929,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-23,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152930,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-23,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152930,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-23,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152934,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-23,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152936,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-23,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152936,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152940,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+152943,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-23,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152944,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-23,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152945,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-23,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152946,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+152948,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-23,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152951,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-23,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152951,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+152952,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-23,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152957,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-23,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152959,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-23,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152961,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-23,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152961,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+152961,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+152961,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+152963,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-23,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152964,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-23,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152972,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-23,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+152978,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-23,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+152983,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+152988,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-23,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+152988,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+152991,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+152993,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+152994,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+152997,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153000,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153008,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+153009,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+153010,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+153010,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+153018,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_depth64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+153020,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153021,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-23,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+153022,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-23,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+153022,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+153023,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-23,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+165136,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-26,Isaac-Open-Drawer-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165136,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-26,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165137,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-26,Isaac-Reach-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165137,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-26,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165138,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-26,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165139,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-26,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165141,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165142,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-26,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165143,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165144,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-26,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165144,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165145,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165145,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165146,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-26,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165147,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-26,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165147,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165148,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-26,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165149,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-26,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165150,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-26,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165151,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-26,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165153,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-26,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165156,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165158,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-26,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165162,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-26,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165164,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-26,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165167,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-26,Isaac-Velocity-Rough-G1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165169,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165170,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-26,Isaac-Ant,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165170,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-26,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165173,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-26,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165175,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-26,Isaac-Cartpole,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165175,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-26,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165177,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-26,Isaac-Humanoid,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165177,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-26,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165179,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-26,Isaac-Reach-UR10,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165180,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-26,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165181,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165182,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-26,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165183,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-26,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165185,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-26,Isaac-Lift-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165187,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165190,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-26,Isaac-Reach-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165190,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-26,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165191,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-26,Isaac-Open-Drawer-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165191,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-26,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165193,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165197,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165198,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-26,Isaac-Reorient-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165201,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-26,Isaac-Reorient-Cube-Allegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165201,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165204,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-26,Isaac-Lift-KukaAllegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165204,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-26,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165206,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-26,Isaac-Velocity-Flat-Cassie,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165207,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-26,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165207,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165207,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165207,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165208,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-26,Isaac-Velocity-Flat-AnymalD,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165209,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-26,Isaac-Velocity-Flat-H1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165213,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-26,Isaac-Velocity-Rough-AnymalD,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165214,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-26,Isaac-Velocity-Rough-H1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165215,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-26,Isaac-Velocity-Rough-Cassie,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165218,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-26,Isaac-Velocity-Flat-G1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165222,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-26,Isaac-Reorient-KukaAllegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165222,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165223,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-26,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165225,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-26,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165230,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-26,Isaac-Shadow-Handover-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165231,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-26,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165232,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165232,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165237,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-26,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165239,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165240,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-26,Isaac-Cartpole,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165240,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-26,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165241,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-26,Isaac-Ant,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165241,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-26,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165243,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-26,Isaac-Velocity-Rough-G1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165244,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-26,Isaac-Reorient-Cube-Shadow,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165244,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165244,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+165244,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165248,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-26,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165249,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-26,Isaac-Reach-UR10,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165250,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165251,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-26,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165252,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-26,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165253,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-26,Isaac-Lift-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165256,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-26,Isaac-Humanoid,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165256,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-26,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165258,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165261,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165261,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-26,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165262,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165263,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-26,Isaac-Velocity-Flat-AnymalD,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165265,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165267,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-26,Isaac-Open-Drawer-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165267,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-26,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165270,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-26,Isaac-Reach-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165271,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-26,Isaac-Velocity-Flat-Cassie,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165273,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-26,Isaac-Velocity-Flat-H1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165277,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-26,Isaac-Reorient-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165283,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-26,Isaac-Velocity-Rough-Cassie,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165286,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-26,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165287,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-26,Isaac-Velocity-Rough-AnymalD,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165290,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-26,Isaac-Velocity-Flat-G1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165292,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-26,Isaac-Reorient-Cube-Allegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165292,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-26,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165294,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-26,Isaac-Velocity-Rough-H1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165298,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-26,Isaac-Lift-KukaAllegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165298,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-26,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165299,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_16384,2026-08-26,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165305,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-26,Isaac-Reorient-KukaAllegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165305,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165306,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-26,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165314,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-26,Isaac-Cartpole-Camera,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+165314,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-26,Isaac-Cartpole-Camera-Direct,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+165329,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-26,Isaac-Shadow-Handover-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165362,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-26,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165363,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_4096,2026-08-26,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165368,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-26,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165370,benchmark_rsl_rl_Isaac-Ant_4096,2026-08-26,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165370,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-26,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165378,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165378,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165382,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+165384,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-27,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165386,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-27,Isaac-Reorient-Cube-Shadow,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165386,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165386,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165386,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165388,benchmark_rsl_rl_Isaac-Humanoid_4096,2026-08-27,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165388,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-27,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165393,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165395,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-27,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165396,benchmark_rsl_rl_Isaac-Cartpole_4096,2026-08-27,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165396,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-27,Isaac-Cartpole-Camera,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165396,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-27,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165396,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165397,benchmark_rsl_rl_Isaac-Lift-Franka_4096,2026-08-27,Isaac-Lift-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165398,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_4096,2026-08-27,Isaac-Open-Drawer-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165398,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-27,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165402,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-27,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165403,benchmark_rsl_rl_Isaac-Reach-UR10_4096,2026-08-27,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165404,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-27,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165406,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-27,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165407,benchmark_rsl_rl_Isaac-Reorient-Franka_4096,2026-08-27,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165408,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_4096,2026-08-27,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165408,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165414,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_4096,2026-08-27,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165418,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_4096,2026-08-27,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165419,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_4096,2026-08-27,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165419,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165420,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_4096,2026-08-27,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165421,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_4096,2026-08-27,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165423,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_4096,2026-08-27,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165427,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_4096,2026-08-27,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165428,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_4096,2026-08-27,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165429,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_4096,2026-08-27,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165431,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165433,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-27,Isaac-Cartpole-Camera,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165433,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165435,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165436,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_4096,2026-08-27,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165439,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165440,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165441,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165443,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165444,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165450,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165451,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165452,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165453,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165456,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,successful WARM task preset,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165456,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165460,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165461,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165463,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165463,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165469,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165480,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165480,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165489,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165491,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165492,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165493,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165494,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165504,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165506,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165520,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165525,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165530,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165533,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165537,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165539,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165543,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165565,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165583,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165584,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165633,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-27,Isaac-Lift-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+165661,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-27,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+165668,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-27,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165669,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-27,Isaac-Lift-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165672,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-27,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165673,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-27,Isaac-Reach-UR10,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165674,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-27,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165676,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-27,Isaac-Humanoid,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165676,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-27,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165678,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-27,Isaac-Velocity-Flat-Cassie,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165681,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-27,Isaac-Velocity-Flat-AnymalD,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165682,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165683,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-27,Isaac-Open-Drawer-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165683,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-27,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165685,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-27,Isaac-Reach-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165685,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-27,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165687,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165688,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-27,Isaac-Velocity-Flat-H1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165690,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-27,Isaac-Reorient-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165691,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-27,Isaac-Velocity-Rough-Cassie,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165692,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-27,Isaac-Velocity-Rough-AnymalD,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165695,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165697,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-27,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165699,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-27,Isaac-Velocity-Flat-G1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165700,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-27,Isaac-Velocity-Rough-H1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165707,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-27,Isaac-Reorient-Cube-Allegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165707,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165712,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-27,Isaac-Lift-KukaAllegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165712,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-27,Isaac-Lift-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165714,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_16384,2026-08-27,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165717,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-27,Isaac-Reorient-KukaAllegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165717,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165718,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165719,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-27,Isaac-Shadow-Handover-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165741,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-27,Isaac-Cartpole-Camera,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+165741,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-27,Isaac-Cartpole-Camera-Direct,isaacsim_physx,none,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+165752,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_EDEFAULT,database renderer missing; unresolved
+165755,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165755,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165757,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-27,Isaac-Reorient-Cube-Shadow,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165757,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165757,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+165757,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165758,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_4096,2026-08-27,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165759,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-27,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165760,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-27,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165761,benchmark_rsl_rl_Isaac-Ant_4096,2026-08-27,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165761,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-27,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165762,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165763,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-27,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165764,benchmark_rsl_rl_Isaac-Humanoid_4096,2026-08-27,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165764,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-27,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165765,benchmark_rsl_rl_Isaac-Lift-Franka_4096,2026-08-27,Isaac-Lift-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165766,benchmark_rsl_rl_Isaac-Cartpole_4096,2026-08-27,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165766,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-27,Isaac-Cartpole-Camera,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165766,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-27,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165766,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165767,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-27,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165768,benchmark_rsl_rl_Isaac-Reach-UR10_4096,2026-08-27,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165769,benchmark_rsl_rl_Isaac-Reorient-Franka_4096,2026-08-27,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165770,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-27,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165771,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_4096,2026-08-27,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165771,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_4096,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165772,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_4096,2026-08-27,Isaac-Open-Drawer-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165772,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-27,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165774,benchmark_rsl_rl_Isaac-Reach-Franka_4096,2026-08-27,Isaac-Reach-Franka,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165774,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-27,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165776,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_4096,2026-08-27,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165777,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_4096,2026-08-27,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165779,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,successful WARM task preset,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165780,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_4096,2026-08-27,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165781,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_4096,2026-08-27,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165783,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_4096,2026-08-27,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165784,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_4096,2026-08-27,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165784,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_4096,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset; database renderer missing; unresolved
+165785,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_4096,2026-08-27,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165786,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_4096,2026-08-27,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165787,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_4096,2026-08-27,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165788,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_4096,2026-08-27,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+165789,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_2048,2026-08-27,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,2048,2048,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+145022,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-17,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145026,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-17,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145034,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-17,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145035,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-17,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145054,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-17,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145075,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-17,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145103,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-17,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145116,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-17,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145117,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-17,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145124,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-17,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145130,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-17,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145133,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-17,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145140,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-17,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145147,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-17,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145148,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-17,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145153,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-17,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145155,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-17,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145161,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-17,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145169,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-17,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145173,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-17,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145223,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-17,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+145286,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-17,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+145455,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-18,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145482,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-18,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145593,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-18,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+145598,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-18,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145625,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-18,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145626,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-18,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145640,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-18,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145710,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-18,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145711,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-18,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145719,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-18,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145720,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-18,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145722,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-18,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+145723,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-18,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
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+146551,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-20,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+146553,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-20,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+146585,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-20,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+146857,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+146860,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+146863,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+146885,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+146914,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+146915,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+146917,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147038,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147043,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147048,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147102,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147132,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147106,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147107,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147112,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-21,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147117,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-21,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147125,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147129,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147136,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-21,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147138,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147139,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-21,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147145,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147223,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-21,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147230,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-21,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147232,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-21,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147233,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-21,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147242,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147248,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-21,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147249,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147250,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-21,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147252,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147260,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147291,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147300,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-21,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147301,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-21,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147303,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-21,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147324,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+147452,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-21,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+147971,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-21,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,database renderer missing; unresolved
+148027,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-21,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148029,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148032,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-21,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148032,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-21,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148037,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148041,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-21,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148050,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-21,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148050,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-21,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148054,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-21,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148055,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-21,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148055,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-21,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148056,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-21,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148064,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-21,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148067,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-21,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148069,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-21,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E16384,database renderer missing; unresolved
+148070,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-21,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148070,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-21,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148071,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-21,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148072,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-21,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148072,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148073,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-21,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148073,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-21,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148075,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-21,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148077,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-21,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148077,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-21,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148078,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-21,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148080,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-21,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148082,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-21,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148082,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-21,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148086,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148087,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-21,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148089,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-21,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148093,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-21,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148096,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-21,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148098,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-21,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148101,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-21,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148102,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-21,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148104,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-21,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148106,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-21,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148108,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-21,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148110,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-21,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148110,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148110,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+148110,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148112,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-21,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148113,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148114,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-21,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148117,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-21,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148117,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-21,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148118,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148118,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148120,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148122,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-21,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148125,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-21,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148126,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-21,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148126,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-21,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148128,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-21,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148132,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-21,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148132,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-21,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148134,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-21,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148138,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-21,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148140,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-21,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148140,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-21,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148142,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-21,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148142,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148145,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-21,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148146,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-21,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148146,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-21,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148149,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-21,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148151,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-21,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148153,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-21,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148153,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-21,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148157,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-21,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148158,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-21,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148161,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-21,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148162,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-21,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148165,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-21,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148170,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-21,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148171,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-21,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148172,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-21,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148174,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-21,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148174,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-21,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148175,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-21,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148179,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-21,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148185,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-21,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148191,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+148194,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-21,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+148196,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_4096,2026-08-21,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+148198,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-21,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148198,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148198,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-21,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+148198,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148199,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-21,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+148199,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-21,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+148207,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_depth64_4096,2026-08-21,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+148210,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148210,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+148215,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-21,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+148215,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-21,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+148217,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148218,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-21,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+148220,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_4096,2026-08-21,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+148221,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_depth64_4096,2026-08-21,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+148224,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-21,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148225,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+148225,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+148226,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-21,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148227,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148237,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148247,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148252,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148254,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148258,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-21,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148337,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-21,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148338,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148344,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148348,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148366,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-21,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148368,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-21,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148378,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148382,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-21,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148414,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-21,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148791,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148833,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148893,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148909,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148917,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148921,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148922,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148926,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148930,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148934,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148936,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148937,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+148958,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149055,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-22,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+149070,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+149071,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+149072,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+149077,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-22,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+149077,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+149082,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+149083,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+149083,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+149086,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_depth64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+149088,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+149089,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_depth64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+149090,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-22,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+149090,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+149094,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-22,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149096,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-22,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149098,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-22,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149100,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149101,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149107,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-22,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149109,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149113,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149115,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149120,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149184,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149187,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-22,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149189,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149191,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-22,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149196,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-22,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149218,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-22,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149226,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149227,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149241,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-22,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149547,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149574,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149640,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149666,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149671,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149678,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149679,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149685,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149699,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149701,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149707,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149710,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-22,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149711,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-22,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149715,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149717,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149719,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149721,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149726,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149727,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149728,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149735,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149736,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-22,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+149849,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-22,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150370,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-22,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,database renderer missing; unresolved
+150408,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-22,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150412,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-22,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150413,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-22,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150415,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-22,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150416,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-22,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150416,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-22,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150418,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-22,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150418,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-22,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150419,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-22,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150420,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-22,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150420,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-22,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150423,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-22,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150424,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150426,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-22,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150428,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-22,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150430,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-22,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150430,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-22,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150431,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-22,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150431,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_8192,2026-08-22,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150432,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-22,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150433,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-22,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150433,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-22,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150434,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-22,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150436,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-22,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150436,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-22,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150437,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-22,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150438,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-22,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150439,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-22,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150440,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-22,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150441,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-22,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150441,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-22,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150442,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-22,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150443,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-22,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150444,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-22,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150445,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-22,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150446,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-22,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150448,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-22,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150449,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150453,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_8192,2026-08-22,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150454,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-22,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,none,database,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E16384,database renderer missing; unresolved
+150455,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-22,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150457,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-22,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150457,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-22,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150458,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-22,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150459,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-22,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150460,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-22,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150461,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-22,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150462,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-22,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150462,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-22,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150463,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-22,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150464,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-22,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150465,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-22,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150466,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-22,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150466,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-22,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150467,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-22,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150467,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150467,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets
+150467,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150469,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-22,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150471,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-22,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150471,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-22,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150472,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-22,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150473,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-22,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150473,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_16384,2026-08-22,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150475,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-22,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150476,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-22,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150476,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-22,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150478,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-22,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150479,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150479,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150480,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150481,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-22,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150482,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-22,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150482,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-22,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150483,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-22,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150484,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150485,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-22,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150486,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-22,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150488,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-22,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150488,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-22,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150489,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-22,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150490,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-22,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150492,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-22,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150493,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-22,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150498,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_16384,2026-08-22,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150505,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-22,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150507,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+150509,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+150513,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+150518,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-22,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+150518,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+150519,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+150521,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+150523,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+150523,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+150527,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+150528,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+150529,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-22,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+150529,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+150534,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_depth64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+150536,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-22,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150536,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150536,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets
+150536,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150538,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+150540,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_depth64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+150565,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150565,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,none,benchmark_info.presets,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from benchmark_info.presets; database renderer missing; unresolved
+150586,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+150603,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+150924,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+150929,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+150937,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+150938,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151103,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151104,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151108,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-22,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151108,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151114,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151116,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151116,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151117,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+151118,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151119,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151121,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-22,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+151121,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+151122,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151134,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_depth64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+151139,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_depth64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+151147,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151158,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151173,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151187,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151208,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151213,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151325,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151326,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151342,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151346,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151486,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151497,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151503,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151505,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-22,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151505,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151506,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151507,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151510,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-22,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+151510,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+151512,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+151515,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151515,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151517,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_depth64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+151519,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_depth64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+151521,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151543,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151556,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151558,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151567,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151568,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151834,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151842,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151844,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151848,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151961,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151963,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_1225,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151965,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-22,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151965,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_512,2026-08-22,Isaac-Cartpole-Camera-Direct,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151967,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-22,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+151968,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151973,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_4096,2026-08-22,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
+151974,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_1225,2026-08-22,Isaac-Reorient-Cube-Shadow-Camera,isaacsim_physx,newton_renderer,database,database,1225,1225,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,comparison-group physics disagrees; comparison-group count disagrees
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+151976,benchmark_rsl_rl_Isaac-Cartpole-Camera_512,2026-08-22,Isaac-Cartpole-Camera,isaacsim_physx,newton_renderer,database,database,512,512,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
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+151980,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_depth64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+151981,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_depth64_4096,2026-08-23,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,newton_renderer,database,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,comparison-group physics disagrees; comparison-group count disagrees
+151983,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-23,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+152001,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+152004,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+152178,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-23,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
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+165874,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165880,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165885,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165889,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165898,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165899,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165911,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165917,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165920,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165921,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165928,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165942,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165942,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165959,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165962,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165974,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+165984,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166093,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166097,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166100,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166120,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166120,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166151,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166171,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166171,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166264,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-27,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166273,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166278,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166291,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166291,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166307,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-27,Isaac-Cartpole-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166307,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166325,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166326,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-27,Isaac-Cartpole-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166326,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166344,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166344,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166362,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166366,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166375,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-27,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166376,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-27,Isaac-Cartpole-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166376,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166379,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-27,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166381,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166387,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-27,Isaac-Cartpole-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166387,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166389,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166391,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166391,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166392,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166394,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166400,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166407,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166407,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166408,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166413,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-27,Isaac-Cartpole-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166413,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166414,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166415,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-27,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166428,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166428,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166510,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-27,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+166718,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166719,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166721,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-27,Isaac-Cartpole-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166721,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166724,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-27,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166725,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-27,Isaac-Cartpole-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166725,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166728,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-27,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166729,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166731,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166732,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166738,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166738,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166739,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166739,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166743,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166747,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166751,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-27,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166755,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-27,Isaac-Cartpole-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166755,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166764,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166772,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166772,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+166850,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-27,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167378,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-27,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167378,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-27,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167380,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-27,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167391,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-27,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167394,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-27,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167395,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-27,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167395,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-27,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167396,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-27,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167396,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-27,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167397,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-27,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167398,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-27,Isaac-Lift-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167399,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-27,Isaac-Open-Drawer-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167399,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-27,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167401,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-27,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167402,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-27,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167405,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-27,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167406,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-27,Isaac-Reach-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167406,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-27,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167407,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-27,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167411,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-27,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167412,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-27,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167412,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-27,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167416,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-27,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167417,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-27,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167420,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-27,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167426,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-27,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167426,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167427,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-27,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167430,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-27,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167433,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167438,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-27,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167439,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-27,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167440,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-27,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167441,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-27,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+167442,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-27,Isaac-Cartpole,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167442,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-27,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167445,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-27,Isaac-Ant,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167445,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-27,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167447,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-27,Isaac-Ant-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167448,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-27,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167455,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-27,Isaac-Humanoid,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167455,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-27,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167456,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-27,Isaac-Humanoid-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167466,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-27,Isaac-Lift-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167468,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-27,Isaac-Lift-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167469,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-27,Isaac-Cartpole-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167472,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-27,Isaac-Reach-UR10,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167474,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-27,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167475,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-27,Isaac-Open-Drawer-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167475,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-27,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167476,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-27,Isaac-Reach-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167476,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-27,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167483,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-27,Isaac-Reach-Franka-OSC,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167486,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-27,Isaac-Reorient-Franka,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167487,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-27,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167489,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-27,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167490,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-27,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167491,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167493,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-27,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167494,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-27,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167498,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-27,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167500,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-27,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167500,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167502,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-27,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167509,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167510,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-27,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167510,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167512,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-27,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167513,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-27,Isaac-Velocity-Rough-G1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167515,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-27,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167517,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-27,Isaac-Cartpole,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167517,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-27,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167520,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-27,Isaac-Ant,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167520,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-27,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167521,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-27,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167532,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-27,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+167538,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-27,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167540,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-27,Isaac-Lift-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167543,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-27,Isaac-Lift-KukaAllegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167544,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-27,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167545,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-27,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167552,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-27,Isaac-Humanoid,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167552,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-27,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167553,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167555,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-27,Isaac-Reach-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167555,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-27,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167557,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-27,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167561,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-27,Isaac-Reorient-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167565,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-27,Isaac-Velocity-Flat-Cassie,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167567,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-27,Isaac-Reorient-Cube-Shadow,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167567,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167569,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-27,Isaac-Reorient-Cube-Allegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167569,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-27,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167572,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-27,Isaac-Velocity-Flat-AnymalD,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167573,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-27,Isaac-Velocity-Flat-H1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167578,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-27,Isaac-Reorient-KukaAllegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167584,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-27,Isaac-Velocity-Rough-H1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167586,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-27,Isaac-Velocity-Rough-Cassie,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167587,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-27,Isaac-Reach-UR10,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167590,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-27,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167591,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-27,Isaac-Velocity-Flat-G1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167594,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-27,Isaac-Velocity-Rough-AnymalD,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167605,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-27,Isaac-Open-Drawer-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167605,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-27,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167607,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-27,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167609,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-27,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167613,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-27,Isaac-Cartpole,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167613,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-27,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167619,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-27,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167623,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-27,Isaac-Reach-UR10,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167626,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-27,Isaac-Ant,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167626,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-27,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167631,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-27,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167633,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-27,Isaac-Shadow-Handover-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+167637,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-27,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167640,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-27,Isaac-Humanoid,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167640,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-27,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167641,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-27,Isaac-Lift-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167648,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-27,Isaac-Lift-KukaAllegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167649,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167652,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167654,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-27,Isaac-Open-Drawer-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167654,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-27,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167657,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-27,Isaac-Reach-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167662,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-27,Isaac-Velocity-Rough-G1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167665,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-27,Isaac-Reorient-Cube-Shadow,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167665,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167667,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-27,Isaac-Velocity-Flat-Cassie,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167677,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-27,Isaac-Velocity-Flat-AnymalD,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167678,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-27,Isaac-Reorient-Cube-Allegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167678,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167679,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-27,Isaac-Reorient-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167684,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-27,Isaac-Velocity-Flat-H1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167687,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-27,Isaac-Velocity-Rough-Cassie,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167688,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-27,Isaac-Velocity-Flat-G1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167689,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-27,Isaac-Reorient-KukaAllegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167695,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-27,Isaac-Velocity-Rough-H1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167697,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-27,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167703,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-27,Isaac-Velocity-Rough-AnymalD,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167713,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_16384,2026-08-27,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167716,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_2048,2026-08-27,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,2048,2048,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from successful WARM task preset
+167754,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-27,Isaac-Shadow-Handover-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+167822,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+167825,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+167833,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+167839,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+168212,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-27,Isaac-Cartpole-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+168212,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+168221,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-27,Isaac-Cartpole-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+168221,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-27,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+169120,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-27,Isaac-Velocity-Flat-H1,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+169124,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-27,Isaac-Velocity-Flat-G1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+169128,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-27,Isaac-Velocity-Rough-H1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+169129,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-27,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+169129,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+169130,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-27,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+169131,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-27,Isaac-Cartpole,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169131,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-27,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169133,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-27,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169134,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-27,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+169135,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-27,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169137,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-27,Isaac-Ant,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169137,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-27,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169138,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+169139,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-27,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+169139,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+169140,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-27,Isaac-Velocity-Rough-G1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169141,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-27,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,database physics missing; resolved from successful WARM task preset
+169157,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-27,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169162,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-27,Isaac-Humanoid,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169162,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-27,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169165,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-27,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
+169167,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-27,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169171,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-27,Isaac-Lift-KukaAllegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169174,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-27,Isaac-Open-Drawer-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169174,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-27,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169179,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-27,Isaac-Velocity-Flat-AnymalD,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169182,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-27,Isaac-Reach-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169182,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-27,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169183,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-27,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169184,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-27,Isaac-Reach-UR10,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169185,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169187,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-27,Isaac-Lift-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169188,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-27,Isaac-Velocity-Flat-H1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169189,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-27,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169190,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-27,Isaac-Reorient-Franka,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169191,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-27,Isaac-Velocity-Flat-G1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-27,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169193,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-27,Isaac-Velocity-Rough-H1,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169194,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-27,Isaac-Reorient-KukaAllegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169195,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-27,Isaac-Velocity-Rough-AnymalD,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169196,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-27,Isaac-Reorient-Cube-Shadow,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169196,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169197,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-27,Isaac-Reorient-Cube-Allegro,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169197,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-27,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169198,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-27,Isaac-Shadow-Handover-Direct,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169200,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-27,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169201,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-27,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169202,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-27,Isaac-Velocity-Rough-Cassie,ovphysx,none,successful WARM task preset,database,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,database physics missing; resolved from successful WARM task preset
+169203,benchmark_rsl_rl_Isaac-Reach-UR10_16384,2026-08-27,Isaac-Reach-UR10,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169204,benchmark_rsl_rl_Isaac-Cartpole_16384,2026-08-27,Isaac-Cartpole,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169204,benchmark_rsl_rl_Isaac-Cartpole-Direct_16384,2026-08-27,Isaac-Cartpole-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169207,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-27,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169211,benchmark_rsl_rl_Isaac-Ant_16384,2026-08-27,Isaac-Ant,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169211,benchmark_rsl_rl_Isaac-Ant-Direct_16384,2026-08-27,Isaac-Ant-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169215,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-27,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169216,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-27,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169217,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_16384,2026-08-27,Isaac-Velocity-Flat-AnymalD,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169218,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_16384,2026-08-27,Isaac-Velocity-Flat-Cassie,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169222,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_16384,2026-08-27,Isaac-Velocity-Flat-H1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169223,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-27,Isaac-Velocity-Rough-G1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169225,benchmark_rsl_rl_Isaac-Reorient-Franka_16384,2026-08-27,Isaac-Reorient-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169226,benchmark_rsl_rl_Isaac-Reach-Franka_16384,2026-08-27,Isaac-Reach-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169226,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_16384,2026-08-27,Isaac-Reach-Franka-OSC,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169227,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_16384,2026-08-27,Isaac-Lift-KukaAllegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169229,benchmark_rsl_rl_Isaac-Humanoid_16384,2026-08-27,Isaac-Humanoid,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169229,benchmark_rsl_rl_Isaac-Humanoid-Direct_16384,2026-08-27,Isaac-Humanoid-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169234,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169238,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_16384,2026-08-27,Isaac-Open-Drawer-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169238,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_16384,2026-08-27,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169241,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_16384,2026-08-27,Isaac-Velocity-Rough-AnymalD,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169244,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_16384,2026-08-27,Isaac-Reorient-Cube-Shadow,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169244,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169245,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_16384,2026-08-27,Isaac-Reorient-KukaAllegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169247,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_16384,2026-08-27,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169249,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_16384,2026-08-27,Isaac-Velocity-Flat-G1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169252,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_16384,2026-08-27,Isaac-Velocity-Rough-Cassie,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169254,benchmark_rsl_rl_Isaac-Lift-Franka_16384,2026-08-27,Isaac-Lift-Franka,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169257,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_16384,2026-08-27,Isaac-Reorient-Cube-Allegro,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169257,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169258,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_16384,2026-08-27,Isaac-Velocity-Rough-H1,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169281,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_16384,2026-08-27,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169282,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_16384,2026-08-27,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169320,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_16384,2026-08-27,Isaac-Shadow-Handover-Direct,ovphysx,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E16384,database physics missing; resolved from successful WARM task preset
+169556,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-27,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169559,benchmark_rsl_rl_Isaac-Cartpole_4096,2026-08-27,Isaac-Cartpole,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169559,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-27,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169562,benchmark_rsl_rl_Isaac-Ant_4096,2026-08-27,Isaac-Ant,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169562,benchmark_rsl_rl_Isaac-Ant-Direct_4096,2026-08-27,Isaac-Ant-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169565,benchmark_rsl_rl_Isaac-Cartpole-Direct_4096,2026-08-27,Isaac-Cartpole-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169566,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_4096,2026-08-27,Isaac-Velocity-Rough-G1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169569,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-27,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169571,benchmark_rsl_rl_Isaac-Humanoid_4096,2026-08-27,Isaac-Humanoid,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169571,benchmark_rsl_rl_Isaac-Humanoid-Direct_4096,2026-08-27,Isaac-Humanoid-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169622,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_4096,2026-08-27,Isaac-Lift-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169626,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-27,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169627,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-27,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169631,benchmark_rsl_rl_Isaac-Lift-Franka_4096,2026-08-27,Isaac-Lift-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169632,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_4096,2026-08-27,Isaac-Open-Drawer-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169632,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_4096,2026-08-27,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169633,benchmark_rsl_rl_Isaac-Reach-UR10_4096,2026-08-27,Isaac-Reach-UR10,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169636,benchmark_rsl_rl_Isaac-Reorient-Franka_4096,2026-08-27,Isaac-Reorient-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169637,benchmark_rsl_rl_Isaac-Reach-Franka_4096,2026-08-27,Isaac-Reach-Franka,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169637,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_4096,2026-08-27,Isaac-Reach-Franka-OSC,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169643,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_4096,2026-08-27,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169649,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_4096,2026-08-27,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169651,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_4096,2026-08-27,Isaac-Velocity-Flat-H1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169654,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_4096,2026-08-27,Isaac-Velocity-Flat-G1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169655,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_4096,2026-08-27,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169659,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_4096,2026-08-27,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169660,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_4096,2026-08-27,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169663,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_4096,2026-08-27,Isaac-Velocity-Rough-H1,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169666,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_4096,2026-08-27,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169669,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_4096,2026-08-27,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,benchmark_info.presets,database,4096,4096,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169681,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_2048,2026-08-27,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,benchmark_info.presets,database,2048,2048,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_EDEFAULT,database physics missing; resolved from benchmark_info.presets
+169794,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+169804,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+169807,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+169809,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,benchmark_info.presets,benchmark_info.presets,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+169987,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+169987,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-27,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+170251,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+170256,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+170259,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-27,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,benchmark_info.presets,benchmark_info.presets,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from benchmark_info.presets; database renderer missing; resolved from benchmark_info.presets
+171033,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171035,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171043,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171046,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171061,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_16384,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171065,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171077,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171077,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171083,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_16384,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171085,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171097,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171097,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171248,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171255,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171265,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171265,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171272,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171381,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171382,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171383,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171386,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,Isaac-Cartpole-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171386,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171387,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171388,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171389,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
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+171393,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171394,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171396,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171398,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,Isaac-Cartpole-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171398,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171399,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171399,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171400,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171401,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171403,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171403,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171431,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171432,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171433,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171435,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171440,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171441,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171442,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,Isaac-Cartpole-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171442,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171444,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171445,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171446,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171447,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171447,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171453,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,Isaac-Cartpole-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171453,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171455,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171456,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171456,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171462,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171470,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,Isaac-Cartpole-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171470,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171471,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171472,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171478,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171487,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171487,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171579,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171580,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_16384,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171590,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171617,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171628,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171631,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171633,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171634,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,Isaac-Cartpole-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171634,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171651,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171651,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171653,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171655,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171656,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171660,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171662,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171665,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_16384,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E16384_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171669,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,newton_renderer,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_WARP_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171673,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171674,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,Isaac-Cartpole-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171674,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171676,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171743,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171745,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171746,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171747,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171752,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,Isaac-Cartpole-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171752,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171757,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171759,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171761,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171766,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171768,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,Isaac-Cartpole-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171768,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171770,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_duo_camera_rgb64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171771,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171774,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171774,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_RGB_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171798,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171807,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171810,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171811,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171813,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,Isaac-Cartpole-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171813,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171815,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171853,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171853,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171870,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,successful WARM task preset,successful WARM task preset,8192,8192,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,database physics missing; resolved from successful WARM task preset; database renderer missing; resolved from successful WARM task preset
+171957,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_16384,2026-08-28,Isaac-Velocity-Rough-G1,newton_mjwarp,none,successful WARM task preset,database,16384,16384,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E16384,database physics missing; resolved from successful WARM task preset
diff --git a/docs/source/_static/benchmarks/coverage-environment-defaults.csv b/docs/source/_static/benchmarks/coverage-environment-defaults.csv
new file mode 100644
index 000000000000..f687e71b4289
--- /dev/null
+++ b/docs/source/_static/benchmarks/coverage-environment-defaults.csv
@@ -0,0 +1,89 @@
+snapshot_date_utc,task,default_num_envs,collection_default_runs,training_default_runs,other_measured_counts
+2026-08-28,Isaac-Ant-Direct,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Ant,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Cartpole-Direct,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Cartpole,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Cartpole-Camera-Direct,512,MISSING,MISSING,8192
+2026-08-28,Isaac-Cartpole-Camera,512,MISSING,MISSING,8192
+2026-08-28,Isaac-Humanoid-Direct,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Humanoid,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Lift-Cable-Franka,8192,MISSING,MISSING,
+2026-08-28,Isaac-Lift-Cable-Franka-Camera,128,MISSING,MISSING,
+2026-08-28,Isaac-Lift-Cloth-Franka,2048,MISSING,MISSING,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,128,MISSING,MISSING,
+2026-08-28,Isaac-Lift-Franka,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Lift-KukaAllegro,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,4096,MISSING,MISSING,"8192,16384"
+2026-08-28,Isaac-Lift-Soft-Franka,2048,MISSING,MISSING,
+2026-08-28,Isaac-Lift-Soft-Franka-Camera,128,MISSING,MISSING,
+2026-08-28,Isaac-Open-Drawer-Franka-Direct,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Open-Drawer-Franka,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Pendulum-MARL-Direct,4096,MISSING,MISSING,
+2026-08-28,Isaac-Reach-Franka,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Reach-Franka-OSC,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Reach-UR10,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,8192,present,present,16384
+2026-08-28,Isaac-Reorient-Cube-Allegro,8192,present,present,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,8192,present,present,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow,8192,present,present,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,1225,MISSING,MISSING,"8192,16384"
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,1225,MISSING,MISSING,"8192,16384"
+2026-08-28,Isaac-Reorient-Franka,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Reorient-KukaAllegro,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,4096,MISSING,MISSING,"8192,16384"
+2026-08-28,Isaac-Shadow-Handover-Direct,2048,present,present,"8192,16384"
+2026-08-28,Isaac-Shadow-Handover,2048,MISSING,MISSING,
+2026-08-28,Isaac-Velocity-Flat-AnymalD,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Velocity-Flat-Cassie,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Velocity-Flat-G1,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Velocity-Flat-H1,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Velocity-Flat-UnitreeGo2,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Velocity-Rough-AnymalD,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Velocity-Rough-Cassie,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Velocity-Rough-G1,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Velocity-Rough-H1,4096,present,present,"8192,16384"
+2026-08-28,Isaac-Velocity-Rough-UnitreeGo2,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Ant-Direct,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Ant,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Cartpole-Direct,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Cartpole,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Cartpole-Camera-Direct,512,present,present,8192
+2026-09-09,Isaac-Cartpole-Camera,512,present,present,8192
+2026-09-09,Isaac-Humanoid-Direct,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Humanoid,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Lift-Cable-Franka,8192,MISSING,MISSING,
+2026-09-09,Isaac-Lift-Cable-Franka-Camera,128,MISSING,MISSING,
+2026-09-09,Isaac-Lift-Cloth-Franka,2048,MISSING,MISSING,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,128,MISSING,MISSING,
+2026-09-09,Isaac-Lift-Franka,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Lift-KukaAllegro,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Lift-KukaAllegro-Camera,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Lift-Soft-Franka,2048,MISSING,MISSING,
+2026-09-09,Isaac-Lift-Soft-Franka-Camera,128,MISSING,MISSING,
+2026-09-09,Isaac-Open-Drawer-Franka-Direct,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Open-Drawer-Franka,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Pendulum-MARL-Direct,4096,MISSING,MISSING,
+2026-09-09,Isaac-Reach-Franka,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Reach-Franka-OSC,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Reach-UR10,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Reorient-Cube-Allegro-Direct,8192,present,present,16384
+2026-09-09,Isaac-Reorient-Cube-Allegro,8192,present,present,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow-Direct,8192,present,present,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow,8192,present,present,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera-Direct,1225,present,present,"8192,16384"
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera,1225,present,present,"8192,16384"
+2026-09-09,Isaac-Reorient-Franka,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Reorient-KukaAllegro,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Reorient-KukaAllegro-Camera,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Shadow-Handover-Direct,2048,present,present,"8192,16384"
+2026-09-09,Isaac-Shadow-Handover,2048,MISSING,MISSING,
+2026-09-09,Isaac-Velocity-Flat-AnymalD,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Velocity-Flat-Cassie,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Velocity-Flat-G1,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Velocity-Flat-H1,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Velocity-Flat-UnitreeGo2,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Velocity-Rough-AnymalD,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Velocity-Rough-Cassie,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Velocity-Rough-G1,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Velocity-Rough-H1,4096,present,present,"8192,16384"
+2026-09-09,Isaac-Velocity-Rough-UnitreeGo2,4096,present,present,"8192,16384"
diff --git a/docs/source/_static/benchmarks/coverage-environments.csv b/docs/source/_static/benchmarks/coverage-environments.csv
new file mode 100644
index 000000000000..ae7cf9f1e1b5
--- /dev/null
+++ b/docs/source/_static/benchmarks/coverage-environments.csv
@@ -0,0 +1,89 @@
+snapshot_date_utc,task,num_envs,collection_runs,training_runs,other_measured_counts
+2026-08-28,Isaac-Ant-Direct,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Ant,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Cartpole-Direct,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Cartpole,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,present,present,
+2026-08-28,Isaac-Cartpole-Camera,8192,present,present,
+2026-08-28,Isaac-Humanoid-Direct,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Humanoid,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Lift-Cable-Franka,8192,MISSING,MISSING,
+2026-08-28,Isaac-Lift-Cable-Franka-Camera,8192,MISSING,MISSING,
+2026-08-28,Isaac-Lift-Cloth-Franka,8192,MISSING,MISSING,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,8192,MISSING,MISSING,
+2026-08-28,Isaac-Lift-Franka,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Lift-KukaAllegro,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,present,present,16384
+2026-08-28,Isaac-Lift-Soft-Franka,8192,MISSING,MISSING,
+2026-08-28,Isaac-Lift-Soft-Franka-Camera,8192,MISSING,MISSING,
+2026-08-28,Isaac-Open-Drawer-Franka-Direct,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Open-Drawer-Franka,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Pendulum-MARL-Direct,8192,MISSING,MISSING,
+2026-08-28,Isaac-Reach-Franka,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Reach-Franka-OSC,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Reach-UR10,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,8192,present,present,16384
+2026-08-28,Isaac-Reorient-Cube-Allegro,8192,present,present,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,8192,present,present,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow,8192,present,present,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,8192,present,present,16384
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,8192,present,present,16384
+2026-08-28,Isaac-Reorient-Franka,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Reorient-KukaAllegro,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,present,present,16384
+2026-08-28,Isaac-Shadow-Handover-Direct,8192,present,present,"2048,16384"
+2026-08-28,Isaac-Shadow-Handover,8192,MISSING,MISSING,
+2026-08-28,Isaac-Velocity-Flat-AnymalD,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Velocity-Flat-Cassie,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Velocity-Flat-G1,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Velocity-Flat-H1,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Velocity-Flat-UnitreeGo2,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Velocity-Rough-AnymalD,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Velocity-Rough-Cassie,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Velocity-Rough-G1,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Velocity-Rough-H1,8192,present,present,"4096,16384"
+2026-08-28,Isaac-Velocity-Rough-UnitreeGo2,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Ant-Direct,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Ant,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Cartpole-Direct,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Cartpole,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Cartpole-Camera-Direct,8192,present,present,
+2026-09-09,Isaac-Cartpole-Camera,8192,present,present,
+2026-09-09,Isaac-Humanoid-Direct,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Humanoid,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Lift-Cable-Franka,8192,MISSING,MISSING,
+2026-09-09,Isaac-Lift-Cable-Franka-Camera,8192,MISSING,MISSING,
+2026-09-09,Isaac-Lift-Cloth-Franka,8192,MISSING,MISSING,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,8192,MISSING,MISSING,
+2026-09-09,Isaac-Lift-Franka,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Lift-KukaAllegro,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Lift-KukaAllegro-Camera,8192,present,present,16384
+2026-09-09,Isaac-Lift-Soft-Franka,8192,MISSING,MISSING,
+2026-09-09,Isaac-Lift-Soft-Franka-Camera,8192,MISSING,MISSING,
+2026-09-09,Isaac-Open-Drawer-Franka-Direct,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Open-Drawer-Franka,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Pendulum-MARL-Direct,8192,MISSING,MISSING,
+2026-09-09,Isaac-Reach-Franka,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Reach-Franka-OSC,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Reach-UR10,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Reorient-Cube-Allegro-Direct,8192,present,present,16384
+2026-09-09,Isaac-Reorient-Cube-Allegro,8192,present,present,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow-Direct,8192,present,present,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow,8192,present,present,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera-Direct,8192,present,present,16384
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera,8192,present,present,16384
+2026-09-09,Isaac-Reorient-Franka,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Reorient-KukaAllegro,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Reorient-KukaAllegro-Camera,8192,present,present,16384
+2026-09-09,Isaac-Shadow-Handover-Direct,8192,present,present,"2048,16384"
+2026-09-09,Isaac-Shadow-Handover,8192,MISSING,MISSING,
+2026-09-09,Isaac-Velocity-Flat-AnymalD,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Velocity-Flat-Cassie,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Velocity-Flat-G1,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Velocity-Flat-H1,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Velocity-Flat-UnitreeGo2,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Velocity-Rough-AnymalD,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Velocity-Rough-Cassie,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Velocity-Rough-G1,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Velocity-Rough-H1,8192,present,present,"4096,16384"
+2026-09-09,Isaac-Velocity-Rough-UnitreeGo2,8192,present,present,"4096,16384"
diff --git a/docs/source/_static/benchmarks/coverage-observed-profiles.csv b/docs/source/_static/benchmarks/coverage-observed-profiles.csv
new file mode 100644
index 000000000000..a1a7b77f19be
--- /dev/null
+++ b/docs/source/_static/benchmarks/coverage-observed-profiles.csv
@@ -0,0 +1,229 @@
+snapshot_date_utc,task,physics_backend,rendering_backend,task_presets,camera_resolution,num_envs,rl_library,collection,training,source_record_id
+2026-08-28,Isaac-Ant,isaacsim_physx,none,,,8192,rsl_rl,present,present,172370
+2026-08-28,Isaac-Ant,newton_mjwarp,none,,,8192,rsl_rl,present,present,172485
+2026-08-28,Isaac-Ant,ovphysx,none,,,8192,rsl_rl,present,present,172630
+2026-08-28,Isaac-Ant-Direct,isaacsim_physx,none,,,8192,rsl_rl,present,present,172370
+2026-08-28,Isaac-Ant-Direct,newton_mjwarp,none,,,8192,rsl_rl,present,present,172486
+2026-08-28,Isaac-Ant-Direct,ovphysx,none,,,8192,rsl_rl,present,present,172630
+2026-08-28,Isaac-Cartpole,isaacsim_physx,none,,,8192,rsl_rl,present,present,172369
+2026-08-28,Isaac-Cartpole,newton_mjwarp,none,,,8192,rsl_rl,present,present,172489
+2026-08-28,Isaac-Cartpole,ovphysx,none,,,8192,rsl_rl,present,present,172629
+2026-08-28,Isaac-Cartpole-Camera,isaacsim_physx,isaacsim_rtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,172963
+2026-08-28,Isaac-Cartpole-Camera,newton_mjwarp,isaacsim_rtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,171788
+2026-08-28,Isaac-Cartpole-Camera,newton_mjwarp,ovrtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,173001
+2026-08-28,Isaac-Cartpole-Camera,ovphysx,ovrtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,171813
+2026-08-28,Isaac-Cartpole-Camera-Direct,isaacsim_physx,isaacsim_rtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,172963
+2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,isaacsim_rtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,171788
+2026-08-28,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,173001
+2026-08-28,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,171813
+2026-08-28,Isaac-Cartpole-Direct,isaacsim_physx,none,,,8192,rsl_rl,present,present,172371
+2026-08-28,Isaac-Cartpole-Direct,newton_mjwarp,none,,,8192,rsl_rl,present,present,172491
+2026-08-28,Isaac-Cartpole-Direct,ovphysx,none,,,8192,rsl_rl,present,present,172629
+2026-08-28,Isaac-Humanoid,isaacsim_physx,none,,,8192,rsl_rl,present,present,172373
+2026-08-28,Isaac-Humanoid,newton_mjwarp,none,,,8192,rsl_rl,present,present,172496
+2026-08-28,Isaac-Humanoid,ovphysx,none,,,8192,rsl_rl,present,present,172636
+2026-08-28,Isaac-Humanoid-Direct,isaacsim_physx,none,,,8192,rsl_rl,present,present,172374
+2026-08-28,Isaac-Humanoid-Direct,newton_mjwarp,none,,,8192,rsl_rl,present,present,172496
+2026-08-28,Isaac-Humanoid-Direct,ovphysx,none,,,8192,rsl_rl,present,present,172636
+2026-08-28,Isaac-Lift-Franka,isaacsim_physx,none,,,8192,rsl_rl,present,present,172375
+2026-08-28,Isaac-Lift-Franka,newton_mjwarp,none,,,8192,rsl_rl,present,present,172494
+2026-08-28,Isaac-Lift-Franka,ovphysx,none,,,8192,rsl_rl,present,present,172638
+2026-08-28,Isaac-Lift-KukaAllegro,isaacsim_physx,none,,,8192,rsl_rl,present,present,172382
+2026-08-28,Isaac-Lift-KukaAllegro,newton_mjwarp,none,,,8192,rsl_rl,present,present,172506
+2026-08-28,Isaac-Lift-KukaAllegro,ovphysx,none,,,8192,rsl_rl,present,present,173148
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,isaacsim_rtx,"cube,simple_shading_full_mdl64,single_camera",64,8192,rsl_rl,present,present,172970
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,isaacsim_rtx,"cube,simple_shading_full_mdl64,single_camera",64,8192,rsl_rl,present,present,171806
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,"cube,simple_shading_full_mdl64,single_camera",64,8192,rsl_rl,present,present,172997
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,"cube,simple_shading_full_mdl64,single_camera",64,8192,rsl_rl,present,present,171815
+2026-08-28,Isaac-Open-Drawer-Franka,isaacsim_physx,none,,,8192,rsl_rl,present,present,172383
+2026-08-28,Isaac-Open-Drawer-Franka,newton_mjwarp,none,,,8192,rsl_rl,present,present,172515
+2026-08-28,Isaac-Open-Drawer-Franka,ovphysx,none,,,8192,rsl_rl,present,present,173143
+2026-08-28,Isaac-Open-Drawer-Franka-Direct,isaacsim_physx,none,,,8192,rsl_rl,present,present,172386
+2026-08-28,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,,,8192,rsl_rl,present,present,172515
+2026-08-28,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,,,8192,rsl_rl,present,present,173151
+2026-08-28,Isaac-Reach-Franka,isaacsim_physx,none,,,8192,rsl_rl,present,present,172393
+2026-08-28,Isaac-Reach-Franka,newton_mjwarp,none,,,8192,rsl_rl,present,present,172527
+2026-08-28,Isaac-Reach-Franka,ovphysx,none,,,8192,rsl_rl,present,present,173139
+2026-08-28,Isaac-Reach-Franka-OSC,isaacsim_physx,none,,,8192,rsl_rl,present,present,172393
+2026-08-28,Isaac-Reach-Franka-OSC,newton_mjwarp,none,,,8192,rsl_rl,present,present,172535
+2026-08-28,Isaac-Reach-Franka-OSC,ovphysx,none,,,8192,rsl_rl,present,present,173150
+2026-08-28,Isaac-Reach-UR10,isaacsim_physx,none,,,8192,rsl_rl,present,present,172379
+2026-08-28,Isaac-Reach-UR10,newton_mjwarp,none,,,8192,rsl_rl,present,present,172533
+2026-08-28,Isaac-Reach-UR10,ovphysx,none,,,8192,rsl_rl,present,present,173138
+2026-08-28,Isaac-Reorient-Cube-Allegro,isaacsim_physx,none,,,8192,rsl_rl,present,present,172390
+2026-08-28,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,,,8192,rsl_rl,present,present,172546
+2026-08-28,Isaac-Reorient-Cube-Allegro,ovphysx,none,,,8192,rsl_rl,present,present,173156
+2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,isaacsim_physx,none,,,8192,rsl_rl,present,present,172391
+2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,,,8192,rsl_rl,present,present,172546
+2026-08-28,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,,,8192,rsl_rl,present,present,173156
+2026-08-28,Isaac-Reorient-Cube-Shadow,isaacsim_physx,none,,,8192,rsl_rl,present,present,172388
+2026-08-28,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,,,8192,rsl_rl,present,present,173586
+2026-08-28,Isaac-Reorient-Cube-Shadow,ovphysx,none,,,8192,rsl_rl,present,present,173171
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,isaacsim_physx,isaacsim_rtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,171852
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,isaacsim_rtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,171826
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,171456
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,ovrtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,171853
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,isaacsim_rtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,171852
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,isaacsim_rtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,171826
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,171870
+2026-08-28,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,171853
+2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,isaacsim_physx,none,,,8192,rsl_rl,present,present,172389
+2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,,,8192,rsl_rl,present,present,173586
+2026-08-28,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,,,8192,rsl_rl,present,present,173171
+2026-08-28,Isaac-Reorient-Franka,isaacsim_physx,none,,,8192,rsl_rl,present,present,172400
+2026-08-28,Isaac-Reorient-Franka,newton_mjwarp,none,,,8192,rsl_rl,present,present,173578
+2026-08-28,Isaac-Reorient-Franka,ovphysx,none,,,8192,rsl_rl,present,present,173155
+2026-08-28,Isaac-Reorient-KukaAllegro,isaacsim_physx,none,,,8192,rsl_rl,present,present,172405
+2026-08-28,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,,,8192,rsl_rl,present,present,172545
+2026-08-28,Isaac-Reorient-KukaAllegro,ovphysx,none,,,8192,rsl_rl,present,present,173159
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,isaacsim_rtx,"cube,simple_shading_full_mdl64,single_camera",64,8192,rsl_rl,present,present,173554
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,isaacsim_rtx,"cube,simple_shading_full_mdl64,single_camera",64,8192,rsl_rl,present,present,173555
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,"cube,simple_shading_full_mdl64,single_camera",64,8192,rsl_rl,present,present,173530
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,"cube,simple_shading_full_mdl64,single_camera",64,8192,rsl_rl,present,present,173551
+2026-08-28,Isaac-Shadow-Handover-Direct,isaacsim_physx,none,,,8192,rsl_rl,present,present,172408
+2026-08-28,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,,,8192,rsl_rl,present,present,172564
+2026-08-28,Isaac-Shadow-Handover-Direct,ovphysx,none,,,8192,rsl_rl,present,present,173178
+2026-08-28,Isaac-Velocity-Flat-AnymalD,isaacsim_physx,none,,,8192,rsl_rl,present,present,172407
+2026-08-28,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,,,8192,rsl_rl,present,present,172539
+2026-08-28,Isaac-Velocity-Flat-AnymalD,ovphysx,none,,,8192,rsl_rl,present,present,173165
+2026-08-28,Isaac-Velocity-Flat-Cassie,isaacsim_physx,none,,,8192,rsl_rl,present,present,172406
+2026-08-28,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,,,8192,rsl_rl,present,present,172541
+2026-08-28,Isaac-Velocity-Flat-Cassie,ovphysx,none,,,8192,rsl_rl,present,present,173163
+2026-08-28,Isaac-Velocity-Flat-G1,isaacsim_physx,none,,,8192,rsl_rl,present,present,172414
+2026-08-28,Isaac-Velocity-Flat-G1,newton_mjwarp,none,,,8192,rsl_rl,present,present,172549
+2026-08-28,Isaac-Velocity-Flat-G1,ovphysx,none,,,8192,rsl_rl,present,present,173170
+2026-08-28,Isaac-Velocity-Flat-H1,isaacsim_physx,none,,,8192,rsl_rl,present,present,172409
+2026-08-28,Isaac-Velocity-Flat-H1,newton_mjwarp,none,,,8192,rsl_rl,present,present,172544
+2026-08-28,Isaac-Velocity-Flat-H1,ovphysx,none,,,8192,rsl_rl,present,present,173169
+2026-08-28,Isaac-Velocity-Flat-UnitreeGo2,isaacsim_physx,none,,,8192,rsl_rl,present,present,172413
+2026-08-28,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,,,8192,rsl_rl,present,present,172551
+2026-08-28,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,,,8192,rsl_rl,present,present,173176
+2026-08-28,Isaac-Velocity-Rough-AnymalD,isaacsim_physx,none,,,8192,rsl_rl,present,present,172417
+2026-08-28,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,,,8192,rsl_rl,present,present,173906
+2026-08-28,Isaac-Velocity-Rough-AnymalD,ovphysx,none,,,8192,rsl_rl,present,present,173177
+2026-08-28,Isaac-Velocity-Rough-Cassie,isaacsim_physx,none,,,8192,rsl_rl,present,present,172412
+2026-08-28,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,,,8192,rsl_rl,present,present,172554
+2026-08-28,Isaac-Velocity-Rough-Cassie,ovphysx,none,,,8192,rsl_rl,present,present,173173
+2026-08-28,Isaac-Velocity-Rough-G1,isaacsim_physx,none,,,8192,rsl_rl,present,present,172366
+2026-08-28,Isaac-Velocity-Rough-G1,newton_mjwarp,none,,,8192,rsl_rl,present,present,172488
+2026-08-28,Isaac-Velocity-Rough-G1,ovphysx,none,,,8192,rsl_rl,present,present,172624
+2026-08-28,Isaac-Velocity-Rough-H1,isaacsim_physx,none,,,8192,rsl_rl,present,present,172415
+2026-08-28,Isaac-Velocity-Rough-H1,newton_mjwarp,none,,,8192,rsl_rl,present,present,172560
+2026-08-28,Isaac-Velocity-Rough-H1,ovphysx,none,,,8192,rsl_rl,present,present,173179
+2026-08-28,Isaac-Velocity-Rough-UnitreeGo2,isaacsim_physx,none,,,8192,rsl_rl,present,present,172425
+2026-08-28,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,,,8192,rsl_rl,present,present,172557
+2026-08-28,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,,,8192,rsl_rl,present,present,173189
+2026-09-09,Isaac-Ant,isaacsim_physx,none,,,8192,rsl_rl,present,present,206246
+2026-09-09,Isaac-Ant,newton_mjwarp,none,,,8192,rsl_rl,present,present,206328
+2026-09-09,Isaac-Ant,ovphysx,none,,,8192,rsl_rl,present,present,206415
+2026-09-09,Isaac-Ant-Direct,isaacsim_physx,none,,,8192,rsl_rl,present,present,206246
+2026-09-09,Isaac-Ant-Direct,newton_mjwarp,none,,,8192,rsl_rl,present,present,206329
+2026-09-09,Isaac-Ant-Direct,ovphysx,none,,,8192,rsl_rl,present,present,206416
+2026-09-09,Isaac-Cartpole,isaacsim_physx,none,,,8192,rsl_rl,present,present,206242
+2026-09-09,Isaac-Cartpole,newton_mjwarp,none,,,8192,rsl_rl,present,present,206330
+2026-09-09,Isaac-Cartpole,ovphysx,none,,,8192,rsl_rl,present,present,206414
+2026-09-09,Isaac-Cartpole-Camera,isaacsim_physx,isaacsim_rtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,206582
+2026-09-09,Isaac-Cartpole-Camera,newton_mjwarp,isaacsim_rtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,205119
+2026-09-09,Isaac-Cartpole-Camera,newton_mjwarp,ovrtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,206626
+2026-09-09,Isaac-Cartpole-Camera,ovphysx,ovrtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,205152
+2026-09-09,Isaac-Cartpole-Camera-Direct,isaacsim_physx,isaacsim_rtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,206582
+2026-09-09,Isaac-Cartpole-Camera-Direct,newton_mjwarp,isaacsim_rtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,205119
+2026-09-09,Isaac-Cartpole-Camera-Direct,newton_mjwarp,ovrtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,206626
+2026-09-09,Isaac-Cartpole-Camera-Direct,ovphysx,ovrtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,205152
+2026-09-09,Isaac-Cartpole-Direct,isaacsim_physx,none,,,8192,rsl_rl,present,present,206242
+2026-09-09,Isaac-Cartpole-Direct,newton_mjwarp,none,,,8192,rsl_rl,present,present,206332
+2026-09-09,Isaac-Cartpole-Direct,ovphysx,none,,,8192,rsl_rl,present,present,206418
+2026-09-09,Isaac-Humanoid,isaacsim_physx,none,,,8192,rsl_rl,present,present,206251
+2026-09-09,Isaac-Humanoid,newton_mjwarp,none,,,8192,rsl_rl,present,present,206338
+2026-09-09,Isaac-Humanoid,ovphysx,none,,,8192,rsl_rl,present,present,206426
+2026-09-09,Isaac-Humanoid-Direct,isaacsim_physx,none,,,8192,rsl_rl,present,present,206251
+2026-09-09,Isaac-Humanoid-Direct,newton_mjwarp,none,,,8192,rsl_rl,present,present,206342
+2026-09-09,Isaac-Humanoid-Direct,ovphysx,none,,,8192,rsl_rl,present,present,206426
+2026-09-09,Isaac-Lift-Franka,isaacsim_physx,none,,,8192,rsl_rl,present,present,206254
+2026-09-09,Isaac-Lift-Franka,newton_mjwarp,none,,,8192,rsl_rl,present,present,206709
+2026-09-09,Isaac-Lift-Franka,ovphysx,none,,,8192,rsl_rl,present,present,206427
+2026-09-09,Isaac-Lift-KukaAllegro,isaacsim_physx,none,,,8192,rsl_rl,present,present,206259
+2026-09-09,Isaac-Lift-KukaAllegro,newton_mjwarp,none,,,8192,rsl_rl,present,present,206344
+2026-09-09,Isaac-Lift-KukaAllegro,ovphysx,none,,,8192,rsl_rl,present,present,206430
+2026-09-09,Isaac-Lift-KukaAllegro-Camera,isaacsim_physx,isaacsim_rtx,"cube,simple_shading_full_mdl64,single_camera",64,8192,rsl_rl,present,present,206590
+2026-09-09,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,isaacsim_rtx,"cube,simple_shading_full_mdl64,single_camera",64,8192,rsl_rl,present,present,205120
+2026-09-09,Isaac-Lift-KukaAllegro-Camera,newton_mjwarp,ovrtx,"cube,simple_shading_full_mdl64,single_camera",64,8192,rsl_rl,present,present,206620
+2026-09-09,Isaac-Lift-KukaAllegro-Camera,ovphysx,ovrtx,"cube,simple_shading_full_mdl64,single_camera",64,8192,rsl_rl,present,present,205154
+2026-09-09,Isaac-Open-Drawer-Franka,isaacsim_physx,none,,,8192,rsl_rl,present,present,206260
+2026-09-09,Isaac-Open-Drawer-Franka,newton_mjwarp,none,,,8192,rsl_rl,present,present,206352
+2026-09-09,Isaac-Open-Drawer-Franka,ovphysx,none,,,8192,rsl_rl,present,present,206431
+2026-09-09,Isaac-Open-Drawer-Franka-Direct,isaacsim_physx,none,,,8192,rsl_rl,present,present,206260
+2026-09-09,Isaac-Open-Drawer-Franka-Direct,newton_mjwarp,none,,,8192,rsl_rl,present,present,206352
+2026-09-09,Isaac-Open-Drawer-Franka-Direct,ovphysx,none,,,8192,rsl_rl,present,present,206431
+2026-09-09,Isaac-Reach-Franka,isaacsim_physx,none,,,8192,rsl_rl,present,present,206262
+2026-09-09,Isaac-Reach-Franka,newton_mjwarp,none,,,8192,rsl_rl,present,present,206351
+2026-09-09,Isaac-Reach-Franka,ovphysx,none,,,8192,rsl_rl,present,present,206432
+2026-09-09,Isaac-Reach-Franka-OSC,isaacsim_physx,none,,,8192,rsl_rl,present,present,206262
+2026-09-09,Isaac-Reach-Franka-OSC,newton_mjwarp,none,,,8192,rsl_rl,present,present,206351
+2026-09-09,Isaac-Reach-Franka-OSC,ovphysx,none,,,8192,rsl_rl,present,present,206432
+2026-09-09,Isaac-Reach-UR10,isaacsim_physx,none,,,8192,rsl_rl,present,present,206252
+2026-09-09,Isaac-Reach-UR10,newton_mjwarp,none,,,8192,rsl_rl,present,present,206350
+2026-09-09,Isaac-Reach-UR10,ovphysx,none,,,8192,rsl_rl,present,present,206425
+2026-09-09,Isaac-Reorient-Cube-Allegro,isaacsim_physx,none,,,8192,rsl_rl,present,present,206257
+2026-09-09,Isaac-Reorient-Cube-Allegro,newton_mjwarp,none,,,8192,rsl_rl,present,present,206357
+2026-09-09,Isaac-Reorient-Cube-Allegro,ovphysx,none,,,8192,rsl_rl,present,present,206434
+2026-09-09,Isaac-Reorient-Cube-Allegro-Direct,isaacsim_physx,none,,,8192,rsl_rl,present,present,206266
+2026-09-09,Isaac-Reorient-Cube-Allegro-Direct,newton_mjwarp,none,,,8192,rsl_rl,present,present,206357
+2026-09-09,Isaac-Reorient-Cube-Allegro-Direct,ovphysx,none,,,8192,rsl_rl,present,present,206434
+2026-09-09,Isaac-Reorient-Cube-Shadow,isaacsim_physx,none,,,8192,rsl_rl,present,present,206282
+2026-09-09,Isaac-Reorient-Cube-Shadow,newton_mjwarp,none,,,8192,rsl_rl,present,present,206386
+2026-09-09,Isaac-Reorient-Cube-Shadow,ovphysx,none,,,8192,rsl_rl,present,present,206443
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+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,isaacsim_rtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,205146
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera,newton_mjwarp,ovrtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,205105
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera,ovphysx,ovrtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,205165
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera-Direct,isaacsim_physx,isaacsim_rtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,205159
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,isaacsim_rtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,205146
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera-Direct,newton_mjwarp,ovrtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,205105
+2026-09-09,Isaac-Reorient-Cube-Shadow-Camera-Direct,ovphysx,ovrtx,simple_shading_full_mdl,64,8192,rsl_rl,present,present,205166
+2026-09-09,Isaac-Reorient-Cube-Shadow-Direct,isaacsim_physx,none,,,8192,rsl_rl,present,present,206282
+2026-09-09,Isaac-Reorient-Cube-Shadow-Direct,newton_mjwarp,none,,,8192,rsl_rl,present,present,206386
+2026-09-09,Isaac-Reorient-Cube-Shadow-Direct,ovphysx,none,,,8192,rsl_rl,present,present,206443
+2026-09-09,Isaac-Reorient-Franka,isaacsim_physx,none,,,8192,rsl_rl,present,present,206281
+2026-09-09,Isaac-Reorient-Franka,newton_mjwarp,none,,,8192,rsl_rl,present,present,206355
+2026-09-09,Isaac-Reorient-Franka,ovphysx,none,,,8192,rsl_rl,present,present,206436
+2026-09-09,Isaac-Reorient-KukaAllegro,isaacsim_physx,none,,,8192,rsl_rl,present,present,206273
+2026-09-09,Isaac-Reorient-KukaAllegro,newton_mjwarp,none,,,8192,rsl_rl,present,present,206358
+2026-09-09,Isaac-Reorient-KukaAllegro,ovphysx,none,,,8192,rsl_rl,present,present,206441
+2026-09-09,Isaac-Reorient-KukaAllegro-Camera,isaacsim_physx,isaacsim_rtx,"cube,simple_shading_full_mdl64,single_camera",64,8192,rsl_rl,present,present,206601
+2026-09-09,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,isaacsim_rtx,"cube,simple_shading_full_mdl64,single_camera",64,8192,rsl_rl,present,present,205136
+2026-09-09,Isaac-Reorient-KukaAllegro-Camera,newton_mjwarp,ovrtx,"cube,simple_shading_full_mdl64,single_camera",64,8192,rsl_rl,present,present,206625
+2026-09-09,Isaac-Reorient-KukaAllegro-Camera,ovphysx,ovrtx,"cube,simple_shading_full_mdl64,single_camera",64,8192,rsl_rl,present,present,205153
+2026-09-09,Isaac-Shadow-Handover-Direct,isaacsim_physx,none,,,8192,rsl_rl,present,present,206285
+2026-09-09,Isaac-Shadow-Handover-Direct,newton_mjwarp,none,,,8192,rsl_rl,present,present,206371
+2026-09-09,Isaac-Shadow-Handover-Direct,ovphysx,none,,,8192,rsl_rl,present,present,206450
+2026-09-09,Isaac-Velocity-Flat-AnymalD,isaacsim_physx,none,,,8192,rsl_rl,present,present,206271
+2026-09-09,Isaac-Velocity-Flat-AnymalD,newton_mjwarp,none,,,8192,rsl_rl,present,present,206363
+2026-09-09,Isaac-Velocity-Flat-AnymalD,ovphysx,none,,,8192,rsl_rl,present,present,206437
+2026-09-09,Isaac-Velocity-Flat-Cassie,isaacsim_physx,none,,,8192,rsl_rl,present,present,206269
+2026-09-09,Isaac-Velocity-Flat-Cassie,newton_mjwarp,none,,,8192,rsl_rl,present,present,206362
+2026-09-09,Isaac-Velocity-Flat-Cassie,ovphysx,none,,,8192,rsl_rl,present,present,206440
+2026-09-09,Isaac-Velocity-Flat-G1,isaacsim_physx,none,,,8192,rsl_rl,present,present,206274
+2026-09-09,Isaac-Velocity-Flat-G1,newton_mjwarp,none,,,8192,rsl_rl,present,present,206368
+2026-09-09,Isaac-Velocity-Flat-G1,ovphysx,none,,,8192,rsl_rl,present,present,206446
+2026-09-09,Isaac-Velocity-Flat-H1,isaacsim_physx,none,,,8192,rsl_rl,present,present,206272
+2026-09-09,Isaac-Velocity-Flat-H1,newton_mjwarp,none,,,8192,rsl_rl,present,present,206361
+2026-09-09,Isaac-Velocity-Flat-H1,ovphysx,none,,,8192,rsl_rl,present,present,206447
+2026-09-09,Isaac-Velocity-Flat-UnitreeGo2,isaacsim_physx,none,,,8192,rsl_rl,present,present,206279
+2026-09-09,Isaac-Velocity-Flat-UnitreeGo2,newton_mjwarp,none,,,8192,rsl_rl,present,present,206367
+2026-09-09,Isaac-Velocity-Flat-UnitreeGo2,ovphysx,none,,,8192,rsl_rl,present,present,206451
+2026-09-09,Isaac-Velocity-Rough-AnymalD,isaacsim_physx,none,,,8192,rsl_rl,present,present,206293
+2026-09-09,Isaac-Velocity-Rough-AnymalD,newton_mjwarp,none,,,8192,rsl_rl,present,present,206373
+2026-09-09,Isaac-Velocity-Rough-AnymalD,ovphysx,none,,,8192,rsl_rl,present,present,206712
+2026-09-09,Isaac-Velocity-Rough-Cassie,isaacsim_physx,none,,,8192,rsl_rl,present,present,206275
+2026-09-09,Isaac-Velocity-Rough-Cassie,newton_mjwarp,none,,,8192,rsl_rl,present,present,206384
+2026-09-09,Isaac-Velocity-Rough-Cassie,ovphysx,none,,,8192,rsl_rl,present,present,206445
+2026-09-09,Isaac-Velocity-Rough-G1,isaacsim_physx,none,,,8192,rsl_rl,present,present,206248
+2026-09-09,Isaac-Velocity-Rough-G1,newton_mjwarp,none,,,8192,rsl_rl,present,present,206349
+2026-09-09,Isaac-Velocity-Rough-G1,ovphysx,none,,,8192,rsl_rl,present,present,206420
+2026-09-09,Isaac-Velocity-Rough-H1,isaacsim_physx,none,,,8192,rsl_rl,present,present,206280
+2026-09-09,Isaac-Velocity-Rough-H1,newton_mjwarp,none,,,8192,rsl_rl,present,present,206369
+2026-09-09,Isaac-Velocity-Rough-H1,ovphysx,none,,,8192,rsl_rl,present,present,206448
+2026-09-09,Isaac-Velocity-Rough-UnitreeGo2,isaacsim_physx,none,,,8192,rsl_rl,present,present,206278
+2026-09-09,Isaac-Velocity-Rough-UnitreeGo2,newton_mjwarp,none,,,8192,rsl_rl,present,present,206370
+2026-09-09,Isaac-Velocity-Rough-UnitreeGo2,ovphysx,none,,,8192,rsl_rl,present,present,206456
diff --git a/docs/source/_static/benchmarks/coverage-preset-selectors.csv b/docs/source/_static/benchmarks/coverage-preset-selectors.csv
new file mode 100644
index 000000000000..ed070a5934dc
--- /dev/null
+++ b/docs/source/_static/benchmarks/coverage-preset-selectors.csv
@@ -0,0 +1,1439 @@
+snapshot_date_utc,task,num_envs,physics_backend,rendering_backend,preset,status,source_record_ids
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,isaacsim_rtx,albedo,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,isaacsim_rtx,depth,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,isaacsim_rtx,rgb,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,isaacsim_rtx,semantic_segmentation,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,isaacsim_rtx,simple_shading_constant_diffuse,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,isaacsim_rtx,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,isaacsim_rtx,simple_shading_full_mdl,explicitly measured,172963
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,newton_renderer,albedo,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,newton_renderer,depth,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,newton_renderer,rgb,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,newton_renderer,semantic_segmentation,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,newton_renderer,simple_shading_constant_diffuse,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,newton_renderer,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,newton_renderer,simple_shading_full_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,isaacsim_rtx,albedo,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,isaacsim_rtx,depth,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,isaacsim_rtx,rgb,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,isaacsim_rtx,semantic_segmentation,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,isaacsim_rtx,simple_shading_constant_diffuse,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,isaacsim_rtx,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,isaacsim_rtx,simple_shading_full_mdl,explicitly measured,171788
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,newton_renderer,albedo,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,newton_renderer,depth,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,newton_renderer,rgb,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,newton_renderer,semantic_segmentation,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,newton_renderer,simple_shading_constant_diffuse,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,newton_renderer,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,newton_renderer,simple_shading_full_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,ovrtx,albedo,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,ovrtx,depth,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,ovrtx,rgb,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,ovrtx,semantic_segmentation,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,ovrtx,simple_shading_constant_diffuse,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,ovrtx,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,newton_mjwarp,ovrtx,simple_shading_full_mdl,explicitly measured,173001
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,ovphysx,newton_renderer,albedo,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,ovphysx,newton_renderer,depth,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,ovphysx,newton_renderer,rgb,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,ovphysx,newton_renderer,semantic_segmentation,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,ovphysx,newton_renderer,simple_shading_constant_diffuse,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,ovphysx,newton_renderer,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,ovphysx,newton_renderer,simple_shading_full_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,ovphysx,ovrtx,albedo,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,ovphysx,ovrtx,depth,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,ovphysx,ovrtx,rgb,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,ovphysx,ovrtx,semantic_segmentation,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,ovphysx,ovrtx,simple_shading_constant_diffuse,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera-Direct,8192,ovphysx,ovrtx,simple_shading_diffuse_mdl,not explicitly recorded,
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+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,depth,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,resnet18,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,rgb,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,semantic_segmentation,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,simple_shading_constant_diffuse,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,simple_shading_full_mdl,explicitly measured,172963
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+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,depth,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,resnet18,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,rgb,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,semantic_segmentation,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,simple_shading_constant_diffuse,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,simple_shading_full_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,theia_tiny,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,albedo,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,depth,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,resnet18,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,rgb,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,semantic_segmentation,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,simple_shading_constant_diffuse,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,simple_shading_full_mdl,explicitly measured,171788
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,theia_tiny,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,albedo,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,depth,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,resnet18,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,rgb,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,semantic_segmentation,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,simple_shading_constant_diffuse,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,simple_shading_full_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,theia_tiny,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,albedo,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,depth,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,resnet18,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,rgb,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,semantic_segmentation,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,simple_shading_constant_diffuse,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,simple_shading_full_mdl,explicitly measured,173001
+2026-08-28,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,theia_tiny,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,albedo,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,depth,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,resnet18,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,rgb,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,semantic_segmentation,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,simple_shading_constant_diffuse,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,simple_shading_full_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,theia_tiny,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,albedo,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,depth,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,resnet18,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,rgb,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,semantic_segmentation,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,simple_shading_constant_diffuse,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,simple_shading_full_mdl,explicitly measured,171813
+2026-08-28,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,theia_tiny,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cable-Franka,8192,newton_mjwarp_vbd_proxy,none,ik,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cable-Franka,8192,newton_mjwarp_vbd_proxy,none,joint,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,isaacsim_rtx,ik,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,isaacsim_rtx,joint,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,newton_renderer,ik,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,newton_renderer,joint,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,ovrtx,ik,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,ovrtx,joint,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cloth-Franka,8192,isaacsim_physx,none,ik,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cloth-Franka,8192,isaacsim_physx,none,joint,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cloth-Franka,8192,newton_mjwarp_vbd_proxy,none,ik,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cloth-Franka,8192,newton_mjwarp_vbd_proxy,none,joint,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,8192,isaacsim_physx,isaacsim_rtx,ik,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,8192,isaacsim_physx,isaacsim_rtx,joint,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,8192,isaacsim_physx,newton_renderer,ik,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,8192,isaacsim_physx,newton_renderer,joint,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,isaacsim_rtx,ik,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,isaacsim_rtx,joint,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,newton_renderer,ik,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,newton_renderer,joint,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,ovrtx,ik,not explicitly recorded,
+2026-08-28,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,ovrtx,joint,not explicitly recorded,
+2026-08-28,Isaac-Lift-Franka,8192,isaacsim_physx,none,cube,not explicitly recorded,
+2026-08-28,Isaac-Lift-Franka,8192,isaacsim_physx,none,shapes,not explicitly recorded,
+2026-08-28,Isaac-Lift-Franka,8192,newton_mjwarp,none,cube,not explicitly recorded,
+2026-08-28,Isaac-Lift-Franka,8192,newton_mjwarp,none,shapes,not explicitly recorded,
+2026-08-28,Isaac-Lift-Franka,8192,ovphysx,none,cube,not explicitly recorded,
+2026-08-28,Isaac-Lift-Franka,8192,ovphysx,none,shapes,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro,8192,isaacsim_physx,none,cube,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro,8192,isaacsim_physx,none,shapes,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro,8192,newton_mjwarp,none,cube,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro,8192,newton_mjwarp,none,shapes,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro,8192,ovphysx,none,cube,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro,8192,ovphysx,none,shapes,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,albedo128,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,albedo256,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,albedo64,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,cube,explicitly measured,172970
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,depth128,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,depth256,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,depth64,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,duo_camera,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,raycaster_depth128,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,raycaster_depth256,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,raycaster_depth64,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,rgb128,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,rgb256,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,rgb64,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,semantic_segmentation128,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,semantic_segmentation256,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,semantic_segmentation64,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,shapes,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,simple_shading_constant_diffuse128,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,simple_shading_constant_diffuse256,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,simple_shading_constant_diffuse64,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,simple_shading_diffuse_mdl128,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,simple_shading_diffuse_mdl256,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,simple_shading_diffuse_mdl64,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,simple_shading_full_mdl128,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,simple_shading_full_mdl256,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,simple_shading_full_mdl64,explicitly measured,172970
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,single_camera,explicitly measured,172970
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,albedo128,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,albedo256,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,albedo64,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,cube,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,depth128,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,depth256,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,depth64,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,duo_camera,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,raycaster_depth128,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,raycaster_depth256,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,raycaster_depth64,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,rgb128,not explicitly recorded,
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+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,rgb64,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,semantic_segmentation128,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,semantic_segmentation256,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,semantic_segmentation64,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,shapes,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,simple_shading_constant_diffuse128,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,simple_shading_constant_diffuse256,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,simple_shading_constant_diffuse64,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,simple_shading_diffuse_mdl128,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,simple_shading_diffuse_mdl256,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,simple_shading_diffuse_mdl64,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,simple_shading_full_mdl128,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,simple_shading_full_mdl256,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,simple_shading_full_mdl64,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,newton_renderer,single_camera,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,newton_mjwarp,isaacsim_rtx,albedo128,not explicitly recorded,
+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,newton_mjwarp,isaacsim_rtx,albedo256,not explicitly recorded,
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+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,newton_mjwarp,isaacsim_rtx,depth128,not explicitly recorded,
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+2026-08-28,Isaac-Lift-KukaAllegro-Camera,8192,newton_mjwarp,ovrtx,depth256,not explicitly recorded,
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+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,newton_mjwarp,isaacsim_rtx,simple_shading_diffuse_mdl64,not explicitly recorded,
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,newton_mjwarp,isaacsim_rtx,simple_shading_full_mdl128,not explicitly recorded,
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,newton_mjwarp,isaacsim_rtx,simple_shading_full_mdl256,not explicitly recorded,
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+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,newton_mjwarp,ovrtx,simple_shading_constant_diffuse256,not explicitly recorded,
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,newton_mjwarp,ovrtx,simple_shading_constant_diffuse64,not explicitly recorded,
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,newton_mjwarp,ovrtx,simple_shading_diffuse_mdl128,not explicitly recorded,
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,newton_mjwarp,ovrtx,simple_shading_diffuse_mdl256,not explicitly recorded,
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+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,newton_mjwarp,ovrtx,simple_shading_full_mdl256,not explicitly recorded,
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+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,ovphysx,newton_renderer,depth128,not explicitly recorded,
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,ovphysx,newton_renderer,depth256,not explicitly recorded,
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,ovphysx,newton_renderer,depth64,not explicitly recorded,
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+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,ovphysx,newton_renderer,raycaster_depth128,not explicitly recorded,
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+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,ovphysx,newton_renderer,raycaster_depth64,not explicitly recorded,
+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,ovphysx,newton_renderer,rgb128,not explicitly recorded,
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+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,ovphysx,newton_renderer,semantic_segmentation128,not explicitly recorded,
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+2026-08-28,Isaac-Reorient-KukaAllegro-Camera,8192,ovphysx,newton_renderer,simple_shading_full_mdl256,not explicitly recorded,
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+2026-08-28,Isaac-Shadow-Handover,8192,ovphysx,none,randomized,not explicitly recorded,
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+2026-09-09,Isaac-Cartpole-Camera-Direct,8192,isaacsim_physx,isaacsim_rtx,depth,not explicitly recorded,
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+2026-09-09,Isaac-Cartpole-Camera-Direct,8192,ovphysx,ovrtx,simple_shading_full_mdl,explicitly measured,205152
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,albedo,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,depth,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,resnet18,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,rgb,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,semantic_segmentation,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,simple_shading_constant_diffuse,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,simple_shading_full_mdl,explicitly measured,206582
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,isaacsim_rtx,theia_tiny,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,albedo,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,depth,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,resnet18,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,rgb,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,semantic_segmentation,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,simple_shading_constant_diffuse,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,simple_shading_full_mdl,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,isaacsim_physx,newton_renderer,theia_tiny,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,albedo,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,depth,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,resnet18,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,rgb,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,semantic_segmentation,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,simple_shading_constant_diffuse,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,isaacsim_rtx,simple_shading_full_mdl,explicitly measured,205119
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+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,albedo,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,depth,not explicitly recorded,
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+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,rgb,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,semantic_segmentation,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,simple_shading_constant_diffuse,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,simple_shading_full_mdl,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,newton_renderer,theia_tiny,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,albedo,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,depth,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,resnet18,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,rgb,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,semantic_segmentation,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,simple_shading_constant_diffuse,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,newton_mjwarp,ovrtx,simple_shading_full_mdl,explicitly measured,206626
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+2026-09-09,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,depth,not explicitly recorded,
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+2026-09-09,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,rgb,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,semantic_segmentation,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,simple_shading_constant_diffuse,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,ovphysx,newton_renderer,simple_shading_full_mdl,not explicitly recorded,
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+2026-09-09,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,depth,not explicitly recorded,
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+2026-09-09,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,rgb,not explicitly recorded,
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+2026-09-09,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,simple_shading_constant_diffuse,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,simple_shading_diffuse_mdl,not explicitly recorded,
+2026-09-09,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,simple_shading_full_mdl,explicitly measured,205152
+2026-09-09,Isaac-Cartpole-Camera,8192,ovphysx,ovrtx,theia_tiny,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cable-Franka,8192,newton_mjwarp_vbd_proxy,none,ik,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cable-Franka,8192,newton_mjwarp_vbd_proxy,none,joint,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,isaacsim_rtx,ik,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,isaacsim_rtx,joint,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,newton_renderer,ik,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,newton_renderer,joint,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,ovrtx,ik,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cable-Franka-Camera,8192,newton_mjwarp_vbd_proxy,ovrtx,joint,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cloth-Franka,8192,isaacsim_physx,none,ik,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cloth-Franka,8192,isaacsim_physx,none,joint,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cloth-Franka,8192,newton_mjwarp_vbd_proxy,none,ik,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cloth-Franka,8192,newton_mjwarp_vbd_proxy,none,joint,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,8192,isaacsim_physx,isaacsim_rtx,ik,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,8192,isaacsim_physx,isaacsim_rtx,joint,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,8192,isaacsim_physx,newton_renderer,ik,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,8192,isaacsim_physx,newton_renderer,joint,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,isaacsim_rtx,ik,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,isaacsim_rtx,joint,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,newton_renderer,ik,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,newton_renderer,joint,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,ovrtx,ik,not explicitly recorded,
+2026-09-09,Isaac-Lift-Cloth-Franka-Camera,8192,newton_mjwarp_vbd_proxy,ovrtx,joint,not explicitly recorded,
+2026-09-09,Isaac-Lift-Franka,8192,isaacsim_physx,none,cube,not explicitly recorded,
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+2026-09-09,Isaac-Lift-Franka,8192,newton_mjwarp,none,cube,not explicitly recorded,
+2026-09-09,Isaac-Lift-Franka,8192,newton_mjwarp,none,shapes,not explicitly recorded,
+2026-09-09,Isaac-Lift-Franka,8192,ovphysx,none,cube,not explicitly recorded,
+2026-09-09,Isaac-Lift-Franka,8192,ovphysx,none,shapes,not explicitly recorded,
+2026-09-09,Isaac-Lift-KukaAllegro,8192,isaacsim_physx,none,cube,not explicitly recorded,
+2026-09-09,Isaac-Lift-KukaAllegro,8192,isaacsim_physx,none,shapes,not explicitly recorded,
+2026-09-09,Isaac-Lift-KukaAllegro,8192,newton_mjwarp,none,cube,not explicitly recorded,
+2026-09-09,Isaac-Lift-KukaAllegro,8192,newton_mjwarp,none,shapes,not explicitly recorded,
+2026-09-09,Isaac-Lift-KukaAllegro,8192,ovphysx,none,cube,not explicitly recorded,
+2026-09-09,Isaac-Lift-KukaAllegro,8192,ovphysx,none,shapes,not explicitly recorded,
+2026-09-09,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,albedo128,not explicitly recorded,
+2026-09-09,Isaac-Lift-KukaAllegro-Camera,8192,isaacsim_physx,isaacsim_rtx,albedo256,not explicitly recorded,
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diff --git a/docs/source/_static/benchmarks/environment-performance-develop.csv b/docs/source/_static/benchmarks/environment-performance-develop.csv
new file mode 100644
index 000000000000..a035c7ac1bed
--- /dev/null
+++ b/docs/source/_static/benchmarks/environment-performance-develop.csv
@@ -0,0 +1,229 @@
+benchmark_date_utc,data_origin,recorded_at_utc,task,workload,rl_library,physics_backend,rendering_backend,num_envs,seed,measured_iterations,total_fps_mean,total_fps_std,total_fps_peak,vram_mean_gb,vram_std_gb,vram_peak_gb,gpu_util_mean_pct,gpu_util_std_pct,gpu_name,gpu_memory_total_gb,cpu_name,physical_cpu_count,ram_total_gb,cuda_bindings_version,nvidia_driver_version,git_commit,source_record_id,measurement_timestamp,task_presets,comparison_group_name,source_entry_key,snapshot_date_utc,camera_resolution,quality_notes,collection_fps_mean,collection_fps_std,collection_fps_peak,physics_backend_source,rendering_backend_source
+2026-08-28,measured,2026-08-28T13:04:32.581498Z,Isaac-Ant,training,rsl_rl,isaacsim_physx,none,8192,42,10,389741.20,91836.30,432439.00,8.55,0.53,8.82,28.44,21.26,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172370,2026-08-28T06:02:23.978806,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-28,,dirty working tree reported,467391.71,113525.41,524798.75,database,database
+2026-08-28,measured,2026-08-28T13:48:23.762141Z,Isaac-Ant,training,rsl_rl,newton_mjwarp,none,8192,42,10,759338.20,209897.76,827478.00,2.15,0.61,2.54,34.00,26.97,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172485,2026-08-28T06:47:19.171502,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-28,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,1075709.02,311796.52,1177525.02,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T14:29:36.405301Z,Isaac-Ant,training,rsl_rl,ovphysx,none,8192,42,10,503028.40,125953.33,547513.00,5.56,0.61,5.91,20.29,12.88,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172630,2026-08-28T07:27:02.409293,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Ant_8192,2026-08-28,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,623980.48,160933.16,681737.88,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:04:32.581498Z,Isaac-Ant-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,442216.20,83184.46,487737.00,8.63,0.49,8.82,22.14,9.12,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172370,2026-08-28T06:03:17.465167,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-28,,dirty working tree reported,543436.11,96751.50,603114.90,database,database
+2026-08-28,measured,2026-08-28T13:48:24.014891Z,Isaac-Ant-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,974649.00,234054.90,1053555.00,2.29,0.56,2.54,41.80,22.94,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172486,2026-08-28T06:47:39.906100,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-28,,dirty working tree reported; Collection FPS coefficient of variation >25%,1556926.47,396239.46,1691072.44,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T14:29:36.405301Z,Isaac-Ant-Direct,training,rsl_rl,ovphysx,none,8192,42,10,565741.90,109935.77,618291.00,5.68,0.53,5.91,26.50,15.31,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172630,2026-08-28T07:27:53.571126,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-08-28,,dirty working tree reported,719391.92,137966.09,791267.17,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:04:07.273155Z,Isaac-Cartpole,training,rsl_rl,isaacsim_physx,none,8192,42,10,526423.10,116606.85,590913.00,7.09,0.03,7.11,15.25,6.18,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172369,2026-08-28T06:02:48.892286,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-28,,dirty working tree reported,777899.30,176253.23,878340.28,database,database
+2026-08-28,measured,2026-08-28T13:49:14.015862Z,Isaac-Cartpole,training,rsl_rl,newton_mjwarp,none,8192,42,10,912650.00,234422.81,990708.00,0.93,0.06,0.96,15.67,13.58,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172489,2026-08-28T06:48:19.442079,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-28,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,1645496.24,450117.44,1797939.02,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T14:29:22.161691Z,Isaac-Cartpole,training,rsl_rl,ovphysx,none,8192,42,10,632834.50,147857.96,739498.00,3.99,0.03,4.00,15.25,10.18,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172629,2026-08-28T07:28:06.056903,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-08-28,,dirty working tree reported,903654.94,216012.92,1094189.49,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T16:11:25.737814Z,Isaac-Cartpole-Camera,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,68816.20,9803.10,73410.00,65.16,2.33,66.08,50.16,32.03,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172963,2026-08-28T09:09:08.339837,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,64,dirty working tree reported,107493.59,12544.81,114851.09,database,database
+2026-08-28,measured,2026-08-28T09:37:10.310960Z,Isaac-Cartpole-Camera,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,71242.20,10706.19,75685.00,62.10,2.37,63.21,52.41,33.90,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,171788,2026-08-28T02:35:04.383932,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,64,dirty working tree reported,113440.80,14850.29,120129.44,database,database
+2026-08-28,measured,2026-08-28T16:36:51.964494Z,Isaac-Cartpole-Camera,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,91686.50,13979.24,98266.00,62.93,3.13,78.54,60.74,31.91,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173001,2026-08-28T09:35:05.237795,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,64,dirty working tree reported,171334.11,21297.09,185610.22,successful WARM task preset,successful WARM task preset
+2026-08-28,measured,2026-08-28T09:45:29.482017Z,Isaac-Cartpole-Camera,training,rsl_rl,ovphysx,ovrtx,8192,42,10,85296.80,12556.47,90955.00,65.59,2.26,66.51,58.49,32.67,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,171813,2026-08-28T02:43:23.289625,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-08-28,64,dirty working tree reported,150535.28,17286.82,161208.15,successful WARM task preset,successful WARM task preset
+2026-08-28,measured,2026-08-28T16:11:25.737814Z,Isaac-Cartpole-Camera-Direct,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,70026.30,9858.82,73632.00,63.52,2.78,80.74,50.73,33.68,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172963,2026-08-28T09:07:03.330906,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,64,dirty working tree reported,110431.60,12393.58,115849.48,database,database
+2026-08-28,measured,2026-08-28T09:37:10.310960Z,Isaac-Cartpole-Camera-Direct,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,74481.70,11875.18,79994.00,60.15,1.90,62.32,51.07,33.92,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,171788,2026-08-28T02:33:12.894592,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,64,dirty working tree reported,121559.60,17634.47,131396.69,database,database
+2026-08-28,measured,2026-08-28T16:36:51.964494Z,Isaac-Cartpole-Camera-Direct,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,97210.00,15720.62,104083.00,60.99,3.05,78.01,61.07,33.35,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173001,2026-08-28T09:33:36.756208,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,64,dirty working tree reported,191100.16,27001.05,207248.07,successful WARM task preset,successful WARM task preset
+2026-08-28,measured,2026-08-28T09:45:29.482017Z,Isaac-Cartpole-Camera-Direct,training,rsl_rl,ovphysx,ovrtx,8192,42,10,89516.00,14051.62,97462.00,63.63,1.82,64.97,58.34,33.46,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,171813,2026-08-28T02:41:29.461182,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-08-28,64,dirty working tree reported,163836.63,22089.57,182407.98,successful WARM task preset,successful WARM task preset
+2026-08-28,measured,2026-08-28T13:05:59.831880Z,Isaac-Cartpole-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,567096.20,132442.92,628080.00,7.09,0.03,7.11,14.75,8.54,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172371,2026-08-28T06:05:11.132370,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-28,,dirty working tree reported,880330.22,207886.19,970984.37,database,database
+2026-08-28,measured,2026-08-28T13:50:36.571872Z,Isaac-Cartpole-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,1097751.60,300677.66,1205015.00,0.93,0.06,0.96,17.00,14.73,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172491,2026-08-28T06:49:52.682297,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-28,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,2268243.72,661748.85,2499662.69,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T14:29:22.161691Z,Isaac-Cartpole-Direct,training,rsl_rl,ovphysx,none,8192,42,10,689590.90,168684.09,757699.00,3.99,0.03,4.00,15.00,10.03,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172629,2026-08-28T07:28:30.200520,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-08-28,,dirty working tree reported,1023118.28,251345.12,1131245.32,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:06:18.271793Z,Isaac-Humanoid,training,rsl_rl,isaacsim_physx,none,8192,42,10,255713.60,52596.34,278589.00,9.60,0.63,9.94,31.83,19.54,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172373,2026-08-28T06:03:26.904934,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-28,,dirty working tree reported,289104.00,59341.94,314931.71,database,database
+2026-08-28,measured,2026-08-28T13:51:44.643735Z,Isaac-Humanoid,training,rsl_rl,newton_mjwarp,none,8192,42,10,521771.10,131179.10,564263.00,2.91,0.64,3.28,45.71,31.25,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172496,2026-08-28T06:50:31.398459,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-28,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,655929.71,170609.15,711825.26,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T14:31:36.002952Z,Isaac-Humanoid,training,rsl_rl,ovphysx,none,8192,42,10,317255.50,68256.46,346819.00,7.10,0.66,7.41,29.30,22.72,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172636,2026-08-28T07:27:40.003541,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-08-28,,dirty working tree reported,362417.68,78983.67,397867.51,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:07:00.471146Z,Isaac-Humanoid-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,283916.30,42949.83,321205.00,9.64,0.64,9.93,36.40,21.23,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172374,2026-08-28T06:05:23.887047,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-28,,dirty working tree reported,324368.36,47014.41,367379.71,database,database
+2026-08-28,measured,2026-08-28T13:51:44.643735Z,Isaac-Humanoid-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,618695.10,124552.25,660666.00,3.02,0.58,3.25,60.33,29.62,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172496,2026-08-28T06:50:55.590859,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-28,,dirty working tree reported,814696.47,165258.58,870802.36,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T14:31:36.002952Z,Isaac-Humanoid-Direct,training,rsl_rl,ovphysx,none,8192,42,10,347311.90,54304.12,375834.00,6.97,0.67,7.30,32.89,17.07,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172636,2026-08-28T07:28:55.590762,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-08-28,,dirty working tree reported,402863.72,59873.40,437012.66,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:09:14.335137Z,Isaac-Lift-Franka,training,rsl_rl,isaacsim_physx,none,8192,42,10,153514.20,19952.18,165636.00,14.02,0.72,14.33,49.71,20.75,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172375,2026-08-28T06:05:14.449056,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-28,,dirty working tree reported,182088.22,23638.15,194042.03,database,database
+2026-08-28,measured,2026-08-28T13:51:39.189136Z,Isaac-Lift-Franka,training,rsl_rl,newton_mjwarp,none,8192,42,10,306154.80,51785.54,324339.00,6.17,0.99,6.64,65.00,24.06,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172494,2026-08-28T06:50:29.270993,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-28,,dirty working tree reported,415848.86,78744.31,444317.50,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T14:32:39.751463Z,Isaac-Lift-Franka,training,rsl_rl,ovphysx,none,8192,42,10,59199.90,3090.26,60989.00,10.68,0.69,10.93,18.77,17.17,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172638,2026-08-28T07:29:30.721536,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-08-28,,dirty working tree reported,62383.83,3167.30,64267.37,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:11:20.162612Z,Isaac-Lift-KukaAllegro,training,rsl_rl,isaacsim_physx,none,8192,42,10,54984.50,3079.97,61387.00,16.26,1.01,16.71,78.76,12.79,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172382,2026-08-28T06:06:39.433349,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-28,,dirty working tree reported,58434.79,3532.17,66480.05,database,database
+2026-08-28,measured,2026-08-28T13:54:47.617698Z,Isaac-Lift-KukaAllegro,training,rsl_rl,newton_mjwarp,none,8192,42,10,197740.30,26170.21,209745.00,8.30,1.06,8.70,78.20,10.40,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172506,2026-08-28T06:53:39.305246,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-28,,dirty working tree reported,245365.04,35369.45,262965.32,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:30:34.293354Z,Isaac-Lift-KukaAllegro,training,rsl_rl,ovphysx,none,8192,42,10,32274.70,649.90,33178.00,13.99,0.95,14.52,52.05,28.19,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173148,2026-08-28T11:26:45.082991,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-08-28,,dirty working tree reported,33328.20,630.00,34263.33,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T16:17:16.558441Z,Isaac-Lift-KukaAllegro-Camera,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,12778.40,2322.53,13865.00,32.15,1.88,33.16,18.26,28.14,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172970,2026-08-28T09:08:37.750993,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,64,dirty working tree reported,13462.27,2383.76,14617.32,database,database
+2026-08-28,measured,2026-08-28T09:43:29.089711Z,Isaac-Lift-KukaAllegro-Camera,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,15091.20,1786.04,16022.00,28.03,1.51,29.85,18.67,27.89,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,171806,2026-08-28T02:36:28.851574,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,64,dirty working tree reported,16081.29,1661.87,17014.30,database,database
+2026-08-28,measured,2026-08-28T16:32:56.266777Z,Isaac-Lift-KukaAllegro-Camera,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,69258.20,13294.88,74197.00,28.20,1.70,28.94,53.82,30.28,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172997,2026-08-28T09:30:40.790763,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,64,dirty working tree reported,93474.05,15229.76,99391.87,successful WARM task preset,successful WARM task preset
+2026-08-28,measured,2026-08-28T09:45:56.994064Z,Isaac-Lift-KukaAllegro-Camera,training,rsl_rl,ovphysx,ovrtx,8192,42,10,23625.00,2414.14,24767.00,33.92,1.52,34.55,42.13,32.19,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,171815,2026-08-28T02:40:48.879716,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,64,dirty working tree reported,26049.96,1770.87,27062.82,successful WARM task preset,successful WARM task preset
+2026-08-28,measured,2026-08-28T13:11:40.531419Z,Isaac-Open-Drawer-Franka,training,rsl_rl,isaacsim_physx,none,8192,42,10,248320.20,18042.06,263945.00,11.54,0.72,11.81,61.70,13.64,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172383,2026-08-28T06:06:59.246258,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-28,,dirty working tree reported,263884.51,18192.83,279463.41,database,database
+2026-08-28,measured,2026-08-28T13:57:09.063648Z,Isaac-Open-Drawer-Franka,training,rsl_rl,newton_mjwarp,none,8192,42,10,362423.80,23024.69,376152.00,7.43,1.34,7.86,74.13,16.30,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172515,2026-08-28T06:55:26.316464,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-28,,dirty working tree reported,392010.74,20871.05,405924.96,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:28:59.374403Z,Isaac-Open-Drawer-Franka,training,rsl_rl,ovphysx,none,8192,42,10,255167.80,19068.30,283032.00,8.93,0.67,9.20,59.81,12.94,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173143,2026-08-28T11:24:35.012297,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-08-28,,dirty working tree reported,270083.73,19840.64,299759.79,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:12:09.027117Z,Isaac-Open-Drawer-Franka-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,246533.30,21248.88,260244.00,11.53,0.72,11.81,57.80,12.45,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172386,2026-08-28T06:09:39.496810,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-28,,dirty working tree reported,261515.36,21818.23,277564.24,database,database
+2026-08-28,measured,2026-08-28T13:57:09.063648Z,Isaac-Open-Drawer-Franka-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,375064.00,26928.82,385339.00,7.34,1.36,7.79,74.18,16.58,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172515,2026-08-28T06:56:08.158141,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-28,,dirty working tree reported,406809.95,25118.17,416744.19,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:33:17.828428Z,Isaac-Open-Drawer-Franka-Direct,training,rsl_rl,ovphysx,none,8192,42,10,266229.90,17353.70,292539.00,8.92,0.70,9.22,60.80,12.07,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173151,2026-08-28T11:30:56.917191,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-08-28,,dirty working tree reported,282291.80,16821.61,310454.70,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:16:27.048675Z,Isaac-Reach-Franka,training,rsl_rl,isaacsim_physx,none,8192,42,10,232598.90,57917.08,267162.00,8.38,0.11,8.45,29.70,14.33,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172393,2026-08-28T06:10:28.545344,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-28,,dirty working tree reported; Collection FPS coefficient of variation >25%,274017.91,70471.09,319096.98,database,database
+2026-08-28,measured,2026-08-28T13:59:34.091882Z,Isaac-Reach-Franka,training,rsl_rl,newton_mjwarp,none,8192,42,10,470959.30,134206.39,517111.00,2.43,0.43,2.62,49.43,31.82,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172527,2026-08-28T06:58:09.802425,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-28,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,624993.96,184416.33,688113.97,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:28:04.819103Z,Isaac-Reach-Franka,training,rsl_rl,ovphysx,none,8192,42,10,272612.00,68609.52,297172.00,5.24,0.10,5.31,30.50,16.16,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173139,2026-08-28T11:24:01.552536,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-08-28,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,317149.73,81496.84,346625.45,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:16:27.048675Z,Isaac-Reach-Franka-OSC,training,rsl_rl,isaacsim_physx,none,8192,42,10,155556.60,34373.46,168813.00,8.47,0.12,8.53,26.00,13.51,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172393,2026-08-28T06:13:16.935389,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-28,,dirty working tree reported,174404.13,39011.02,193662.28,database,database
+2026-08-28,measured,2026-08-28T14:03:21.541126Z,Isaac-Reach-Franka-OSC,training,rsl_rl,newton_mjwarp,none,8192,42,10,227157.70,55075.02,245507.00,2.50,0.35,2.64,41.73,22.22,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172535,2026-08-28T07:02:25.653192,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-28,,dirty working tree reported,256990.19,63349.53,278369.78,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:32:31.206865Z,Isaac-Reach-Franka-OSC,training,rsl_rl,ovphysx,none,8192,42,10,191872.10,44244.21,209508.00,5.30,0.11,5.36,27.50,14.19,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173150,2026-08-28T11:30:17.209316,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-08-28,,dirty working tree reported,212404.87,49569.37,232312.39,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:10:34.361602Z,Isaac-Reach-UR10,training,rsl_rl,isaacsim_physx,none,8192,42,10,246510.80,61554.97,276113.00,8.32,0.38,8.52,39.10,23.33,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172379,2026-08-28T06:09:15.829285,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-28,,dirty working tree reported; Collection FPS coefficient of variation >25%,292838.38,75355.34,330812.98,database,database
+2026-08-28,measured,2026-08-28T14:02:02.727131Z,Isaac-Reach-UR10,training,rsl_rl,newton_mjwarp,none,8192,42,10,534348.20,155505.24,595128.00,2.64,0.66,2.92,38.29,29.00,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172533,2026-08-28T07:01:21.829257,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-28,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,735559.15,222334.72,827131.66,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:27:10.792610Z,Isaac-Reach-UR10,training,rsl_rl,ovphysx,none,8192,42,10,282815.80,71965.50,308635.00,5.46,0.09,5.51,39.40,20.06,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173138,2026-08-28T11:26:01.255542,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-08-28,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,331582.34,86168.65,363161.02,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:14:02.608550Z,Isaac-Reorient-Cube-Allegro,training,rsl_rl,isaacsim_physx,none,8192,42,10,111211.50,17709.92,120640.00,10.03,0.61,10.29,45.78,16.29,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172390,2026-08-28T06:09:18.866944,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-28,,dirty working tree reported,118136.96,18427.73,128283.69,database,database
+2026-08-28,measured,2026-08-28T14:05:12.934183Z,Isaac-Reorient-Cube-Allegro,training,rsl_rl,newton_mjwarp,none,8192,42,10,166465.60,27067.52,176918.00,8.07,1.89,8.69,73.54,33.16,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172546,2026-08-28T07:03:35.234075,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-28,,dirty working tree reported,180928.17,28333.16,192136.55,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:34:48.608600Z,Isaac-Reorient-Cube-Allegro,training,rsl_rl,ovphysx,none,8192,42,10,94057.90,11327.01,98389.00,7.52,0.54,7.72,37.27,18.11,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173156,2026-08-28T11:29:31.550545,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-08-28,,dirty working tree reported,98635.85,11254.43,103012.48,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:14:21.621620Z,Isaac-Reorient-Cube-Allegro-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,99763.20,19753.33,108233.00,10.44,0.81,10.85,42.71,17.62,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172391,2026-08-28T06:11:43.389505,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-28,,dirty working tree reported,111848.92,22739.48,121244.51,database,database
+2026-08-28,measured,2026-08-28T14:05:12.934183Z,Isaac-Reorient-Cube-Allegro-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,143610.70,30803.17,154117.00,8.11,2.17,9.05,69.55,34.47,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172546,2026-08-28T07:04:06.139379,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-28,,dirty working tree reported,166709.66,37054.54,179393.01,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:34:48.608600Z,Isaac-Reorient-Cube-Allegro-Direct,training,rsl_rl,ovphysx,none,8192,42,10,86401.10,14702.38,92035.00,7.69,0.73,8.01,36.41,14.06,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173156,2026-08-28T11:31:10.426050,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-08-28,,dirty working tree reported,94304.07,16287.85,100575.53,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:13:12.088687Z,Isaac-Reorient-Cube-Shadow,training,rsl_rl,isaacsim_physx,none,8192,42,10,152017.40,32845.44,169446.00,11.00,0.56,11.26,36.20,18.48,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172388,2026-08-28T06:09:07.630354,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-28,,dirty working tree reported,176249.50,39003.69,198667.83,database,database
+2026-08-28,measured,2026-08-28T21:25:59.584714Z,Isaac-Reorient-Cube-Shadow,training,rsl_rl,newton_mjwarp,none,8192,42,10,261842.80,60909.33,283915.00,8.64,2.67,9.82,59.43,36.02,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173586,2026-08-28T14:24:22.817706,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-28,,dirty working tree reported,327024.66,77997.14,356708.66,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:41:14.939908Z,Isaac-Reorient-Cube-Shadow,training,rsl_rl,ovphysx,none,8192,42,10,110060.40,19128.41,117477.00,8.02,0.52,8.26,27.85,13.26,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173171,2026-08-28T11:36:38.981040,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-08-28,,dirty working tree reported,120337.10,20230.06,128383.85,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T09:55:49.907759Z,Isaac-Reorient-Cube-Shadow-Camera,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,44085.40,5812.07,46616.00,19.04,1.61,19.75,44.14,17.92,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,171852,2026-08-28T02:50:49.444415,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-28,64,dirty working tree reported,46404.71,6257.05,49024.72,database,database
+2026-08-28,measured,2026-08-28T09:48:56.281102Z,Isaac-Reorient-Cube-Shadow-Camera,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,46857.90,5361.49,49449.00,20.73,1.91,21.36,46.84,21.03,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,171826,2026-08-28T02:43:47.103255,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-28,64,dirty working tree reported,49437.96,5820.16,52164.40,database,database
+2026-08-28,measured,2026-08-28T07:07:06.134974Z,Isaac-Reorient-Cube-Shadow-Camera,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,71942.10,5265.07,74450.00,20.84,1.89,21.42,55.14,15.52,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,171456,2026-08-28T00:04:16.138744,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-28,64,dirty working tree reported,77820.92,5753.54,80625.64,successful WARM task preset,successful WARM task preset
+2026-08-28,measured,2026-08-28T09:55:59.126101Z,Isaac-Reorient-Cube-Shadow-Camera,training,rsl_rl,ovphysx,ovrtx,8192,42,10,54356.10,3203.31,56333.00,19.45,1.37,19.91,40.62,15.23,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,171853,2026-08-28T02:51:16.180757,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-08-28,64,dirty working tree reported,57646.53,3347.22,59783.61,successful WARM task preset,successful WARM task preset
+2026-08-28,measured,2026-08-28T09:55:49.907759Z,Isaac-Reorient-Cube-Shadow-Camera-Direct,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,39702.50,5155.58,41832.00,19.07,1.58,19.77,38.03,20.68,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,171852,2026-08-28T02:45:51.428167,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,64,dirty working tree reported,41524.59,5544.06,43760.23,database,database
+2026-08-28,measured,2026-08-28T09:48:56.281102Z,Isaac-Reorient-Cube-Shadow-Camera-Direct,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,42444.80,5463.14,45059.00,20.62,2.09,21.36,40.80,22.34,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,171826,2026-08-28T02:38:43.958226,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,64,dirty working tree reported,44578.71,5902.11,47296.56,database,database
+2026-08-28,measured,2026-08-28T10:04:00.485272Z,Isaac-Reorient-Cube-Shadow-Camera-Direct,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,70967.40,5672.14,73961.00,20.83,1.90,21.42,55.48,13.54,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,171870,2026-08-28T02:31:03.967781,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,64,dirty working tree reported,76614.79,6430.30,80044.76,successful WARM task preset,successful WARM task preset
+2026-08-28,measured,2026-08-28T09:55:59.126101Z,Isaac-Reorient-Cube-Shadow-Camera-Direct,training,rsl_rl,ovphysx,ovrtx,8192,42,10,52727.90,3439.34,54655.00,19.47,1.38,19.94,39.44,17.22,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,171853,2026-08-28T02:47:01.842581,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-08-28,64,dirty working tree reported,55769.87,3776.12,57910.56,successful WARM task preset,successful WARM task preset
+2026-08-28,measured,2026-08-28T13:14:00.015477Z,Isaac-Reorient-Cube-Shadow-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,153598.10,36889.40,175677.00,10.89,0.64,11.29,39.80,21.83,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172389,2026-08-28T06:11:46.928616,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-28,,dirty working tree reported,179263.95,44556.84,204378.78,database,database
+2026-08-28,measured,2026-08-28T21:25:59.584714Z,Isaac-Reorient-Cube-Shadow-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,257923.90,66107.01,282021.00,8.63,2.67,9.82,55.14,37.88,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173586,2026-08-28T14:24:59.598668,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-28,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,321317.63,85749.08,354207.45,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:41:14.939908Z,Isaac-Reorient-Cube-Shadow-Direct,training,rsl_rl,ovphysx,none,8192,42,10,97744.40,18718.48,106659.00,7.99,0.54,8.25,27.13,20.28,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173171,2026-08-28T11:38:41.560527,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-08-28,,dirty working tree reported,105272.21,20411.24,115159.96,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:17:23.149113Z,Isaac-Reorient-Franka,training,rsl_rl,isaacsim_physx,none,8192,42,10,147396.40,20412.39,157125.00,13.94,0.83,14.33,45.83,16.61,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172400,2026-08-28T06:13:22.558549,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-28,,dirty working tree reported,174076.34,25944.90,184220.60,database,database
+2026-08-28,measured,2026-08-28T21:24:06.316835Z,Isaac-Reorient-Franka,training,rsl_rl,newton_mjwarp,none,8192,42,10,295764.10,54312.38,314849.00,6.22,0.95,6.64,60.36,23.43,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173578,2026-08-28T14:22:59.256097,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-28,,dirty working tree reported,397850.45,81194.91,427490.20,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:34:29.451039Z,Isaac-Reorient-Franka,training,rsl_rl,ovphysx,none,8192,42,10,60217.40,3784.09,61763.00,10.68,0.69,10.93,23.84,23.09,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173155,2026-08-28T11:31:21.680872,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-08-28,,dirty working tree reported,63526.77,3953.59,65154.94,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:19:27.406047Z,Isaac-Reorient-KukaAllegro,training,rsl_rl,isaacsim_physx,none,8192,42,10,54265.20,3016.52,60554.00,16.25,0.99,16.71,76.21,16.16,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172405,2026-08-28T06:14:47.627358,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-28,,dirty working tree reported,57668.59,3228.86,64451.71,database,database
+2026-08-28,measured,2026-08-28T14:05:12.076491Z,Isaac-Reorient-KukaAllegro,training,rsl_rl,newton_mjwarp,none,8192,42,10,195024.20,28850.67,209484.00,8.30,1.06,8.70,68.13,27.48,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172545,2026-08-28T07:04:05.437368,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-28,,dirty working tree reported,241174.50,38854.99,261966.43,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:36:29.355030Z,Isaac-Reorient-KukaAllegro,training,rsl_rl,ovphysx,none,8192,42,10,31811.70,892.91,33202.00,14.04,0.96,14.52,54.95,27.92,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173159,2026-08-28T11:32:38.365792,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-08-28,,dirty working tree reported,32838.37,901.78,34302.12,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T21:11:41.789732Z,Isaac-Reorient-KukaAllegro-Camera,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,12673.40,2275.18,13745.00,32.11,1.86,34.22,17.91,28.81,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,20976357cce6498d4f3db91b18540f3969c84247,173554,2026-08-28T14:02:57.627686,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,64,dirty working tree reported,13355.23,2334.02,14481.18,database,database
+2026-08-28,measured,2026-08-28T21:12:08.069538Z,Isaac-Reorient-KukaAllegro-Camera,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,15182.00,1966.71,16447.00,28.24,1.59,28.89,15.86,25.96,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,20976357cce6498d4f3db91b18540f3969c84247,173555,2026-08-28T14:05:05.783598,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,64,dirty working tree reported,16187.59,1873.55,17514.35,database,database
+2026-08-28,measured,2026-08-28T20:59:57.434383Z,Isaac-Reorient-KukaAllegro-Camera,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,67079.40,13030.68,72169.00,28.27,1.95,33.75,54.73,27.88,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,20976357cce6498d4f3db91b18540f3969c84247,173530,2026-08-28T13:57:30.148435,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,64,dirty working tree reported,90262.63,15159.04,95843.54,benchmark_info.presets,benchmark_info.presets
+2026-08-28,measured,2026-08-28T21:09:40.841610Z,Isaac-Reorient-KukaAllegro-Camera,training,rsl_rl,ovphysx,ovrtx,8192,42,10,22878.50,2246.11,24039.00,33.99,1.51,34.60,45.44,32.81,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,20976357cce6498d4f3db91b18540f3969c84247,173551,2026-08-28T14:04:21.855154,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-08-28,64,dirty working tree reported,25151.30,1614.91,26194.13,benchmark_info.presets,benchmark_info.presets
+2026-08-28,measured,2026-08-28T13:19:49.341700Z,Isaac-Shadow-Handover-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,110631.20,22687.99,119829.00,14.08,0.69,14.43,36.08,16.20,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172408,2026-08-28T06:15:34.384883,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-28,,dirty working tree reported,125270.41,26719.01,139215.20,database,database
+2026-08-28,measured,2026-08-28T14:11:14.514694Z,Isaac-Shadow-Handover-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,112636.80,18113.87,121247.00,13.22,2.66,14.05,71.31,37.85,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172564,2026-08-28T07:08:11.327452,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-28,,dirty working tree reported,123873.76,19999.74,133707.19,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:42:51.901465Z,Isaac-Shadow-Handover-Direct,training,rsl_rl,ovphysx,none,8192,42,10,63420.20,7903.62,67300.00,12.21,0.55,12.43,21.76,10.65,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173178,2026-08-28T11:33:56.211797,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-08-28,,dirty working tree reported,66866.67,8216.71,71000.17,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:19:34.936483Z,Isaac-Velocity-Flat-AnymalD,training,rsl_rl,isaacsim_physx,none,8192,42,10,159544.90,32618.72,178419.00,10.01,0.41,10.18,29.14,11.79,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172407,2026-08-28T06:17:22.074221,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-28,,dirty working tree reported,172594.73,35500.94,192919.43,database,database
+2026-08-28,measured,2026-08-28T14:04:08.462565Z,Isaac-Velocity-Flat-AnymalD,training,rsl_rl,newton_mjwarp,none,8192,42,10,228109.80,47642.03,246610.00,2.75,0.20,2.86,59.91,33.30,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172539,2026-08-28T07:03:20.357504,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-28,,dirty working tree reported,247663.69,51312.74,267909.40,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:38:11.050132Z,Isaac-Velocity-Flat-AnymalD,training,rsl_rl,ovphysx,none,8192,42,10,197929.20,40510.83,213675.00,6.97,0.44,7.17,31.25,14.79,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173165,2026-08-28T11:36:28.764599,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-08-28,,dirty working tree reported,212152.63,43056.79,228955.60,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:19:33.993247Z,Isaac-Velocity-Flat-Cassie,training,rsl_rl,isaacsim_physx,none,8192,42,10,229809.00,51981.24,256562.00,9.13,0.42,9.31,28.60,14.50,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172406,2026-08-28T06:18:01.040004,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-28,,dirty working tree reported,255673.61,57335.35,285970.81,database,database
+2026-08-28,measured,2026-08-28T14:04:22.642115Z,Isaac-Velocity-Flat-Cassie,training,rsl_rl,newton_mjwarp,none,8192,42,10,423114.60,111972.92,460305.00,1.82,0.24,1.95,49.43,33.84,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172541,2026-08-28T07:03:41.361690,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-28,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,492822.79,131934.23,536313.65,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:38:06.501914Z,Isaac-Velocity-Flat-Cassie,training,rsl_rl,ovphysx,none,8192,42,10,297160.00,71622.63,330412.00,6.04,0.42,6.22,31.44,18.17,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173163,2026-08-28T11:36:45.864900,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-08-28,,dirty working tree reported,331692.78,80209.16,369579.43,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:21:37.613714Z,Isaac-Velocity-Flat-G1,training,rsl_rl,isaacsim_physx,none,8192,42,10,137512.20,28371.93,148815.00,11.33,0.35,11.51,49.20,25.76,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172414,2026-08-28T06:17:21.106592,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-28,,dirty working tree reported,147407.85,29965.05,158551.85,database,database
+2026-08-28,measured,2026-08-28T14:06:40.074406Z,Isaac-Velocity-Flat-G1,training,rsl_rl,newton_mjwarp,none,8192,42,10,249485.10,58455.07,268365.00,4.17,0.47,4.45,66.90,35.04,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172549,2026-08-28T07:05:48.862631,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-28,,dirty working tree reported,274196.33,64195.49,295034.99,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:40:52.031041Z,Isaac-Velocity-Flat-G1,training,rsl_rl,ovphysx,none,8192,42,10,176829.20,36274.33,189164.00,9.32,0.37,9.52,58.23,25.89,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173170,2026-08-28T11:37:36.576169,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-08-28,,dirty working tree reported,188907.24,38301.13,202014.06,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:20:37.654757Z,Isaac-Velocity-Flat-H1,training,rsl_rl,isaacsim_physx,none,8192,42,10,216997.40,50127.28,239512.00,9.28,0.27,9.44,33.64,16.18,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172409,2026-08-28T06:18:19.531268,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-28,,dirty working tree reported,241681.00,56391.36,266851.29,database,database
+2026-08-28,measured,2026-08-28T14:05:00.818617Z,Isaac-Velocity-Flat-H1,training,rsl_rl,newton_mjwarp,none,8192,42,10,365325.80,95306.78,399012.00,2.29,0.26,2.43,46.75,33.60,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172544,2026-08-28T07:04:15.356951,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-28,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,418176.79,110242.64,458714.96,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:40:03.916652Z,Isaac-Velocity-Flat-H1,training,rsl_rl,ovphysx,none,8192,42,10,295423.10,73392.68,324562.00,6.18,0.25,6.32,36.78,20.90,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173169,2026-08-28T11:38:20.437728,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-08-28,,dirty working tree reported,328606.55,81570.09,361890.97,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:21:33.374323Z,Isaac-Velocity-Flat-UnitreeGo2,training,rsl_rl,isaacsim_physx,none,8192,42,10,198427.30,43679.87,222860.00,9.21,0.28,9.38,30.45,14.17,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172413,2026-08-28T06:19:06.248522,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-28,,dirty working tree reported,218417.15,48267.53,245034.79,database,database
+2026-08-28,measured,2026-08-28T14:07:43.982149Z,Isaac-Velocity-Flat-UnitreeGo2,training,rsl_rl,newton_mjwarp,none,8192,42,10,461442.30,124507.45,502536.00,2.13,0.23,2.27,48.57,30.77,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172551,2026-08-28T07:06:58.439803,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-28,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,546930.72,149743.88,595821.56,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:42:33.963042Z,Isaac-Velocity-Flat-UnitreeGo2,training,rsl_rl,ovphysx,none,8192,42,10,97809.30,14268.55,106708.00,6.46,0.25,6.58,14.05,4.76,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173176,2026-08-28T11:40:25.216361,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-08-28,,dirty working tree reported,101382.73,14227.11,110470.77,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:22:40.324620Z,Isaac-Velocity-Rough-AnymalD,training,rsl_rl,isaacsim_physx,none,8192,42,10,62850.40,8766.83,69457.00,12.78,0.68,13.08,63.97,20.16,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172417,2026-08-28T06:20:06.935072,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-28,,dirty working tree reported,65318.55,8989.24,72050.23,database,database
+2026-08-28,measured,2026-08-28T23:48:04.400962Z,Isaac-Velocity-Rough-AnymalD,training,rsl_rl,newton_mjwarp,none,8192,42,10,112390.20,14985.70,122129.00,6.54,0.48,6.74,82.21,23.51,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,be547a5df7d305e0c9a3eec55023bf96d82a5dfc,173906,2026-08-28T16:47:03.332587,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-28,,dirty working tree reported,119330.13,15343.85,129854.74,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:42:39.950600Z,Isaac-Velocity-Rough-AnymalD,training,rsl_rl,ovphysx,none,8192,42,10,76123.90,6811.91,83580.00,9.52,0.63,9.77,69.65,20.31,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173177,2026-08-28T11:40:35.482801,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-08-28,,dirty working tree reported,79318.99,6381.89,87022.83,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:21:32.728598Z,Isaac-Velocity-Rough-Cassie,training,rsl_rl,isaacsim_physx,none,8192,42,10,126302.80,22986.54,141047.00,11.35,0.51,11.58,58.00,21.22,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172412,2026-08-28T06:19:49.663933,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-28,,dirty working tree reported,136666.21,24945.70,152672.94,database,database
+2026-08-28,measured,2026-08-28T14:08:00.696337Z,Isaac-Velocity-Rough-Cassie,training,rsl_rl,newton_mjwarp,none,8192,42,10,200502.70,41181.23,217529.00,5.86,0.65,6.21,70.58,33.12,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172554,2026-08-28T07:07:06.733455,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-28,,dirty working tree reported,223826.05,46063.13,243482.75,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:41:49.485137Z,Isaac-Velocity-Rough-Cassie,training,rsl_rl,ovphysx,none,8192,42,10,165705.80,31466.41,178999.00,8.05,0.60,8.35,57.57,24.37,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173173,2026-08-28T11:40:20.263807,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-08-28,,dirty working tree reported,180696.80,34029.42,195402.64,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:03:22.899235Z,Isaac-Velocity-Rough-G1,training,rsl_rl,isaacsim_physx,none,8192,42,10,112095.60,22259.26,126981.00,12.92,0.59,13.23,56.61,24.76,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172366,2026-08-28T05:59:00.667750,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-28,,dirty working tree reported,120676.05,23972.65,137914.74,database,database
+2026-08-28,measured,2026-08-28T13:48:40.684994Z,Isaac-Velocity-Rough-G1,training,rsl_rl,newton_mjwarp,none,8192,42,10,169352.10,34066.39,181520.00,7.01,0.66,7.34,73.29,31.26,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172488,2026-08-28T06:47:42.961780,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-28,,dirty working tree reported,186420.72,37556.82,200192.15,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T14:28:30.377052Z,Isaac-Velocity-Rough-G1,training,rsl_rl,ovphysx,none,8192,42,10,152928.90,29121.48,163244.00,10.70,0.59,10.99,62.33,25.48,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172624,2026-08-28T07:25:10.084099,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-08-28,,dirty working tree reported,166619.44,31603.73,177882.34,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:22:06.255179Z,Isaac-Velocity-Rough-H1,training,rsl_rl,isaacsim_physx,none,8192,42,10,165482.90,35034.24,186889.00,11.03,0.67,11.38,46.54,20.14,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172415,2026-08-28T06:19:43.089292,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-28,,dirty working tree reported,182091.88,38891.53,206788.88,database,database
+2026-08-28,measured,2026-08-28T14:09:47.288500Z,Isaac-Velocity-Rough-H1,training,rsl_rl,newton_mjwarp,none,8192,42,10,156704.80,29567.55,169500.00,6.52,0.62,6.83,74.71,31.79,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172560,2026-08-28T07:08:52.142914,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-28,,dirty working tree reported,170514.25,31924.93,184773.44,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:42:59.776111Z,Isaac-Velocity-Rough-H1,training,rsl_rl,ovphysx,none,8192,42,10,219449.90,48734.57,238715.00,7.66,0.70,8.06,46.91,23.12,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173179,2026-08-28T11:41:11.851423,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-08-28,,dirty working tree reported,247457.41,55494.13,269787.38,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T13:25:48.545331Z,Isaac-Velocity-Rough-UnitreeGo2,training,rsl_rl,isaacsim_physx,none,8192,42,10,79727.30,14977.00,87520.00,12.37,0.60,12.67,60.79,22.81,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172425,2026-08-28T06:23:02.946434,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-28,,dirty working tree reported,83442.94,15646.06,91678.10,database,database
+2026-08-28,measured,2026-08-28T14:09:07.231461Z,Isaac-Velocity-Rough-UnitreeGo2,training,rsl_rl,newton_mjwarp,none,8192,42,10,137148.00,22798.40,148866.00,6.28,0.57,6.54,79.75,31.46,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,172557,2026-08-28T07:08:08.421541,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-28,,dirty working tree reported,147781.19,24050.27,160675.84,successful WARM task preset,database
+2026-08-28,measured,2026-08-28T18:47:29.291395Z,Isaac-Velocity-Rough-UnitreeGo2,training,rsl_rl,ovphysx,none,8192,42,10,61371.90,5698.18,65428.00,9.09,0.51,9.28,45.69,14.53,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,bfec1724baeb43bdf48d7b2e96245419d8ba257b,173189,2026-08-28T11:45:05.284728,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-08-28,,dirty working tree reported,63418.91,5514.18,67558.21,successful WARM task preset,database
+2026-09-09,measured,2026-09-09T11:14:00.655971Z,Isaac-Ant,training,rsl_rl,isaacsim_physx,none,8192,42,10,382472.80,89693.70,432268.00,8.55,0.53,8.82,18.00,9.39,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206246,2026-09-09T04:11:57.957862,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Ant_8192,2026-09-09,,dirty working tree reported,456966.40,110146.14,519673.72,database,database
+2026-09-09,measured,2026-09-09T12:08:25.659963Z,Isaac-Ant,training,rsl_rl,newton_mjwarp,none,8192,42,10,763003.60,211235.33,832105.00,2.15,0.61,2.54,38.00,31.11,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206328,2026-09-09T05:07:20.069808,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Ant_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,1083720.22,314324.02,1187436.55,database,database
+2026-09-09,measured,2026-09-09T12:48:10.818976Z,Isaac-Ant,training,rsl_rl,ovphysx,none,8192,42,10,496322.70,123992.58,541252.00,5.60,0.58,5.91,21.62,13.37,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206415,2026-09-09T05:46:11.865850,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Ant_8192,2026-09-09,,dirty working tree reported; Collection FPS coefficient of variation >25%,611007.10,156758.35,670185.87,database,database
+2026-09-09,measured,2026-09-09T11:14:00.655971Z,Isaac-Ant-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,453005.40,84957.71,509625.00,8.63,0.49,8.82,26.86,18.40,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206246,2026-09-09T04:12:51.178195,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-09-09,,dirty working tree reported,559113.87,100670.93,635848.79,database,database
+2026-09-09,measured,2026-09-09T12:08:54.498226Z,Isaac-Ant-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,1013054.00,241905.27,1093772.00,2.23,0.62,2.54,50.50,33.73,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206329,2026-09-09T05:08:09.433396,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-09-09,,dirty working tree reported; Collection FPS coefficient of variation >25%,1644880.24,417206.67,1789826.06,database,database
+2026-09-09,measured,2026-09-09T12:48:24.206475Z,Isaac-Ant-Direct,training,rsl_rl,ovphysx,none,8192,42,10,580796.60,113658.30,631763.00,5.68,0.53,5.91,24.83,20.70,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206416,2026-09-09T05:47:14.540752,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-09-09,,dirty working tree reported,744585.37,144212.49,814780.78,database,database
+2026-09-09,measured,2026-09-09T11:12:12.476962Z,Isaac-Cartpole,training,rsl_rl,isaacsim_physx,none,8192,42,10,523796.20,115548.33,582612.00,7.09,0.03,7.11,16.25,6.85,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206242,2026-09-09T04:10:56.519733,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-09-09,,dirty working tree reported,777485.35,176085.45,869623.24,database,database
+2026-09-09,measured,2026-09-09T12:10:40.892778Z,Isaac-Cartpole,training,rsl_rl,newton_mjwarp,none,8192,42,10,919337.20,236511.34,999181.00,0.93,0.06,0.96,15.67,13.58,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206330,2026-09-09T05:09:47.820548,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,1651228.91,451416.41,1804525.18,database,database
+2026-09-09,measured,2026-09-09T12:47:45.876102Z,Isaac-Cartpole,training,rsl_rl,ovphysx,none,8192,42,10,606874.20,139253.42,658680.00,3.98,0.03,4.00,14.75,9.84,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206414,2026-09-09T05:46:37.941246,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-09-09,,dirty working tree reported,857475.64,198969.34,939679.64,database,database
+2026-09-09,measured,2026-09-09T14:00:23.287348Z,Isaac-Cartpole-Camera,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,67173.30,9391.86,71303.00,65.46,2.34,66.55,53.57,34.59,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206582,2026-09-09T06:58:01.534463,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-09-09,64,dirty working tree reported,103781.12,11719.21,109836.03,database,database
+2026-09-09,measured,2026-09-09T04:08:56.837140Z,Isaac-Cartpole-Camera,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,69907.60,10607.26,74051.00,62.51,3.13,78.54,51.77,33.39,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205119,2026-09-08T21:06:49.102459,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-09-09,64,dirty working tree reported,110228.33,14670.43,116788.00,database,database
+2026-09-09,measured,2026-09-09T14:28:54.554181Z,Isaac-Cartpole-Camera,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,91798.60,14009.94,98056.00,63.09,3.15,78.71,59.32,32.85,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206626,2026-09-09T07:27:09.457250,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-09-09,64,dirty working tree reported,171623.19,21299.67,184533.99,database,database
+2026-09-09,measured,2026-09-09T04:24:00.337934Z,Isaac-Cartpole-Camera,training,rsl_rl,ovphysx,ovrtx,8192,42,10,85771.40,12575.43,90988.00,65.58,2.26,66.37,57.62,33.87,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205152,2026-09-08T21:22:00.304759,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-09-09,64,dirty working tree reported,151844.02,17185.51,161125.70,database,database
+2026-09-09,measured,2026-09-09T14:00:23.287348Z,Isaac-Cartpole-Camera-Direct,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,67706.30,9610.18,71729.00,63.54,1.84,65.67,51.29,33.80,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206582,2026-09-09T06:55:58.442725,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-09-09,64,dirty working tree reported,104609.94,11890.90,110116.97,database,database
+2026-09-09,measured,2026-09-09T04:08:56.837140Z,Isaac-Cartpole-Camera-Direct,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,71796.30,10999.24,76396.00,60.48,1.89,62.63,50.81,32.79,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205119,2026-09-08T21:04:59.067785,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-09-09,64,dirty working tree reported,114788.70,15424.92,121938.39,database,database
+2026-09-09,measured,2026-09-09T14:28:54.554181Z,Isaac-Cartpole-Camera-Direct,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,100143.30,16547.03,107094.00,60.93,3.08,78.01,63.85,32.75,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206626,2026-09-09T07:25:51.222882,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-09-09,64,dirty working tree reported,202832.39,29650.43,218791.70,database,database
+2026-09-09,measured,2026-09-09T04:24:00.337934Z,Isaac-Cartpole-Camera-Direct,training,rsl_rl,ovphysx,ovrtx,8192,42,10,91484.20,14401.89,98779.00,63.67,1.92,68.22,59.40,34.60,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205152,2026-09-08T21:20:22.631987,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-09-09,64,dirty working tree reported,170360.65,22857.94,186450.18,database,database
+2026-09-09,measured,2026-09-09T11:12:12.476962Z,Isaac-Cartpole-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,571951.30,133525.41,626971.00,7.09,0.03,7.11,15.00,8.68,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206242,2026-09-09T04:11:25.280629,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-09-09,,dirty working tree reported,882244.15,209184.37,963802.46,database,database
+2026-09-09,measured,2026-09-09T12:11:41.590032Z,Isaac-Cartpole-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,1055861.80,286561.97,1150706.00,0.93,0.06,0.96,16.33,14.15,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206332,2026-09-09T05:11:04.366922,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,2163162.10,625484.61,2376592.76,database,database
+2026-09-09,measured,2026-09-09T12:48:41.062322Z,Isaac-Cartpole-Direct,training,rsl_rl,ovphysx,none,8192,42,10,656175.30,158650.55,720109.00,3.99,0.03,4.00,14.25,9.50,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206418,2026-09-09T05:47:56.710831,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-09-09,,dirty working tree reported,961375.33,232922.11,1061136.68,database,database
+2026-09-09,measured,2026-09-09T11:16:53.913543Z,Isaac-Humanoid,training,rsl_rl,isaacsim_physx,none,8192,42,10,253522.40,51959.78,276275.00,9.63,0.60,9.94,27.92,17.07,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206251,2026-09-09T04:14:08.519572,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-09-09,,dirty working tree reported,285372.27,58199.28,310695.77,database,database
+2026-09-09,measured,2026-09-09T12:14:25.871215Z,Isaac-Humanoid,training,rsl_rl,newton_mjwarp,none,8192,42,10,527960.40,133307.59,572556.00,2.94,0.64,3.31,47.43,32.39,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206338,2026-09-09T05:13:19.419011,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,667862.57,174689.54,725985.06,database,database
+2026-09-09,measured,2026-09-09T12:52:33.168362Z,Isaac-Humanoid,training,rsl_rl,ovphysx,none,8192,42,10,327777.60,72197.45,365065.00,7.07,0.65,7.37,28.60,19.49,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206426,2026-09-09T05:49:38.908354,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-09-09,,dirty working tree reported,376264.16,84234.80,422986.05,database,database
+2026-09-09,measured,2026-09-09T11:16:53.913543Z,Isaac-Humanoid-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,284884.00,43113.21,314903.00,9.64,0.64,9.93,28.90,13.25,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206251,2026-09-09T04:15:23.197664,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-09-09,,dirty working tree reported,326342.84,47420.90,360614.68,database,database
+2026-09-09,measured,2026-09-09T12:15:30.682588Z,Isaac-Humanoid-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,638162.80,127606.93,681880.00,3.05,0.58,3.29,58.00,29.30,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206342,2026-09-09T05:14:46.750699,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-09-09,,dirty working tree reported,851289.41,171604.63,910568.64,database,database
+2026-09-09,measured,2026-09-09T12:52:33.168362Z,Isaac-Humanoid-Direct,training,rsl_rl,ovphysx,none,8192,42,10,362206.60,58429.16,391248.00,6.99,0.68,7.32,33.22,14.26,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206426,2026-09-09T05:50:59.818803,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-09-09,,dirty working tree reported,422767.48,65352.05,458204.11,database,database
+2026-09-09,measured,2026-09-09T11:18:31.582054Z,Isaac-Lift-Franka,training,rsl_rl,isaacsim_physx,none,8192,42,10,152295.20,20188.99,162161.00,13.90,0.84,14.33,47.88,16.12,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206254,2026-09-09T04:14:33.522323,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-09-09,,dirty working tree reported,178077.43,25153.23,189041.36,database,database
+2026-09-09,measured,2026-09-09T15:27:03.854259Z,Isaac-Lift-Franka,training,rsl_rl,newton_mjwarp,none,8192,42,10,247544.60,38863.84,260552.00,6.31,0.92,6.70,59.50,22.81,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206709,2026-09-09T08:25:48.905862,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-09-09,,dirty working tree reported,315258.08,54321.33,333916.92,database,database
+2026-09-09,measured,2026-09-09T12:52:33.214953Z,Isaac-Lift-Franka,training,rsl_rl,ovphysx,none,8192,42,10,58781.50,2946.11,60437.00,10.68,0.68,10.93,20.43,18.98,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206427,2026-09-09T05:49:24.907670,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-09-09,,dirty working tree reported,61922.34,3016.13,63686.51,database,database
+2026-09-09,measured,2026-09-09T11:20:59.266597Z,Isaac-Lift-KukaAllegro,training,rsl_rl,isaacsim_physx,none,8192,42,10,53985.40,3168.96,61239.00,16.27,1.00,16.71,77.51,12.13,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206259,2026-09-09T04:16:16.570536,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-09-09,,dirty working tree reported,57276.74,3423.77,65250.70,database,database
+2026-09-09,measured,2026-09-09T12:16:55.450543Z,Isaac-Lift-KukaAllegro,training,rsl_rl,newton_mjwarp,none,8192,42,10,116924.40,12070.76,121397.00,28.01,1.31,28.48,76.39,20.88,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206344,2026-09-09T05:15:20.764000,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-09-09,,dirty working tree reported,131956.57,14122.58,137288.64,database,database
+2026-09-09,measured,2026-09-09T12:53:54.702677Z,Isaac-Lift-KukaAllegro,training,rsl_rl,ovphysx,none,8192,42,10,32368.20,556.38,33070.00,14.00,0.95,14.52,55.46,27.48,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206430,2026-09-09T05:50:07.323284,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-09-09,,dirty working tree reported,33425.79,537.40,34147.47,database,database
+2026-09-09,measured,2026-09-09T14:05:19.927739Z,Isaac-Lift-KukaAllegro-Camera,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,12660.60,2318.37,13713.00,32.36,1.86,33.24,18.12,29.11,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206590,2026-09-09T06:56:29.887511,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-09-09,64,dirty working tree reported,13348.87,2381.24,14457.88,database,database
+2026-09-09,measured,2026-09-09T04:09:23.419477Z,Isaac-Lift-KukaAllegro-Camera,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,14153.50,2467.08,15376.00,46.74,1.99,47.63,19.09,28.60,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205120,2026-09-08T21:01:55.745588,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-09-09,64,dirty working tree reported,15019.80,2536.49,16310.24,database,database
+2026-09-09,measured,2026-09-09T14:25:25.101168Z,Isaac-Lift-KukaAllegro-Camera,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,57110.60,9975.94,60858.00,47.37,1.93,48.17,60.32,26.01,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206620,2026-09-09T07:22:55.397089,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-09-09,64,dirty working tree reported,72720.32,10230.84,76865.03,database,database
+2026-09-09,measured,2026-09-09T04:25:55.669480Z,Isaac-Lift-KukaAllegro-Camera,training,rsl_rl,ovphysx,ovrtx,8192,42,10,23754.80,2507.73,25128.00,33.94,1.51,34.55,45.50,34.05,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205154,2026-09-08T21:20:50.248481,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-09-09,64,dirty working tree reported,26260.84,1919.29,27574.74,database,database
+2026-09-09,measured,2026-09-09T11:21:18.085406Z,Isaac-Open-Drawer-Franka,training,rsl_rl,isaacsim_physx,none,8192,42,10,248220.70,18214.50,263305.00,11.53,0.72,11.81,59.70,12.12,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206260,2026-09-09T04:16:29.862885,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-09-09,,dirty working tree reported,262668.91,17744.13,278576.22,database,database
+2026-09-09,measured,2026-09-09T12:20:07.347856Z,Isaac-Open-Drawer-Franka,training,rsl_rl,newton_mjwarp,none,8192,42,10,337567.70,19494.00,345274.00,7.45,1.31,7.86,74.92,16.05,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206352,2026-09-09T05:18:20.198084,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-09-09,,dirty working tree reported,363184.83,17135.04,370453.69,database,database
+2026-09-09,measured,2026-09-09T12:54:17.228921Z,Isaac-Open-Drawer-Franka,training,rsl_rl,ovphysx,none,8192,42,10,266687.10,15718.08,281673.00,8.85,0.66,9.20,60.17,11.87,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206431,2026-09-09T05:49:54.684653,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-09-09,,dirty working tree reported,282768.71,14799.77,298271.79,database,database
+2026-09-09,measured,2026-09-09T11:21:18.085406Z,Isaac-Open-Drawer-Franka-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,250826.80,21065.83,268303.00,11.53,0.72,11.81,60.70,11.74,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206260,2026-09-09T04:18:43.694438,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-09-09,,dirty working tree reported,266418.46,21771.86,284192.58,database,database
+2026-09-09,measured,2026-09-09T12:20:07.347856Z,Isaac-Open-Drawer-Franka-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,347603.70,22529.19,357498.00,7.41,1.31,7.83,76.08,16.36,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206352,2026-09-09T05:19:03.799190,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-09-09,,dirty working tree reported,374704.02,20417.46,384330.67,database,database
+2026-09-09,measured,2026-09-09T12:54:17.228921Z,Isaac-Open-Drawer-Franka-Direct,training,rsl_rl,ovphysx,none,8192,42,10,280857.30,18956.00,294209.00,8.89,0.71,9.16,60.79,12.96,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206431,2026-09-09T05:51:56.540305,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-09-09,,dirty working tree reported,298605.02,17315.23,312113.69,database,database
+2026-09-09,measured,2026-09-09T11:22:26.911647Z,Isaac-Reach-Franka,training,rsl_rl,isaacsim_physx,none,8192,42,10,232989.30,58052.48,266867.00,8.63,0.11,8.70,25.70,17.36,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206262,2026-09-09T04:16:28.812568,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-09-09,,dirty working tree reported; Collection FPS coefficient of variation >25%,275853.34,71070.69,316368.59,database,database
+2026-09-09,measured,2026-09-09T12:19:54.620153Z,Isaac-Reach-Franka,training,rsl_rl,newton_mjwarp,none,8192,42,10,472866.60,134880.84,518234.00,2.46,0.43,2.65,51.00,32.85,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206351,2026-09-09T05:18:35.309374,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,629693.83,186136.61,694096.40,database,database
+2026-09-09,measured,2026-09-09T12:54:38.979719Z,Isaac-Reach-Franka,training,rsl_rl,ovphysx,none,8192,42,10,269619.40,67705.92,295806.00,5.24,0.10,5.30,30.00,14.45,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206432,2026-09-09T05:50:35.544129,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,312913.75,80170.61,344378.12,database,database
+2026-09-09,measured,2026-09-09T11:22:26.911647Z,Isaac-Reach-Franka-OSC,training,rsl_rl,isaacsim_physx,none,8192,42,10,153035.90,33164.23,166778.00,8.48,0.11,8.53,24.29,14.98,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206262,2026-09-09T04:19:20.006266,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-09-09,,dirty working tree reported,170875.44,37885.38,192459.68,database,database
+2026-09-09,measured,2026-09-09T12:19:54.620153Z,Isaac-Reach-Franka-OSC,training,rsl_rl,newton_mjwarp,none,8192,42,10,227456.20,55023.25,246163.00,2.56,0.35,2.70,37.73,24.58,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206351,2026-09-09T05:19:03.220615,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-09-09,,dirty working tree reported,257428.35,63396.69,278991.54,database,database
+2026-09-09,measured,2026-09-09T12:54:38.979719Z,Isaac-Reach-Franka-OSC,training,rsl_rl,ovphysx,none,8192,42,10,183802.80,41675.99,199649.00,5.30,0.11,5.35,26.85,12.65,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206432,2026-09-09T05:52:24.100477,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-09-09,,dirty working tree reported,203000.31,46534.81,220990.60,database,database
+2026-09-09,measured,2026-09-09T11:17:06.265753Z,Isaac-Reach-UR10,training,rsl_rl,isaacsim_physx,none,8192,42,10,239031.10,59381.44,269632.00,8.32,0.38,8.52,38.90,26.18,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206252,2026-09-09T04:15:48.146547,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-09-09,,dirty working tree reported; Collection FPS coefficient of variation >25%,284749.34,73084.55,323408.22,database,database
+2026-09-09,measured,2026-09-09T12:19:28.959047Z,Isaac-Reach-UR10,training,rsl_rl,newton_mjwarp,none,8192,42,10,545002.00,159168.36,605012.00,2.67,0.66,2.95,43.86,28.75,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206350,2026-09-09T05:18:46.387332,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,755105.62,229166.28,847050.05,database,database
+2026-09-09,measured,2026-09-09T12:52:11.773157Z,Isaac-Reach-UR10,training,rsl_rl,ovphysx,none,8192,42,10,283726.60,72360.86,314236.00,5.45,0.09,5.51,41.89,22.31,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206425,2026-09-09T05:51:04.257461,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,331583.38,86377.92,368112.28,database,database
+2026-09-09,measured,2026-09-09T11:20:37.517202Z,Isaac-Reorient-Cube-Allegro,training,rsl_rl,isaacsim_physx,none,8192,42,10,112142.50,13009.27,119154.00,10.06,0.57,10.31,49.35,13.94,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206257,2026-09-09T04:16:13.750102,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-09-09,,dirty working tree reported,119343.67,12848.21,126556.43,database,database
+2026-09-09,measured,2026-09-09T12:22:47.170608Z,Isaac-Reorient-Cube-Allegro,training,rsl_rl,newton_mjwarp,none,8192,42,10,169641.50,19955.28,178946.00,8.02,1.87,8.63,83.00,24.97,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206357,2026-09-09T05:21:26.223852,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-09-09,,dirty working tree reported,185112.30,19371.76,194618.34,database,database
+2026-09-09,measured,2026-09-09T12:54:56.133049Z,Isaac-Reorient-Cube-Allegro,training,rsl_rl,ovphysx,none,8192,42,10,101299.00,9418.87,106206.00,7.51,0.54,7.72,40.55,10.34,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206434,2026-09-09T05:51:21.960550,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-09-09,,dirty working tree reported,106709.55,8865.33,111627.86,database,database
+2026-09-09,measured,2026-09-09T11:24:11.630449Z,Isaac-Reorient-Cube-Allegro-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,98828.50,19480.23,107039.00,10.21,0.81,10.61,46.86,21.30,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206266,2026-09-09T04:21:50.388962,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-09-09,,dirty working tree reported,111060.09,22535.45,120242.42,database,database
+2026-09-09,measured,2026-09-09T12:22:47.170608Z,Isaac-Reorient-Cube-Allegro-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,146333.10,31464.73,157658.00,8.06,2.14,8.99,70.91,35.09,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206357,2026-09-09T05:21:57.228521,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-09-09,,dirty working tree reported,170234.26,37943.19,184095.53,database,database
+2026-09-09,measured,2026-09-09T12:54:56.133049Z,Isaac-Reorient-Cube-Allegro-Direct,training,rsl_rl,ovphysx,none,8192,42,10,87711.90,15013.83,93623.00,7.67,0.75,8.01,36.94,18.49,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206434,2026-09-09T05:52:59.413350,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-09-09,,dirty working tree reported,95744.12,16676.92,102242.83,database,database
+2026-09-09,measured,2026-09-09T11:34:09.604433Z,Isaac-Reorient-Cube-Shadow,training,rsl_rl,isaacsim_physx,none,8192,42,10,112774.80,18363.80,120487.00,12.15,0.77,12.45,34.33,14.35,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206282,2026-09-09T04:27:54.219874,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-09-09,,dirty working tree reported,124604.26,19780.48,133188.02,database,database
+2026-09-09,measured,2026-09-09T12:35:52.547149Z,Isaac-Reorient-Cube-Shadow,training,rsl_rl,newton_mjwarp,none,8192,42,10,247296.40,44881.15,264673.00,8.86,2.70,9.88,69.57,29.93,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206386,2026-09-09T05:34:27.791265,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-09-09,,dirty working tree reported,305389.96,53615.95,326639.29,database,database
+2026-09-09,measured,2026-09-09T12:59:09.354262Z,Isaac-Reorient-Cube-Shadow,training,rsl_rl,ovphysx,none,8192,42,10,71880.10,6406.84,75853.00,9.28,0.70,9.56,25.58,16.20,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206443,2026-09-09T05:53:00.844714,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-09-09,,dirty working tree reported,76409.89,5552.64,80377.66,database,database
+2026-09-09,measured,2026-09-09T04:27:01.742398Z,Isaac-Reorient-Cube-Shadow-Camera,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,34185.50,7008.68,36865.00,19.87,2.46,21.17,37.08,20.51,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205159,2026-09-08T21:19:51.782925,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-09-09,64,dirty working tree reported,35583.23,7411.54,38354.41,database,database
+2026-09-09,measured,2026-09-09T04:20:15.970610Z,Isaac-Reorient-Cube-Shadow-Camera,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,46774.20,5674.86,49472.00,21.02,1.90,21.66,47.24,22.80,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205146,2026-09-08T21:15:14.018663,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-09-09,64,dirty working tree reported,49367.53,6152.18,52466.03,database,database
+2026-09-09,measured,2026-09-09T04:01:15.865338Z,Isaac-Reorient-Cube-Shadow-Camera,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,72740.60,4076.13,74573.00,20.85,1.90,21.42,56.17,15.25,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205105,2026-09-08T20:58:31.105323,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-09-09,64,dirty working tree reported,78710.86,4496.08,80757.19,database,database
+2026-09-09,measured,2026-09-09T04:32:05.795008Z,Isaac-Reorient-Cube-Shadow-Camera,training,rsl_rl,ovphysx,ovrtx,8192,42,10,40868.40,1748.58,41976.00,20.83,1.38,21.28,31.81,17.82,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205165,2026-09-08T21:25:58.628225,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-09-09,64,dirty working tree reported,42684.54,1826.14,43865.04,database,database
+2026-09-09,measured,2026-09-09T04:27:01.742398Z,Isaac-Reorient-Cube-Shadow-Camera-Direct,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,31602.90,6363.39,34130.00,19.98,2.44,21.24,35.08,20.65,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205159,2026-09-08T21:12:46.551196,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-09-09,64,dirty working tree reported,32798.88,6705.33,35561.89,database,database
+2026-09-09,measured,2026-09-09T04:20:15.970610Z,Isaac-Reorient-Cube-Shadow-Camera-Direct,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,41796.80,5255.49,44230.00,20.94,2.02,21.66,39.86,23.05,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205146,2026-09-08T21:10:19.758269,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-09-09,64,dirty working tree reported,43854.27,5654.76,46558.46,database,database
+2026-09-09,measured,2026-09-09T04:01:15.865338Z,Isaac-Reorient-Cube-Shadow-Camera-Direct,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,70623.10,5871.42,73019.00,20.83,1.90,21.42,55.41,14.32,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205105,2026-09-08T20:56:05.676091,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-09-09,64,dirty working tree reported,76215.25,6661.34,78948.59,database,database
+2026-09-09,measured,2026-09-09T04:32:13.658627Z,Isaac-Reorient-Cube-Shadow-Camera-Direct,training,rsl_rl,ovphysx,ovrtx,8192,42,10,40024.10,2305.05,41918.00,20.84,1.40,21.31,32.69,18.32,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205166,2026-09-08T21:26:06.124886,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-09-09,64,dirty working tree reported,41750.01,2470.48,43797.72,database,database
+2026-09-09,measured,2026-09-09T11:34:09.604433Z,Isaac-Reorient-Cube-Shadow-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,112489.80,24942.27,122917.00,12.09,0.80,12.48,29.54,14.02,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206282,2026-09-09T04:30:52.902313,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-09-09,,dirty working tree reported,124194.83,28105.63,136169.58,database,database
+2026-09-09,measured,2026-09-09T12:35:52.547149Z,Isaac-Reorient-Cube-Shadow-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,238886.30,61292.38,261177.00,8.85,2.50,9.88,50.88,36.74,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206386,2026-09-09T05:34:59.709825,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,292888.30,78040.66,321573.23,database,database
+2026-09-09,measured,2026-09-09T12:59:09.354262Z,Isaac-Reorient-Cube-Shadow-Direct,training,rsl_rl,ovphysx,none,8192,42,10,68976.60,10852.88,72945.00,9.25,0.74,9.59,20.25,9.83,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206443,2026-09-09T05:55:52.548227,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-09-09,,dirty working tree reported,72892.96,11268.47,77064.36,database,database
+2026-09-09,measured,2026-09-09T11:34:06.612855Z,Isaac-Reorient-Franka,training,rsl_rl,isaacsim_physx,none,8192,42,10,149166.60,21186.38,159265.00,13.94,0.83,14.33,48.72,15.30,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206281,2026-09-09T04:30:07.053375,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-09-09,,dirty working tree reported,176617.47,27136.52,189990.62,database,database
+2026-09-09,measured,2026-09-09T12:22:07.818225Z,Isaac-Reorient-Franka,training,rsl_rl,newton_mjwarp,none,8192,42,10,240582.10,41769.02,254531.00,6.34,0.90,6.70,56.46,18.58,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206355,2026-09-09T05:20:52.376019,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-09-09,,dirty working tree reported,304702.83,57675.22,324072.43,database,database
+2026-09-09,measured,2026-09-09T12:55:23.987132Z,Isaac-Reorient-Franka,training,rsl_rl,ovphysx,none,8192,42,10,58753.50,3766.21,60389.00,10.68,0.68,10.93,20.73,17.80,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206436,2026-09-09T05:52:15.496294,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-09-09,,dirty working tree reported,61892.49,3924.78,63641.83,database,database
+2026-09-09,measured,2026-09-09T11:30:07.611891Z,Isaac-Reorient-KukaAllegro,training,rsl_rl,isaacsim_physx,none,8192,42,10,54339.70,3567.43,60876.00,16.25,0.99,16.71,75.40,16.34,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206273,2026-09-09T04:25:26.568390,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-09-09,,dirty working tree reported,57683.10,3830.08,64799.62,database,database
+2026-09-09,measured,2026-09-09T12:23:41.585565Z,Isaac-Reorient-KukaAllegro,training,rsl_rl,newton_mjwarp,none,8192,42,10,116694.70,13767.07,122450.00,28.03,1.29,28.48,76.12,19.94,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206358,2026-09-09T05:22:04.989210,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-09-09,,dirty working tree reported,131732.70,16207.89,138663.60,database,database
+2026-09-09,measured,2026-09-09T12:58:38.241881Z,Isaac-Reorient-KukaAllegro,training,rsl_rl,ovphysx,none,8192,42,10,31083.90,813.44,32399.00,14.01,0.99,14.52,51.22,28.48,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206441,2026-09-09T05:54:45.610317,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-09-09,,dirty working tree reported,32073.62,792.79,33441.58,database,database
+2026-09-09,measured,2026-09-09T14:18:34.949016Z,Isaac-Reorient-KukaAllegro-Camera,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,12760.50,2344.28,13691.00,32.36,1.85,33.24,15.77,27.05,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206601,2026-09-09T07:09:51.202346,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-09-09,64,dirty working tree reported,13469.94,2415.14,14429.74,database,database
+2026-09-09,measured,2026-09-09T04:16:26.416390Z,Isaac-Reorient-KukaAllegro-Camera,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,14052.10,2420.98,15226.00,46.52,1.94,48.62,15.30,27.25,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205136,2026-09-08T21:09:00.873250,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-09-09,64,dirty working tree reported,14908.08,2489.31,16161.25,database,database
+2026-09-09,measured,2026-09-09T14:28:10.299684Z,Isaac-Reorient-KukaAllegro-Camera,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,56535.60,9988.62,59974.00,47.36,1.93,48.16,62.45,23.33,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206625,2026-09-09T07:25:38.709022,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-09-09,64,dirty working tree reported,71824.82,10486.20,75608.43,database,database
+2026-09-09,measured,2026-09-09T04:25:10.086727Z,Isaac-Reorient-KukaAllegro-Camera,training,rsl_rl,ovphysx,ovrtx,8192,42,10,23527.10,2452.96,24752.00,33.89,1.52,34.52,46.83,32.54,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205153,2026-09-08T21:20:02.916076,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-09-09,64,dirty working tree reported,25920.44,1871.56,27036.46,database,database
+2026-09-09,measured,2026-09-09T11:35:15.675331Z,Isaac-Shadow-Handover-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,68036.20,12753.27,77064.00,15.74,0.70,16.13,27.72,12.92,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206285,2026-09-09T04:29:15.404702,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-09-09,,dirty working tree reported,73054.62,13927.39,82478.45,database,database
+2026-09-09,measured,2026-09-09T12:29:35.218463Z,Isaac-Shadow-Handover-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,98463.80,15652.75,104542.00,13.57,2.46,14.36,79.33,32.33,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206371,2026-09-09T05:28:25.131690,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-09-09,,dirty working tree reported,106865.31,17029.58,113580.96,database,database
+2026-09-09,measured,2026-09-09T13:01:39.040409Z,Isaac-Shadow-Handover-Direct,training,rsl_rl,ovphysx,none,8192,42,10,39185.40,3975.94,42418.00,13.75,0.55,13.96,20.97,19.01,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206450,2026-09-09T05:54:57.699083,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-09-09,,dirty working tree reported,40541.65,3871.88,43870.80,database,database
+2026-09-09,measured,2026-09-09T11:29:07.312709Z,Isaac-Velocity-Flat-AnymalD,training,rsl_rl,isaacsim_physx,none,8192,42,10,156793.40,31608.10,176769.00,10.02,0.41,10.19,28.36,11.46,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206271,2026-09-09T04:26:54.266943,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-09-09,,dirty working tree reported,169113.91,34044.17,190750.25,database,database
+2026-09-09,measured,2026-09-09T12:26:27.189410Z,Isaac-Velocity-Flat-AnymalD,training,rsl_rl,newton_mjwarp,none,8192,42,10,177325.90,32659.24,190141.00,6.54,0.37,6.70,74.15,32.75,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206363,2026-09-09T05:25:25.105852,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-09-09,,dirty working tree reported,188648.70,34073.73,202251.54,database,database
+2026-09-09,measured,2026-09-09T12:56:25.467713Z,Isaac-Velocity-Flat-AnymalD,training,rsl_rl,ovphysx,none,8192,42,10,197621.70,40750.08,218229.00,6.97,0.44,7.17,31.83,14.88,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206437,2026-09-09T05:54:41.726280,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-09-09,,dirty working tree reported,211845.43,43324.48,233849.95,database,database
+2026-09-09,measured,2026-09-09T11:27:26.702515Z,Isaac-Velocity-Flat-Cassie,training,rsl_rl,isaacsim_physx,none,8192,42,10,231159.30,52667.78,257808.00,9.13,0.42,9.31,29.70,14.89,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206269,2026-09-09T04:25:52.918627,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-09-09,,dirty working tree reported,258791.09,58613.79,288429.78,database,database
+2026-09-09,measured,2026-09-09T12:26:20.781135Z,Isaac-Velocity-Flat-Cassie,training,rsl_rl,newton_mjwarp,none,8192,42,10,443047.80,118855.91,481808.00,1.97,0.25,2.11,46.71,31.52,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206362,2026-09-09T05:25:37.165468,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,523605.26,142500.15,569951.08,database,database
+2026-09-09,measured,2026-09-09T12:58:11.742278Z,Isaac-Velocity-Flat-Cassie,training,rsl_rl,ovphysx,none,8192,42,10,294304.90,70550.88,320156.00,6.04,0.42,6.22,32.00,17.97,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206440,2026-09-09T05:56:51.110628,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-09-09,,dirty working tree reported,327436.72,78616.45,356605.31,database,database
+2026-09-09,measured,2026-09-09T11:31:04.936449Z,Isaac-Velocity-Flat-G1,training,rsl_rl,isaacsim_physx,none,8192,42,10,136950.10,28143.89,148039.00,11.58,0.35,11.76,51.47,22.30,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206274,2026-09-09T04:26:47.353325,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-09-09,,dirty working tree reported,146833.33,29729.14,157970.69,database,database
+2026-09-09,measured,2026-09-09T12:27:32.076524Z,Isaac-Velocity-Flat-G1,training,rsl_rl,newton_mjwarp,none,8192,42,10,264026.20,63075.45,284749.00,4.30,0.47,4.58,65.40,34.48,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206368,2026-09-09T05:26:41.969612,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-09-09,,dirty working tree reported,291451.31,69676.02,314372.65,database,database
+2026-09-09,measured,2026-09-09T13:00:20.997848Z,Isaac-Velocity-Flat-G1,training,rsl_rl,ovphysx,none,8192,42,10,176802.40,36474.63,189052.00,9.32,0.37,9.52,58.00,25.78,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206446,2026-09-09T05:57:04.982060,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-09-09,,dirty working tree reported,188658.03,38472.70,201636.23,database,database
+2026-09-09,measured,2026-09-09T11:30:04.944139Z,Isaac-Velocity-Flat-H1,training,rsl_rl,isaacsim_physx,none,8192,42,10,220167.20,51157.75,245745.00,9.32,0.27,9.47,33.91,16.07,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206272,2026-09-09T04:27:46.458720,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-09-09,,dirty working tree reported,243672.68,56964.89,273062.77,database,database
+2026-09-09,measured,2026-09-09T12:26:20.660707Z,Isaac-Velocity-Flat-H1,training,rsl_rl,newton_mjwarp,none,8192,42,10,377693.00,99464.07,411236.00,2.33,0.26,2.46,45.25,28.19,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206361,2026-09-09T05:25:35.920489,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,434706.83,115768.36,474565.09,database,database
+2026-09-09,measured,2026-09-09T13:00:25.001076Z,Isaac-Velocity-Flat-H1,training,rsl_rl,ovphysx,none,8192,42,10,291995.30,72432.09,319477.00,6.18,0.25,6.32,36.22,20.59,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206447,2026-09-09T05:58:39.255381,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-09-09,,dirty working tree reported,324695.48,80401.33,356294.53,database,database
+2026-09-09,measured,2026-09-09T11:33:02.217474Z,Isaac-Velocity-Flat-UnitreeGo2,training,rsl_rl,isaacsim_physx,none,8192,42,10,203240.00,44764.70,229504.00,9.28,0.28,9.44,30.73,14.23,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206279,2026-09-09T04:30:36.490186,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-09-09,,dirty working tree reported,223917.88,49551.79,252992.85,database,database
+2026-09-09,measured,2026-09-09T12:27:17.142755Z,Isaac-Velocity-Flat-UnitreeGo2,training,rsl_rl,newton_mjwarp,none,8192,42,10,455760.90,122897.29,495426.00,3.01,0.29,3.17,45.29,31.25,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206367,2026-09-09T05:26:25.291614,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,542000.99,148387.77,589773.10,database,database
+2026-09-09,measured,2026-09-09T13:01:47.503398Z,Isaac-Velocity-Flat-UnitreeGo2,training,rsl_rl,ovphysx,none,8192,42,10,92317.40,11883.09,97641.00,6.48,0.23,6.57,15.91,8.84,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206451,2026-09-09T05:59:36.560912,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-09-09,,dirty working tree reported,95611.12,11401.75,100868.95,database,database
+2026-09-09,measured,2026-09-09T11:38:55.051041Z,Isaac-Velocity-Rough-AnymalD,training,rsl_rl,isaacsim_physx,none,8192,42,10,62493.50,8772.49,69422.00,12.79,0.67,13.08,65.13,19.78,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206293,2026-09-09T04:36:22.650679,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-09-09,,dirty working tree reported,64737.31,8962.01,72015.49,database,database
+2026-09-09,measured,2026-09-09T12:29:39.731922Z,Isaac-Velocity-Rough-AnymalD,training,rsl_rl,newton_mjwarp,none,8192,42,10,141586.70,21491.23,159653.00,17.14,0.86,17.49,78.67,27.01,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206373,2026-09-09T05:28:31.392209,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-09-09,,dirty working tree reported,152642.97,22622.26,173063.32,database,database
+2026-09-09,measured,2026-09-09T15:29:04.793110Z,Isaac-Velocity-Rough-AnymalD,training,rsl_rl,ovphysx,none,8192,42,10,76517.20,6683.59,82913.00,9.52,0.62,9.77,70.12,20.54,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206712,2026-09-09T08:27:05.021279,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-09-09,,dirty working tree reported,79741.23,6247.14,86305.60,database,database
+2026-09-09,measured,2026-09-09T11:31:33.268366Z,Isaac-Velocity-Rough-Cassie,training,rsl_rl,isaacsim_physx,none,8192,42,10,129335.70,23689.91,147762.00,11.34,0.53,11.58,56.69,21.65,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206275,2026-09-09T04:29:49.892162,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-09-09,,dirty working tree reported,139393.52,25450.22,160124.76,database,database
+2026-09-09,measured,2026-09-09T12:34:51.590015Z,Isaac-Velocity-Rough-Cassie,training,rsl_rl,newton_mjwarp,none,8192,42,10,270539.10,61914.23,292087.00,6.48,0.64,6.78,58.90,34.79,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206384,2026-09-09T05:34:02.035054,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-09-09,,dirty working tree reported,314980.51,73174.06,340530.76,database,database
+2026-09-09,measured,2026-09-09T13:00:10.295553Z,Isaac-Velocity-Rough-Cassie,training,rsl_rl,ovphysx,none,8192,42,10,165330.50,31255.12,177630.00,8.05,0.60,8.35,55.29,23.55,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206445,2026-09-09T05:58:42.310636,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-09-09,,dirty working tree reported,180895.93,33972.05,194559.66,database,database
+2026-09-09,measured,2026-09-09T11:16:09.369749Z,Isaac-Velocity-Rough-G1,training,rsl_rl,isaacsim_physx,none,8192,42,10,112289.30,22253.95,127849.00,12.92,0.59,13.23,57.89,21.73,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206248,2026-09-09T04:11:48.996905,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-09-09,,dirty working tree reported,120900.46,24046.42,139808.28,database,database
+2026-09-09,measured,2026-09-09T12:19:16.412034Z,Isaac-Velocity-Rough-G1,training,rsl_rl,newton_mjwarp,none,8192,42,10,172779.70,35458.24,186372.00,12.41,0.78,12.78,72.93,30.97,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206349,2026-09-09T05:18:19.966657,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-09-09,,dirty working tree reported,190825.91,39301.20,205989.00,database,database
+2026-09-09,measured,2026-09-09T12:49:39.522769Z,Isaac-Velocity-Rough-G1,training,rsl_rl,ovphysx,none,8192,42,10,150627.80,28745.50,160838.00,10.70,0.59,10.99,63.60,25.86,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206420,2026-09-09T05:46:17.845542,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-09-09,,dirty working tree reported,164048.87,31209.91,175186.54,database,database
+2026-09-09,measured,2026-09-09T11:33:19.818818Z,Isaac-Velocity-Rough-H1,training,rsl_rl,isaacsim_physx,none,8192,42,10,166815.60,35960.69,191100.00,10.82,0.67,11.17,46.85,20.22,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206280,2026-09-09T04:30:55.326988,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-09-09,,dirty working tree reported,183748.76,40042.84,212240.77,database,database
+2026-09-09,measured,2026-09-09T12:29:23.871843Z,Isaac-Velocity-Rough-H1,training,rsl_rl,newton_mjwarp,none,8192,42,10,221785.40,49653.93,243540.00,8.36,0.72,8.77,67.55,33.54,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206369,2026-09-09T05:28:33.111276,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-09-09,,dirty working tree reported,250358.97,56602.46,276223.21,database,database
+2026-09-09,measured,2026-09-09T13:01:05.080938Z,Isaac-Velocity-Rough-H1,training,rsl_rl,ovphysx,none,8192,42,10,217414.80,47976.48,236279.00,7.65,0.70,8.06,44.73,22.16,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206448,2026-09-09T05:59:13.777760,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-09-09,,dirty working tree reported,244314.76,54365.13,266406.96,database,database
+2026-09-09,measured,2026-09-09T11:32:43.625661Z,Isaac-Velocity-Rough-UnitreeGo2,training,rsl_rl,isaacsim_physx,none,8192,42,10,81042.20,14914.39,88558.00,12.37,0.59,12.67,60.75,24.04,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206278,2026-09-09T04:30:00.608070,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-09-09,,dirty working tree reported,84905.45,15386.82,92845.90,database,database
+2026-09-09,measured,2026-09-09T12:29:32.332892Z,Isaac-Velocity-Rough-UnitreeGo2,training,rsl_rl,newton_mjwarp,none,8192,42,10,200721.20,40613.10,225176.00,14.92,0.92,15.32,67.50,32.51,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206370,2026-09-09T05:28:35.888357,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-09-09,,dirty working tree reported,224091.80,45136.05,252942.09,database,database
+2026-09-09,measured,2026-09-09T13:04:34.404836Z,Isaac-Velocity-Rough-UnitreeGo2,training,rsl_rl,ovphysx,none,8192,42,10,56000.90,4725.61,59386.00,9.07,0.52,9.28,45.49,12.45,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206456,2026-09-09T06:02:06.631600,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-09-09,,dirty working tree reported,57734.70,4529.06,61168.85,database,database
diff --git a/docs/source/_static/benchmarks/environment-performance-release.csv b/docs/source/_static/benchmarks/environment-performance-release.csv
new file mode 100644
index 000000000000..68dd6c53c562
--- /dev/null
+++ b/docs/source/_static/benchmarks/environment-performance-release.csv
@@ -0,0 +1,115 @@
+benchmark_date_utc,data_origin,recorded_at_utc,task,workload,rl_library,physics_backend,rendering_backend,num_envs,seed,measured_iterations,total_fps_mean,total_fps_std,total_fps_peak,vram_mean_gb,vram_std_gb,vram_peak_gb,gpu_util_mean_pct,gpu_util_std_pct,gpu_name,gpu_memory_total_gb,cpu_name,physical_cpu_count,ram_total_gb,cuda_bindings_version,nvidia_driver_version,git_commit,source_record_id,measurement_timestamp,task_presets,comparison_group_name,source_entry_key,snapshot_date_utc,camera_resolution,quality_notes,collection_fps_mean,collection_fps_std,collection_fps_peak,physics_backend_source,rendering_backend_source
+2026-09-09,measured,2026-09-09T11:14:00.655971Z,Isaac-Ant,training,rsl_rl,isaacsim_physx,none,8192,42,10,382472.80,89693.70,432268.00,8.55,0.53,8.82,18.00,9.39,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206246,2026-09-09T04:11:57.957862,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Ant_8192,2026-09-09,,dirty working tree reported,456966.40,110146.14,519673.72,database,database
+2026-09-09,measured,2026-09-09T12:08:25.659963Z,Isaac-Ant,training,rsl_rl,newton_mjwarp,none,8192,42,10,763003.60,211235.33,832105.00,2.15,0.61,2.54,38.00,31.11,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206328,2026-09-09T05:07:20.069808,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Ant_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,1083720.22,314324.02,1187436.55,database,database
+2026-09-09,measured,2026-09-09T12:48:10.818976Z,Isaac-Ant,training,rsl_rl,ovphysx,none,8192,42,10,496322.70,123992.58,541252.00,5.60,0.58,5.91,21.62,13.37,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206415,2026-09-09T05:46:11.865850,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Ant_8192,2026-09-09,,dirty working tree reported; Collection FPS coefficient of variation >25%,611007.10,156758.35,670185.87,database,database
+2026-09-09,measured,2026-09-09T11:14:00.655971Z,Isaac-Ant-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,453005.40,84957.71,509625.00,8.63,0.49,8.82,26.86,18.40,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206246,2026-09-09T04:12:51.178195,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-09-09,,dirty working tree reported,559113.87,100670.93,635848.79,database,database
+2026-09-09,measured,2026-09-09T12:08:54.498226Z,Isaac-Ant-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,1013054.00,241905.27,1093772.00,2.23,0.62,2.54,50.50,33.73,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206329,2026-09-09T05:08:09.433396,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-09-09,,dirty working tree reported; Collection FPS coefficient of variation >25%,1644880.24,417206.67,1789826.06,database,database
+2026-09-09,measured,2026-09-09T12:48:24.206475Z,Isaac-Ant-Direct,training,rsl_rl,ovphysx,none,8192,42,10,580796.60,113658.30,631763.00,5.68,0.53,5.91,24.83,20.70,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206416,2026-09-09T05:47:14.540752,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Ant-Direct_8192,2026-09-09,,dirty working tree reported,744585.37,144212.49,814780.78,database,database
+2026-09-09,measured,2026-09-09T11:12:12.476962Z,Isaac-Cartpole,training,rsl_rl,isaacsim_physx,none,8192,42,10,523796.20,115548.33,582612.00,7.09,0.03,7.11,16.25,6.85,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206242,2026-09-09T04:10:56.519733,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-09-09,,dirty working tree reported,777485.35,176085.45,869623.24,database,database
+2026-09-09,measured,2026-09-09T12:10:40.892778Z,Isaac-Cartpole,training,rsl_rl,newton_mjwarp,none,8192,42,10,919337.20,236511.34,999181.00,0.93,0.06,0.96,15.67,13.58,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206330,2026-09-09T05:09:47.820548,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,1651228.91,451416.41,1804525.18,database,database
+2026-09-09,measured,2026-09-09T12:47:45.876102Z,Isaac-Cartpole,training,rsl_rl,ovphysx,none,8192,42,10,606874.20,139253.42,658680.00,3.98,0.03,4.00,14.75,9.84,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206414,2026-09-09T05:46:37.941246,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Cartpole_8192,2026-09-09,,dirty working tree reported,857475.64,198969.34,939679.64,database,database
+2026-09-09,measured,2026-09-09T14:00:23.287348Z,Isaac-Cartpole-Camera,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,67173.30,9391.86,71303.00,65.46,2.34,66.55,53.57,34.59,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206582,2026-09-09T06:58:01.534463,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-09-09,64,dirty working tree reported,103781.12,11719.21,109836.03,database,database
+2026-09-09,measured,2026-09-09T04:08:56.837140Z,Isaac-Cartpole-Camera,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,69907.60,10607.26,74051.00,62.51,3.13,78.54,51.77,33.39,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205119,2026-09-08T21:06:49.102459,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-09-09,64,dirty working tree reported,110228.33,14670.43,116788.00,database,database
+2026-09-09,measured,2026-09-09T14:28:54.554181Z,Isaac-Cartpole-Camera,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,91798.60,14009.94,98056.00,63.09,3.15,78.71,59.32,32.85,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206626,2026-09-09T07:27:09.457250,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-09-09,64,dirty working tree reported,171623.19,21299.67,184533.99,database,database
+2026-09-09,measured,2026-09-09T04:24:00.337934Z,Isaac-Cartpole-Camera,training,rsl_rl,ovphysx,ovrtx,8192,42,10,85771.40,12575.43,90988.00,65.58,2.26,66.37,57.62,33.87,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205152,2026-09-08T21:22:00.304759,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera_r64_8192,2026-09-09,64,dirty working tree reported,151844.02,17185.51,161125.70,database,database
+2026-09-09,measured,2026-09-09T14:00:23.287348Z,Isaac-Cartpole-Camera-Direct,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,67706.30,9610.18,71729.00,63.54,1.84,65.67,51.29,33.80,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206582,2026-09-09T06:55:58.442725,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-09-09,64,dirty working tree reported,104609.94,11890.90,110116.97,database,database
+2026-09-09,measured,2026-09-09T04:08:56.837140Z,Isaac-Cartpole-Camera-Direct,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,71796.30,10999.24,76396.00,60.48,1.89,62.63,50.81,32.79,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205119,2026-09-08T21:04:59.067785,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-09-09,64,dirty working tree reported,114788.70,15424.92,121938.39,database,database
+2026-09-09,measured,2026-09-09T14:28:54.554181Z,Isaac-Cartpole-Camera-Direct,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,100143.30,16547.03,107094.00,60.93,3.08,78.01,63.85,32.75,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206626,2026-09-09T07:25:51.222882,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-09-09,64,dirty working tree reported,202832.39,29650.43,218791.70,database,database
+2026-09-09,measured,2026-09-09T04:24:00.337934Z,Isaac-Cartpole-Camera-Direct,training,rsl_rl,ovphysx,ovrtx,8192,42,10,91484.20,14401.89,98779.00,63.67,1.92,68.22,59.40,34.60,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205152,2026-09-08T21:20:22.631987,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Cartpole-Camera-Direct_r64_8192,2026-09-09,64,dirty working tree reported,170360.65,22857.94,186450.18,database,database
+2026-09-09,measured,2026-09-09T11:12:12.476962Z,Isaac-Cartpole-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,571951.30,133525.41,626971.00,7.09,0.03,7.11,15.00,8.68,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206242,2026-09-09T04:11:25.280629,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-09-09,,dirty working tree reported,882244.15,209184.37,963802.46,database,database
+2026-09-09,measured,2026-09-09T12:11:41.590032Z,Isaac-Cartpole-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,1055861.80,286561.97,1150706.00,0.93,0.06,0.96,16.33,14.15,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206332,2026-09-09T05:11:04.366922,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,2163162.10,625484.61,2376592.76,database,database
+2026-09-09,measured,2026-09-09T12:48:41.062322Z,Isaac-Cartpole-Direct,training,rsl_rl,ovphysx,none,8192,42,10,656175.30,158650.55,720109.00,3.99,0.03,4.00,14.25,9.50,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206418,2026-09-09T05:47:56.710831,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Cartpole-Direct_8192,2026-09-09,,dirty working tree reported,961375.33,232922.11,1061136.68,database,database
+2026-09-09,measured,2026-09-09T11:16:53.913543Z,Isaac-Humanoid,training,rsl_rl,isaacsim_physx,none,8192,42,10,253522.40,51959.78,276275.00,9.63,0.60,9.94,27.92,17.07,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206251,2026-09-09T04:14:08.519572,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-09-09,,dirty working tree reported,285372.27,58199.28,310695.77,database,database
+2026-09-09,measured,2026-09-09T12:14:25.871215Z,Isaac-Humanoid,training,rsl_rl,newton_mjwarp,none,8192,42,10,527960.40,133307.59,572556.00,2.94,0.64,3.31,47.43,32.39,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206338,2026-09-09T05:13:19.419011,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,667862.57,174689.54,725985.06,database,database
+2026-09-09,measured,2026-09-09T12:52:33.168362Z,Isaac-Humanoid,training,rsl_rl,ovphysx,none,8192,42,10,327777.60,72197.45,365065.00,7.07,0.65,7.37,28.60,19.49,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206426,2026-09-09T05:49:38.908354,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Humanoid_8192,2026-09-09,,dirty working tree reported,376264.16,84234.80,422986.05,database,database
+2026-09-09,measured,2026-09-09T11:16:53.913543Z,Isaac-Humanoid-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,284884.00,43113.21,314903.00,9.64,0.64,9.93,28.90,13.25,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206251,2026-09-09T04:15:23.197664,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-09-09,,dirty working tree reported,326342.84,47420.90,360614.68,database,database
+2026-09-09,measured,2026-09-09T12:15:30.682588Z,Isaac-Humanoid-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,638162.80,127606.93,681880.00,3.05,0.58,3.29,58.00,29.30,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206342,2026-09-09T05:14:46.750699,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-09-09,,dirty working tree reported,851289.41,171604.63,910568.64,database,database
+2026-09-09,measured,2026-09-09T12:52:33.168362Z,Isaac-Humanoid-Direct,training,rsl_rl,ovphysx,none,8192,42,10,362206.60,58429.16,391248.00,6.99,0.68,7.32,33.22,14.26,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206426,2026-09-09T05:50:59.818803,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Humanoid-Direct_8192,2026-09-09,,dirty working tree reported,422767.48,65352.05,458204.11,database,database
+2026-09-09,measured,2026-09-09T11:18:31.582054Z,Isaac-Lift-Franka,training,rsl_rl,isaacsim_physx,none,8192,42,10,152295.20,20188.99,162161.00,13.90,0.84,14.33,47.88,16.12,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206254,2026-09-09T04:14:33.522323,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-09-09,,dirty working tree reported,178077.43,25153.23,189041.36,database,database
+2026-09-09,measured,2026-09-09T15:27:03.854259Z,Isaac-Lift-Franka,training,rsl_rl,newton_mjwarp,none,8192,42,10,247544.60,38863.84,260552.00,6.31,0.92,6.70,59.50,22.81,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206709,2026-09-09T08:25:48.905862,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-09-09,,dirty working tree reported,315258.08,54321.33,333916.92,database,database
+2026-09-09,measured,2026-09-09T12:52:33.214953Z,Isaac-Lift-Franka,training,rsl_rl,ovphysx,none,8192,42,10,58781.50,2946.11,60437.00,10.68,0.68,10.93,20.43,18.98,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206427,2026-09-09T05:49:24.907670,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Lift-Franka_8192,2026-09-09,,dirty working tree reported,61922.34,3016.13,63686.51,database,database
+2026-09-09,measured,2026-09-09T11:20:59.266597Z,Isaac-Lift-KukaAllegro,training,rsl_rl,isaacsim_physx,none,8192,42,10,53985.40,3168.96,61239.00,16.27,1.00,16.71,77.51,12.13,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206259,2026-09-09T04:16:16.570536,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-09-09,,dirty working tree reported,57276.74,3423.77,65250.70,database,database
+2026-09-09,measured,2026-09-09T12:16:55.450543Z,Isaac-Lift-KukaAllegro,training,rsl_rl,newton_mjwarp,none,8192,42,10,116924.40,12070.76,121397.00,28.01,1.31,28.48,76.39,20.88,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206344,2026-09-09T05:15:20.764000,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-09-09,,dirty working tree reported,131956.57,14122.58,137288.64,database,database
+2026-09-09,measured,2026-09-09T12:53:54.702677Z,Isaac-Lift-KukaAllegro,training,rsl_rl,ovphysx,none,8192,42,10,32368.20,556.38,33070.00,14.00,0.95,14.52,55.46,27.48,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206430,2026-09-09T05:50:07.323284,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Lift-KukaAllegro_8192,2026-09-09,,dirty working tree reported,33425.79,537.40,34147.47,database,database
+2026-09-09,measured,2026-09-09T14:05:19.927739Z,Isaac-Lift-KukaAllegro-Camera,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,12660.60,2318.37,13713.00,32.36,1.86,33.24,18.12,29.11,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206590,2026-09-09T06:56:29.887511,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-09-09,64,dirty working tree reported,13348.87,2381.24,14457.88,database,database
+2026-09-09,measured,2026-09-09T04:09:23.419477Z,Isaac-Lift-KukaAllegro-Camera,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,14153.50,2467.08,15376.00,46.74,1.99,47.63,19.09,28.60,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205120,2026-09-08T21:01:55.745588,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-09-09,64,dirty working tree reported,15019.80,2536.49,16310.24,database,database
+2026-09-09,measured,2026-09-09T14:25:25.101168Z,Isaac-Lift-KukaAllegro-Camera,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,57110.60,9975.94,60858.00,47.37,1.93,48.17,60.32,26.01,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206620,2026-09-09T07:22:55.397089,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-09-09,64,dirty working tree reported,72720.32,10230.84,76865.03,database,database
+2026-09-09,measured,2026-09-09T04:25:55.669480Z,Isaac-Lift-KukaAllegro-Camera,training,rsl_rl,ovphysx,ovrtx,8192,42,10,23754.80,2507.73,25128.00,33.94,1.51,34.55,45.50,34.05,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205154,2026-09-08T21:20:50.248481,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Lift-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-09-09,64,dirty working tree reported,26260.84,1919.29,27574.74,database,database
+2026-09-09,measured,2026-09-09T11:21:18.085406Z,Isaac-Open-Drawer-Franka,training,rsl_rl,isaacsim_physx,none,8192,42,10,248220.70,18214.50,263305.00,11.53,0.72,11.81,59.70,12.12,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206260,2026-09-09T04:16:29.862885,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-09-09,,dirty working tree reported,262668.91,17744.13,278576.22,database,database
+2026-09-09,measured,2026-09-09T12:20:07.347856Z,Isaac-Open-Drawer-Franka,training,rsl_rl,newton_mjwarp,none,8192,42,10,337567.70,19494.00,345274.00,7.45,1.31,7.86,74.92,16.05,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206352,2026-09-09T05:18:20.198084,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-09-09,,dirty working tree reported,363184.83,17135.04,370453.69,database,database
+2026-09-09,measured,2026-09-09T12:54:17.228921Z,Isaac-Open-Drawer-Franka,training,rsl_rl,ovphysx,none,8192,42,10,266687.10,15718.08,281673.00,8.85,0.66,9.20,60.17,11.87,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206431,2026-09-09T05:49:54.684653,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka_8192,2026-09-09,,dirty working tree reported,282768.71,14799.77,298271.79,database,database
+2026-09-09,measured,2026-09-09T11:21:18.085406Z,Isaac-Open-Drawer-Franka-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,250826.80,21065.83,268303.00,11.53,0.72,11.81,60.70,11.74,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206260,2026-09-09T04:18:43.694438,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-09-09,,dirty working tree reported,266418.46,21771.86,284192.58,database,database
+2026-09-09,measured,2026-09-09T12:20:07.347856Z,Isaac-Open-Drawer-Franka-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,347603.70,22529.19,357498.00,7.41,1.31,7.83,76.08,16.36,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206352,2026-09-09T05:19:03.799190,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-09-09,,dirty working tree reported,374704.02,20417.46,384330.67,database,database
+2026-09-09,measured,2026-09-09T12:54:17.228921Z,Isaac-Open-Drawer-Franka-Direct,training,rsl_rl,ovphysx,none,8192,42,10,280857.30,18956.00,294209.00,8.89,0.71,9.16,60.79,12.96,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206431,2026-09-09T05:51:56.540305,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Open-Drawer-Franka-Direct_8192,2026-09-09,,dirty working tree reported,298605.02,17315.23,312113.69,database,database
+2026-09-09,measured,2026-09-09T11:22:26.911647Z,Isaac-Reach-Franka,training,rsl_rl,isaacsim_physx,none,8192,42,10,232989.30,58052.48,266867.00,8.63,0.11,8.70,25.70,17.36,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206262,2026-09-09T04:16:28.812568,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-09-09,,dirty working tree reported; Collection FPS coefficient of variation >25%,275853.34,71070.69,316368.59,database,database
+2026-09-09,measured,2026-09-09T12:19:54.620153Z,Isaac-Reach-Franka,training,rsl_rl,newton_mjwarp,none,8192,42,10,472866.60,134880.84,518234.00,2.46,0.43,2.65,51.00,32.85,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206351,2026-09-09T05:18:35.309374,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,629693.83,186136.61,694096.40,database,database
+2026-09-09,measured,2026-09-09T12:54:38.979719Z,Isaac-Reach-Franka,training,rsl_rl,ovphysx,none,8192,42,10,269619.40,67705.92,295806.00,5.24,0.10,5.30,30.00,14.45,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206432,2026-09-09T05:50:35.544129,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-Franka_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,312913.75,80170.61,344378.12,database,database
+2026-09-09,measured,2026-09-09T11:22:26.911647Z,Isaac-Reach-Franka-OSC,training,rsl_rl,isaacsim_physx,none,8192,42,10,153035.90,33164.23,166778.00,8.48,0.11,8.53,24.29,14.98,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206262,2026-09-09T04:19:20.006266,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-09-09,,dirty working tree reported,170875.44,37885.38,192459.68,database,database
+2026-09-09,measured,2026-09-09T12:19:54.620153Z,Isaac-Reach-Franka-OSC,training,rsl_rl,newton_mjwarp,none,8192,42,10,227456.20,55023.25,246163.00,2.56,0.35,2.70,37.73,24.58,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206351,2026-09-09T05:19:03.220615,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-09-09,,dirty working tree reported,257428.35,63396.69,278991.54,database,database
+2026-09-09,measured,2026-09-09T12:54:38.979719Z,Isaac-Reach-Franka-OSC,training,rsl_rl,ovphysx,none,8192,42,10,183802.80,41675.99,199649.00,5.30,0.11,5.35,26.85,12.65,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206432,2026-09-09T05:52:24.100477,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-Franka-OSC_8192,2026-09-09,,dirty working tree reported,203000.31,46534.81,220990.60,database,database
+2026-09-09,measured,2026-09-09T11:17:06.265753Z,Isaac-Reach-UR10,training,rsl_rl,isaacsim_physx,none,8192,42,10,239031.10,59381.44,269632.00,8.32,0.38,8.52,38.90,26.18,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206252,2026-09-09T04:15:48.146547,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-09-09,,dirty working tree reported; Collection FPS coefficient of variation >25%,284749.34,73084.55,323408.22,database,database
+2026-09-09,measured,2026-09-09T12:19:28.959047Z,Isaac-Reach-UR10,training,rsl_rl,newton_mjwarp,none,8192,42,10,545002.00,159168.36,605012.00,2.67,0.66,2.95,43.86,28.75,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206350,2026-09-09T05:18:46.387332,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,755105.62,229166.28,847050.05,database,database
+2026-09-09,measured,2026-09-09T12:52:11.773157Z,Isaac-Reach-UR10,training,rsl_rl,ovphysx,none,8192,42,10,283726.60,72360.86,314236.00,5.45,0.09,5.51,41.89,22.31,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206425,2026-09-09T05:51:04.257461,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reach-UR10_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,331583.38,86377.92,368112.28,database,database
+2026-09-09,measured,2026-09-09T11:20:37.517202Z,Isaac-Reorient-Cube-Allegro,training,rsl_rl,isaacsim_physx,none,8192,42,10,112142.50,13009.27,119154.00,10.06,0.57,10.31,49.35,13.94,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206257,2026-09-09T04:16:13.750102,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-09-09,,dirty working tree reported,119343.67,12848.21,126556.43,database,database
+2026-09-09,measured,2026-09-09T12:22:47.170608Z,Isaac-Reorient-Cube-Allegro,training,rsl_rl,newton_mjwarp,none,8192,42,10,169641.50,19955.28,178946.00,8.02,1.87,8.63,83.00,24.97,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206357,2026-09-09T05:21:26.223852,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-09-09,,dirty working tree reported,185112.30,19371.76,194618.34,database,database
+2026-09-09,measured,2026-09-09T12:54:56.133049Z,Isaac-Reorient-Cube-Allegro,training,rsl_rl,ovphysx,none,8192,42,10,101299.00,9418.87,106206.00,7.51,0.54,7.72,40.55,10.34,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206434,2026-09-09T05:51:21.960550,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro_8192,2026-09-09,,dirty working tree reported,106709.55,8865.33,111627.86,database,database
+2026-09-09,measured,2026-09-09T11:24:11.630449Z,Isaac-Reorient-Cube-Allegro-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,98828.50,19480.23,107039.00,10.21,0.81,10.61,46.86,21.30,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206266,2026-09-09T04:21:50.388962,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-09-09,,dirty working tree reported,111060.09,22535.45,120242.42,database,database
+2026-09-09,measured,2026-09-09T12:22:47.170608Z,Isaac-Reorient-Cube-Allegro-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,146333.10,31464.73,157658.00,8.06,2.14,8.99,70.91,35.09,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206357,2026-09-09T05:21:57.228521,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-09-09,,dirty working tree reported,170234.26,37943.19,184095.53,database,database
+2026-09-09,measured,2026-09-09T12:54:56.133049Z,Isaac-Reorient-Cube-Allegro-Direct,training,rsl_rl,ovphysx,none,8192,42,10,87711.90,15013.83,93623.00,7.67,0.75,8.01,36.94,18.49,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206434,2026-09-09T05:52:59.413350,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Allegro-Direct_8192,2026-09-09,,dirty working tree reported,95744.12,16676.92,102242.83,database,database
+2026-09-09,measured,2026-09-09T11:34:09.604433Z,Isaac-Reorient-Cube-Shadow,training,rsl_rl,isaacsim_physx,none,8192,42,10,112774.80,18363.80,120487.00,12.15,0.77,12.45,34.33,14.35,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206282,2026-09-09T04:27:54.219874,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-09-09,,dirty working tree reported,124604.26,19780.48,133188.02,database,database
+2026-09-09,measured,2026-09-09T12:35:52.547149Z,Isaac-Reorient-Cube-Shadow,training,rsl_rl,newton_mjwarp,none,8192,42,10,247296.40,44881.15,264673.00,8.86,2.70,9.88,69.57,29.93,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206386,2026-09-09T05:34:27.791265,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-09-09,,dirty working tree reported,305389.96,53615.95,326639.29,database,database
+2026-09-09,measured,2026-09-09T12:59:09.354262Z,Isaac-Reorient-Cube-Shadow,training,rsl_rl,ovphysx,none,8192,42,10,71880.10,6406.84,75853.00,9.28,0.70,9.56,25.58,16.20,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206443,2026-09-09T05:53:00.844714,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow_8192,2026-09-09,,dirty working tree reported,76409.89,5552.64,80377.66,database,database
+2026-09-09,measured,2026-09-09T04:27:01.742398Z,Isaac-Reorient-Cube-Shadow-Camera,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,34185.50,7008.68,36865.00,19.87,2.46,21.17,37.08,20.51,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205159,2026-09-08T21:19:51.782925,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-09-09,64,dirty working tree reported,35583.23,7411.54,38354.41,database,database
+2026-09-09,measured,2026-09-09T04:20:15.970610Z,Isaac-Reorient-Cube-Shadow-Camera,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,46774.20,5674.86,49472.00,21.02,1.90,21.66,47.24,22.80,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205146,2026-09-08T21:15:14.018663,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-09-09,64,dirty working tree reported,49367.53,6152.18,52466.03,database,database
+2026-09-09,measured,2026-09-09T04:01:15.865338Z,Isaac-Reorient-Cube-Shadow-Camera,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,72740.60,4076.13,74573.00,20.85,1.90,21.42,56.17,15.25,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205105,2026-09-08T20:58:31.105323,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-09-09,64,dirty working tree reported,78710.86,4496.08,80757.19,database,database
+2026-09-09,measured,2026-09-09T04:32:05.795008Z,Isaac-Reorient-Cube-Shadow-Camera,training,rsl_rl,ovphysx,ovrtx,8192,42,10,40868.40,1748.58,41976.00,20.83,1.38,21.28,31.81,17.82,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205165,2026-09-08T21:25:58.628225,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera_r64_8192,2026-09-09,64,dirty working tree reported,42684.54,1826.14,43865.04,database,database
+2026-09-09,measured,2026-09-09T04:27:01.742398Z,Isaac-Reorient-Cube-Shadow-Camera-Direct,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,31602.90,6363.39,34130.00,19.98,2.44,21.24,35.08,20.65,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205159,2026-09-08T21:12:46.551196,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-09-09,64,dirty working tree reported,32798.88,6705.33,35561.89,database,database
+2026-09-09,measured,2026-09-09T04:20:15.970610Z,Isaac-Reorient-Cube-Shadow-Camera-Direct,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,41796.80,5255.49,44230.00,20.94,2.02,21.66,39.86,23.05,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205146,2026-09-08T21:10:19.758269,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-09-09,64,dirty working tree reported,43854.27,5654.76,46558.46,database,database
+2026-09-09,measured,2026-09-09T04:01:15.865338Z,Isaac-Reorient-Cube-Shadow-Camera-Direct,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,70623.10,5871.42,73019.00,20.83,1.90,21.42,55.41,14.32,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205105,2026-09-08T20:56:05.676091,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-09-09,64,dirty working tree reported,76215.25,6661.34,78948.59,database,database
+2026-09-09,measured,2026-09-09T04:32:13.658627Z,Isaac-Reorient-Cube-Shadow-Camera-Direct,training,rsl_rl,ovphysx,ovrtx,8192,42,10,40024.10,2305.05,41918.00,20.84,1.40,21.31,32.69,18.32,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205166,2026-09-08T21:26:06.124886,simple_shading_full_mdl,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Camera-Direct_r64_8192,2026-09-09,64,dirty working tree reported,41750.01,2470.48,43797.72,database,database
+2026-09-09,measured,2026-09-09T11:34:09.604433Z,Isaac-Reorient-Cube-Shadow-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,112489.80,24942.27,122917.00,12.09,0.80,12.48,29.54,14.02,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206282,2026-09-09T04:30:52.902313,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-09-09,,dirty working tree reported,124194.83,28105.63,136169.58,database,database
+2026-09-09,measured,2026-09-09T12:35:52.547149Z,Isaac-Reorient-Cube-Shadow-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,238886.30,61292.38,261177.00,8.85,2.50,9.88,50.88,36.74,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206386,2026-09-09T05:34:59.709825,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,292888.30,78040.66,321573.23,database,database
+2026-09-09,measured,2026-09-09T12:59:09.354262Z,Isaac-Reorient-Cube-Shadow-Direct,training,rsl_rl,ovphysx,none,8192,42,10,68976.60,10852.88,72945.00,9.25,0.74,9.59,20.25,9.83,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206443,2026-09-09T05:55:52.548227,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Cube-Shadow-Direct_8192,2026-09-09,,dirty working tree reported,72892.96,11268.47,77064.36,database,database
+2026-09-09,measured,2026-09-09T11:34:06.612855Z,Isaac-Reorient-Franka,training,rsl_rl,isaacsim_physx,none,8192,42,10,149166.60,21186.38,159265.00,13.94,0.83,14.33,48.72,15.30,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206281,2026-09-09T04:30:07.053375,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-09-09,,dirty working tree reported,176617.47,27136.52,189990.62,database,database
+2026-09-09,measured,2026-09-09T12:22:07.818225Z,Isaac-Reorient-Franka,training,rsl_rl,newton_mjwarp,none,8192,42,10,240582.10,41769.02,254531.00,6.34,0.90,6.70,56.46,18.58,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206355,2026-09-09T05:20:52.376019,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-09-09,,dirty working tree reported,304702.83,57675.22,324072.43,database,database
+2026-09-09,measured,2026-09-09T12:55:23.987132Z,Isaac-Reorient-Franka,training,rsl_rl,ovphysx,none,8192,42,10,58753.50,3766.21,60389.00,10.68,0.68,10.93,20.73,17.80,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206436,2026-09-09T05:52:15.496294,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-Franka_8192,2026-09-09,,dirty working tree reported,61892.49,3924.78,63641.83,database,database
+2026-09-09,measured,2026-09-09T11:30:07.611891Z,Isaac-Reorient-KukaAllegro,training,rsl_rl,isaacsim_physx,none,8192,42,10,54339.70,3567.43,60876.00,16.25,0.99,16.71,75.40,16.34,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206273,2026-09-09T04:25:26.568390,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-09-09,,dirty working tree reported,57683.10,3830.08,64799.62,database,database
+2026-09-09,measured,2026-09-09T12:23:41.585565Z,Isaac-Reorient-KukaAllegro,training,rsl_rl,newton_mjwarp,none,8192,42,10,116694.70,13767.07,122450.00,28.03,1.29,28.48,76.12,19.94,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206358,2026-09-09T05:22:04.989210,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-09-09,,dirty working tree reported,131732.70,16207.89,138663.60,database,database
+2026-09-09,measured,2026-09-09T12:58:38.241881Z,Isaac-Reorient-KukaAllegro,training,rsl_rl,ovphysx,none,8192,42,10,31083.90,813.44,32399.00,14.01,0.99,14.52,51.22,28.48,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206441,2026-09-09T05:54:45.610317,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro_8192,2026-09-09,,dirty working tree reported,32073.62,792.79,33441.58,database,database
+2026-09-09,measured,2026-09-09T14:18:34.949016Z,Isaac-Reorient-KukaAllegro-Camera,training,rsl_rl,isaacsim_physx,isaacsim_rtx,8192,42,10,12760.50,2344.28,13691.00,32.36,1.85,33.24,15.77,27.05,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206601,2026-09-09T07:09:51.202346,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-09-09,64,dirty working tree reported,13469.94,2415.14,14429.74,database,database
+2026-09-09,measured,2026-09-09T04:16:26.416390Z,Isaac-Reorient-KukaAllegro-Camera,training,rsl_rl,newton_mjwarp,isaacsim_rtx,8192,42,10,14052.10,2420.98,15226.00,46.52,1.94,48.62,15.30,27.25,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205136,2026-09-08T21:09:00.873250,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_ISAACSIMRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-09-09,64,dirty working tree reported,14908.08,2489.31,16161.25,database,database
+2026-09-09,measured,2026-09-09T14:28:10.299684Z,Isaac-Reorient-KukaAllegro-Camera,training,rsl_rl,newton_mjwarp,ovrtx,8192,42,10,56535.60,9988.62,59974.00,47.36,1.93,48.16,62.45,23.33,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206625,2026-09-09T07:25:38.709022,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-09-09,64,dirty working tree reported,71824.82,10486.20,75608.43,database,database
+2026-09-09,measured,2026-09-09T04:25:10.086727Z,Isaac-Reorient-KukaAllegro-Camera,training,rsl_rl,ovphysx,ovrtx,8192,42,10,23527.10,2452.96,24752.00,33.89,1.52,34.52,46.83,32.54,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,205153,2026-09-08T21:20:02.916076,"cube,simple_shading_full_mdl64,single_camera",ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_OVRTX_SSFM_E8192_R64,benchmark_rsl_rl_Isaac-Reorient-KukaAllegro-Camera_cube_single_camera_simple_shading_full_mdl64_r64_8192,2026-09-09,64,dirty working tree reported,25920.44,1871.56,27036.46,database,database
+2026-09-09,measured,2026-09-09T11:35:15.675331Z,Isaac-Shadow-Handover-Direct,training,rsl_rl,isaacsim_physx,none,8192,42,10,68036.20,12753.27,77064.00,15.74,0.70,16.13,27.72,12.92,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206285,2026-09-09T04:29:15.404702,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-09-09,,dirty working tree reported,73054.62,13927.39,82478.45,database,database
+2026-09-09,measured,2026-09-09T12:29:35.218463Z,Isaac-Shadow-Handover-Direct,training,rsl_rl,newton_mjwarp,none,8192,42,10,98463.80,15652.75,104542.00,13.57,2.46,14.36,79.33,32.33,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206371,2026-09-09T05:28:25.131690,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-09-09,,dirty working tree reported,106865.31,17029.58,113580.96,database,database
+2026-09-09,measured,2026-09-09T13:01:39.040409Z,Isaac-Shadow-Handover-Direct,training,rsl_rl,ovphysx,none,8192,42,10,39185.40,3975.94,42418.00,13.75,0.55,13.96,20.97,19.01,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206450,2026-09-09T05:54:57.699083,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Shadow-Handover-Direct_8192,2026-09-09,,dirty working tree reported,40541.65,3871.88,43870.80,database,database
+2026-09-09,measured,2026-09-09T11:29:07.312709Z,Isaac-Velocity-Flat-AnymalD,training,rsl_rl,isaacsim_physx,none,8192,42,10,156793.40,31608.10,176769.00,10.02,0.41,10.19,28.36,11.46,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206271,2026-09-09T04:26:54.266943,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-09-09,,dirty working tree reported,169113.91,34044.17,190750.25,database,database
+2026-09-09,measured,2026-09-09T12:26:27.189410Z,Isaac-Velocity-Flat-AnymalD,training,rsl_rl,newton_mjwarp,none,8192,42,10,177325.90,32659.24,190141.00,6.54,0.37,6.70,74.15,32.75,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206363,2026-09-09T05:25:25.105852,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-09-09,,dirty working tree reported,188648.70,34073.73,202251.54,database,database
+2026-09-09,measured,2026-09-09T12:56:25.467713Z,Isaac-Velocity-Flat-AnymalD,training,rsl_rl,ovphysx,none,8192,42,10,197621.70,40750.08,218229.00,6.97,0.44,7.17,31.83,14.88,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206437,2026-09-09T05:54:41.726280,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-AnymalD_8192,2026-09-09,,dirty working tree reported,211845.43,43324.48,233849.95,database,database
+2026-09-09,measured,2026-09-09T11:27:26.702515Z,Isaac-Velocity-Flat-Cassie,training,rsl_rl,isaacsim_physx,none,8192,42,10,231159.30,52667.78,257808.00,9.13,0.42,9.31,29.70,14.89,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206269,2026-09-09T04:25:52.918627,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-09-09,,dirty working tree reported,258791.09,58613.79,288429.78,database,database
+2026-09-09,measured,2026-09-09T12:26:20.781135Z,Isaac-Velocity-Flat-Cassie,training,rsl_rl,newton_mjwarp,none,8192,42,10,443047.80,118855.91,481808.00,1.97,0.25,2.11,46.71,31.52,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206362,2026-09-09T05:25:37.165468,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,523605.26,142500.15,569951.08,database,database
+2026-09-09,measured,2026-09-09T12:58:11.742278Z,Isaac-Velocity-Flat-Cassie,training,rsl_rl,ovphysx,none,8192,42,10,294304.90,70550.88,320156.00,6.04,0.42,6.22,32.00,17.97,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206440,2026-09-09T05:56:51.110628,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-Cassie_8192,2026-09-09,,dirty working tree reported,327436.72,78616.45,356605.31,database,database
+2026-09-09,measured,2026-09-09T11:31:04.936449Z,Isaac-Velocity-Flat-G1,training,rsl_rl,isaacsim_physx,none,8192,42,10,136950.10,28143.89,148039.00,11.58,0.35,11.76,51.47,22.30,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206274,2026-09-09T04:26:47.353325,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-09-09,,dirty working tree reported,146833.33,29729.14,157970.69,database,database
+2026-09-09,measured,2026-09-09T12:27:32.076524Z,Isaac-Velocity-Flat-G1,training,rsl_rl,newton_mjwarp,none,8192,42,10,264026.20,63075.45,284749.00,4.30,0.47,4.58,65.40,34.48,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206368,2026-09-09T05:26:41.969612,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-09-09,,dirty working tree reported,291451.31,69676.02,314372.65,database,database
+2026-09-09,measured,2026-09-09T13:00:20.997848Z,Isaac-Velocity-Flat-G1,training,rsl_rl,ovphysx,none,8192,42,10,176802.40,36474.63,189052.00,9.32,0.37,9.52,58.00,25.78,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206446,2026-09-09T05:57:04.982060,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-G1_8192,2026-09-09,,dirty working tree reported,188658.03,38472.70,201636.23,database,database
+2026-09-09,measured,2026-09-09T11:30:04.944139Z,Isaac-Velocity-Flat-H1,training,rsl_rl,isaacsim_physx,none,8192,42,10,220167.20,51157.75,245745.00,9.32,0.27,9.47,33.91,16.07,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206272,2026-09-09T04:27:46.458720,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-09-09,,dirty working tree reported,243672.68,56964.89,273062.77,database,database
+2026-09-09,measured,2026-09-09T12:26:20.660707Z,Isaac-Velocity-Flat-H1,training,rsl_rl,newton_mjwarp,none,8192,42,10,377693.00,99464.07,411236.00,2.33,0.26,2.46,45.25,28.19,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206361,2026-09-09T05:25:35.920489,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,434706.83,115768.36,474565.09,database,database
+2026-09-09,measured,2026-09-09T13:00:25.001076Z,Isaac-Velocity-Flat-H1,training,rsl_rl,ovphysx,none,8192,42,10,291995.30,72432.09,319477.00,6.18,0.25,6.32,36.22,20.59,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206447,2026-09-09T05:58:39.255381,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-H1_8192,2026-09-09,,dirty working tree reported,324695.48,80401.33,356294.53,database,database
+2026-09-09,measured,2026-09-09T11:33:02.217474Z,Isaac-Velocity-Flat-UnitreeGo2,training,rsl_rl,isaacsim_physx,none,8192,42,10,203240.00,44764.70,229504.00,9.28,0.28,9.44,30.73,14.23,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206279,2026-09-09T04:30:36.490186,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-09-09,,dirty working tree reported,223917.88,49551.79,252992.85,database,database
+2026-09-09,measured,2026-09-09T12:27:17.142755Z,Isaac-Velocity-Flat-UnitreeGo2,training,rsl_rl,newton_mjwarp,none,8192,42,10,455760.90,122897.29,495426.00,3.01,0.29,3.17,45.29,31.25,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206367,2026-09-09T05:26:25.291614,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-09-09,,dirty working tree reported; Total FPS coefficient of variation >25%; Collection FPS coefficient of variation >25%,542000.99,148387.77,589773.10,database,database
+2026-09-09,measured,2026-09-09T13:01:47.503398Z,Isaac-Velocity-Flat-UnitreeGo2,training,rsl_rl,ovphysx,none,8192,42,10,92317.40,11883.09,97641.00,6.48,0.23,6.57,15.91,8.84,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206451,2026-09-09T05:59:36.560912,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Flat-UnitreeGo2_8192,2026-09-09,,dirty working tree reported,95611.12,11401.75,100868.95,database,database
+2026-09-09,measured,2026-09-09T11:38:55.051041Z,Isaac-Velocity-Rough-AnymalD,training,rsl_rl,isaacsim_physx,none,8192,42,10,62493.50,8772.49,69422.00,12.79,0.67,13.08,65.13,19.78,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206293,2026-09-09T04:36:22.650679,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-09-09,,dirty working tree reported,64737.31,8962.01,72015.49,database,database
+2026-09-09,measured,2026-09-09T12:29:39.731922Z,Isaac-Velocity-Rough-AnymalD,training,rsl_rl,newton_mjwarp,none,8192,42,10,141586.70,21491.23,159653.00,17.14,0.86,17.49,78.67,27.01,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206373,2026-09-09T05:28:31.392209,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-09-09,,dirty working tree reported,152642.97,22622.26,173063.32,database,database
+2026-09-09,measured,2026-09-09T15:29:04.793110Z,Isaac-Velocity-Rough-AnymalD,training,rsl_rl,ovphysx,none,8192,42,10,76517.20,6683.59,82913.00,9.52,0.62,9.77,70.12,20.54,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206712,2026-09-09T08:27:05.021279,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-AnymalD_8192,2026-09-09,,dirty working tree reported,79741.23,6247.14,86305.60,database,database
+2026-09-09,measured,2026-09-09T11:31:33.268366Z,Isaac-Velocity-Rough-Cassie,training,rsl_rl,isaacsim_physx,none,8192,42,10,129335.70,23689.91,147762.00,11.34,0.53,11.58,56.69,21.65,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206275,2026-09-09T04:29:49.892162,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-09-09,,dirty working tree reported,139393.52,25450.22,160124.76,database,database
+2026-09-09,measured,2026-09-09T12:34:51.590015Z,Isaac-Velocity-Rough-Cassie,training,rsl_rl,newton_mjwarp,none,8192,42,10,270539.10,61914.23,292087.00,6.48,0.64,6.78,58.90,34.79,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206384,2026-09-09T05:34:02.035054,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-09-09,,dirty working tree reported,314980.51,73174.06,340530.76,database,database
+2026-09-09,measured,2026-09-09T13:00:10.295553Z,Isaac-Velocity-Rough-Cassie,training,rsl_rl,ovphysx,none,8192,42,10,165330.50,31255.12,177630.00,8.05,0.60,8.35,55.29,23.55,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206445,2026-09-09T05:58:42.310636,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-Cassie_8192,2026-09-09,,dirty working tree reported,180895.93,33972.05,194559.66,database,database
+2026-09-09,measured,2026-09-09T11:16:09.369749Z,Isaac-Velocity-Rough-G1,training,rsl_rl,isaacsim_physx,none,8192,42,10,112289.30,22253.95,127849.00,12.92,0.59,13.23,57.89,21.73,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206248,2026-09-09T04:11:48.996905,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-09-09,,dirty working tree reported,120900.46,24046.42,139808.28,database,database
+2026-09-09,measured,2026-09-09T12:19:16.412034Z,Isaac-Velocity-Rough-G1,training,rsl_rl,newton_mjwarp,none,8192,42,10,172779.70,35458.24,186372.00,12.41,0.78,12.78,72.93,30.97,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206349,2026-09-09T05:18:19.966657,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-09-09,,dirty working tree reported,190825.91,39301.20,205989.00,database,database
+2026-09-09,measured,2026-09-09T12:49:39.522769Z,Isaac-Velocity-Rough-G1,training,rsl_rl,ovphysx,none,8192,42,10,150627.80,28745.50,160838.00,10.70,0.59,10.99,63.60,25.86,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206420,2026-09-09T05:46:17.845542,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-G1_8192,2026-09-09,,dirty working tree reported,164048.87,31209.91,175186.54,database,database
+2026-09-09,measured,2026-09-09T11:33:19.818818Z,Isaac-Velocity-Rough-H1,training,rsl_rl,isaacsim_physx,none,8192,42,10,166815.60,35960.69,191100.00,10.82,0.67,11.17,46.85,20.22,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206280,2026-09-09T04:30:55.326988,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-09-09,,dirty working tree reported,183748.76,40042.84,212240.77,database,database
+2026-09-09,measured,2026-09-09T12:29:23.871843Z,Isaac-Velocity-Rough-H1,training,rsl_rl,newton_mjwarp,none,8192,42,10,221785.40,49653.93,243540.00,8.36,0.72,8.77,67.55,33.54,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206369,2026-09-09T05:28:33.111276,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-09-09,,dirty working tree reported,250358.97,56602.46,276223.21,database,database
+2026-09-09,measured,2026-09-09T13:01:05.080938Z,Isaac-Velocity-Rough-H1,training,rsl_rl,ovphysx,none,8192,42,10,217414.80,47976.48,236279.00,7.65,0.70,8.06,44.73,22.16,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206448,2026-09-09T05:59:13.777760,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-H1_8192,2026-09-09,,dirty working tree reported,244314.76,54365.13,266406.96,database,database
+2026-09-09,measured,2026-09-09T11:32:43.625661Z,Isaac-Velocity-Rough-UnitreeGo2,training,rsl_rl,isaacsim_physx,none,8192,42,10,81042.20,14914.39,88558.00,12.37,0.59,12.67,60.75,24.04,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206278,2026-09-09T04:30:00.608070,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_PHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-09-09,,dirty working tree reported,84905.45,15386.82,92845.90,database,database
+2026-09-09,measured,2026-09-09T12:29:32.332892Z,Isaac-Velocity-Rough-UnitreeGo2,training,rsl_rl,newton_mjwarp,none,8192,42,10,200721.20,40613.10,225176.00,14.92,0.92,15.32,67.50,32.51,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206370,2026-09-09T05:28:35.888357,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_NEWTON_MJWARP_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-09-09,,dirty working tree reported,224091.80,45136.05,252942.09,database,database
+2026-09-09,measured,2026-09-09T13:04:34.404836Z,Isaac-Velocity-Rough-UnitreeGo2,training,rsl_rl,ovphysx,none,8192,42,10,56000.90,4725.61,59386.00,9.07,0.52,9.28,45.49,12.45,NVIDIA RTX PRO 6000 Blackwell Server Edition,94.97,INTEL(R) XEON(R) GOLD 5512U,56,251.36,12.9.7,NVIDIA-Linux-x86_64-595.58.03,cdaefc505308d97b5fd2289d8c997e4f307dd8b4,206456,2026-09-09T06:02:06.631600,,ISAAC_LAB_SINGLE_GPU_GTL_PRESET_OVPHYSX_E8192,benchmark_rsl_rl_Isaac-Velocity-Rough-UnitreeGo2_8192,2026-09-09,,dirty working tree reported,57734.70,4529.06,61168.85,database,database
diff --git a/docs/source/_static/css/custom.css b/docs/source/_static/css/custom.css
index 568c5d04da0d..438aab3979ad 100644
--- a/docs/source/_static/css/custom.css
+++ b/docs/source/_static/css/custom.css
@@ -118,15 +118,6 @@ a {
     width: min(100%, 480px);
 }
 
-/* Keep each showroom demo visually grouped with its options, commands, and image. */
-.showroom-demo-list > li {
-    margin-bottom: 4rem;
-}
-
-.showroom-demo-list > li:last-child {
-    margin-bottom: 0;
-}
-
 .nurec-gif-grid,
 .nurec-gif-grid td {
     border: none;
@@ -183,6 +174,12 @@ figure.nurec-gif-contain img {
     white-space: nowrap;
 }
 
+/* Allow long renderer preset names to wrap without changing their copied text. */
+.renderer-preset-grid figcaption span.pre {
+    overflow-wrap: anywhere;
+    white-space: normal;
+}
+
 /* Keep sphinx-copybutton visible on code blocks (not only on hover). */
 button.copybtn {
     opacity: 1;
diff --git a/docs/source/_static/css/demo-browser.css b/docs/source/_static/css/demo-browser.css
new file mode 100644
index 000000000000..e8d67b776236
--- /dev/null
+++ b/docs/source/_static/css/demo-browser.css
@@ -0,0 +1,88 @@
+/*
+ * Copyright (c) 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
+ */
+
+.demo-command-row {
+    display: grid;
+    grid-template-columns: auto minmax(0, 1fr) auto auto;
+}
+
+.demo-command-selection {
+    min-width: 0;
+    color: var(--pst-color-text-base);
+    font-size: 1.05rem;
+    overflow: hidden;
+    text-overflow: ellipsis;
+    white-space: nowrap;
+}
+
+.demo-command-row .environment-selector select {
+    min-width: 0;
+}
+
+.demo-command-row .environment-selector-physics select {
+    width: 10.5rem;
+}
+
+.demo-command-row .environment-selector-renderer select {
+    width: 8.5rem;
+}
+
+.demo-command-description {
+    min-height: 1.5rem;
+    margin: 0.9rem 0 0;
+    color: var(--environment-muted);
+}
+
+.demo-card-grid {
+    display: grid;
+    grid-template-columns: repeat(auto-fill, minmax(13rem, 1fr));
+    gap: 1rem;
+    margin-top: 1.5rem;
+}
+
+.demo-card {
+    display: grid;
+    grid-template-rows: auto 1fr;
+    min-width: 0;
+    padding: 0;
+    overflow: hidden;
+    border: 1px solid var(--environment-border);
+    border-radius: 8px;
+    color: var(--pst-color-text-base);
+    background: var(--pst-color-background);
+    text-align: left;
+}
+
+.demo-card:hover,
+.demo-card:focus-visible,
+.demo-card.is-selected {
+    border-color: var(--pst-color-primary);
+    box-shadow: 0 0 0 2px color-mix(in srgb, var(--pst-color-primary) 22%, transparent);
+}
+
+.demo-card img {
+    display: block;
+    width: 100%;
+    aspect-ratio: 16 / 9;
+    object-fit: cover;
+    background: #111;
+}
+
+.demo-card span {
+    display: flex;
+    align-items: center;
+    min-height: 3.2rem;
+    padding: 0.7rem 0.8rem;
+    font-weight: 650;
+}
+
+@media (max-width: 640px) {
+    .demo-card-grid {
+        grid-template-columns: repeat(auto-fill, minmax(9.5rem, 1fr));
+        gap: 0.7rem;
+    }
+}
diff --git a/docs/source/_static/css/demo-browser.js b/docs/source/_static/css/demo-browser.js
new file mode 100644
index 000000000000..3e46351774e1
--- /dev/null
+++ b/docs/source/_static/css/demo-browser.js
@@ -0,0 +1,132 @@
+/*
+ * Copyright (c) 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
+ */
+
+(() => {
+    "use strict";
+
+    const splitValues = (value) => value ? value.split(",") : [];
+
+    const initializeDemoBrowser = () => {
+        const browser = document.querySelector("[data-demo-browser]");
+        if (!browser) {
+            return;
+        }
+
+        const cards = [...browser.querySelectorAll("[data-demo-path]")];
+        const fields = Object.fromEntries(
+            [...browser.querySelectorAll("[data-demo-field]")].map((field) => [field.dataset.demoField, field])
+        );
+        const commandOutput = browser.querySelector("[data-command-output]");
+        const copyButton = browser.querySelector("[data-copy-command]");
+        const copyStatus = browser.querySelector("[data-copy-status]");
+        const selectedName = browser.querySelector("[data-demo-name]:not([data-demo-path])");
+        const selectedDescription = browser.querySelector("[data-demo-description]:not([data-demo-path])");
+        let selectedCard = cards[0];
+
+        const populateSelect = (select, values, preferredValues) => {
+            const previousValue = select.value;
+            select.replaceChildren(...values.map((value) => new Option(value, value)));
+            select.value = [previousValue, ...preferredValues].find((value) => values.includes(value)) || values[0];
+            select.disabled = values.length === 1;
+        };
+
+        const compatibleVisualizers = () => {
+            const physicsKey = `demoVisualizers${fields.physics.value
+                .split("_")
+                .map((part) => part[0].toUpperCase() + part.slice(1))
+                .join("")}`;
+            return splitValues(selectedCard.dataset[physicsKey] || selectedCard.dataset.demoVisualizers);
+        };
+
+        const currentCommand = () => {
+            const requiredExtras = new Set(splitValues(selectedCard.dataset.demoExtras));
+            if (fields.physics.value === "isaacsim_physx" || fields.visualizer.value === "kit") {
+                requiredExtras.add("isaacsim");
+            }
+            if (fields.physics.value === "ovphysx") {
+                requiredExtras.add("ovphysx");
+            }
+            if (["rerun", "viser"].includes(fields.visualizer.value)) {
+                requiredExtras.add(fields.visualizer.value);
+            }
+            const extraOrder = ["isaacsim", "ovphysx", "tetrahedralization", "teleop", "rerun", "viser"];
+            const extras = extraOrder.filter((extra) => requiredExtras.has(extra));
+
+            const parts = ["uv", "run"];
+            if (extras.length) {
+                parts.push("--extra", extras.join(","));
+            }
+            parts.push("python", selectedCard.dataset.demoPath);
+            if (selectedCard.dataset.demoFixedPhysics !== "true") {
+                parts.push("--physics", fields.physics.value);
+            }
+            parts.push("--viz", fields.visualizer.value);
+            parts.push(...(selectedCard.dataset.demoArgs || "").split(" ").filter(Boolean));
+            return parts.join(" ");
+        };
+
+        const updateCommand = () => {
+            commandOutput.textContent = currentCommand();
+        };
+
+        const updateVisualizer = () => {
+            const preferredVisualizers = fields.physics.value.startsWith("newton")
+                ? ["newton_gl", "kit", "none"]
+                : fields.physics.value === "ovphysx" ? ["none"] : ["kit", "none"];
+            populateSelect(fields.visualizer, compatibleVisualizers(), preferredVisualizers);
+            updateCommand();
+        };
+
+        const selectDemo = (card) => {
+            selectedCard = card;
+            for (const candidate of cards) {
+                const isSelected = candidate === selectedCard;
+                candidate.classList.toggle("is-selected", isSelected);
+                candidate.setAttribute("aria-pressed", String(isSelected));
+            }
+            selectedName.textContent = selectedCard.dataset.demoName;
+            selectedDescription.textContent = selectedCard.dataset.demoDescription;
+            populateSelect(fields.physics, splitValues(selectedCard.dataset.demoPhysics), ["isaacsim_physx", "newton_mjwarp"]);
+            updateVisualizer();
+        };
+
+        for (const card of cards) {
+            card.addEventListener("click", () => selectDemo(card));
+        }
+        fields.physics.addEventListener("change", updateVisualizer);
+        fields.visualizer.addEventListener("change", updateCommand);
+        copyButton.addEventListener("click", async () => {
+            const command = currentCommand();
+            try {
+                await navigator.clipboard.writeText(command);
+            } catch (_error) {
+                const textArea = document.createElement("textarea");
+                textArea.value = command;
+                textArea.style.position = "fixed";
+                textArea.style.opacity = "0";
+                document.body.appendChild(textArea);
+                textArea.select();
+                document.execCommand("copy");
+                textArea.remove();
+            }
+            copyStatus.textContent = "Copied";
+            copyButton.innerHTML = '<i class="fa-solid fa-check" aria-hidden="true"></i>';
+            window.setTimeout(() => {
+                copyStatus.textContent = "";
+                copyButton.innerHTML = '<i class="fa-regular fa-copy" aria-hidden="true"></i>';
+            }, 1600);
+        });
+
+        selectDemo(selectedCard);
+    };
+
+    if (document.readyState === "loading") {
+        document.addEventListener("DOMContentLoaded", initializeDemoBrowser, {once: true});
+    } else {
+        initializeDemoBrowser();
+    }
+})();
diff --git a/docs/source/_static/css/environment-browser.css b/docs/source/_static/css/environment-browser.css
index 47e73ba9f107..a9bce4d22fb0 100644
--- a/docs/source/_static/css/environment-browser.css
+++ b/docs/source/_static/css/environment-browser.css
@@ -244,6 +244,20 @@ html[data-theme="dark"] .environment-browser {
     background: color-mix(in srgb, var(--pst-color-surface) 70%, transparent);
 }
 
+.environment-backend-warning {
+    margin: 0.75rem 0 0;
+    color: var(--pst-color-warning);
+}
+
+.environment-command-output.is-disabled {
+    opacity: 0.5;
+    border-left-color: var(--pst-color-text-muted);
+}
+
+.environment-copy-button:disabled {
+    cursor: not-allowed;
+}
+
 .environment-command-output code {
     min-width: 0;
     color: inherit;
@@ -410,61 +424,138 @@ html[data-theme="dark"] .environment-browser {
 
 .environment-task-list {
     display: grid;
-    max-height: 31rem;
-    overflow-y: auto;
+    grid-template-columns: repeat(auto-fill, minmax(12.5rem, 1fr));
+    gap: 0.75rem;
+}
+
+.environment-task-card {
+    display: flex;
+    flex-direction: column;
+    min-width: 0;
+    overflow: hidden;
     border: 1px solid var(--environment-border);
     border-radius: 8px;
+    color: var(--pst-color-text-base);
+    background: var(--pst-color-background);
 }
 
-.environment-task-row {
+.environment-task-card:hover,
+.environment-task-card:has(.environment-task-card-select:focus-visible) {
+    border-color: var(--pst-color-primary);
+    box-shadow: 0 6px 16px color-mix(in srgb, var(--pst-color-shadow) 18%, transparent);
+}
+
+.environment-task-card.is-selected {
+    border-color: var(--pst-color-primary);
+    box-shadow: 0 0 0 2px color-mix(in srgb, var(--pst-color-primary) 35%, transparent);
+}
+
+.environment-task-card-select {
     display: grid;
-    grid-template-columns: minmax(0, 1fr) auto;
-    align-items: center;
-    gap: 1rem;
+    grid-template-rows: auto 1fr;
+    align-content: start;
     width: 100%;
-    min-height: 3.4rem;
-    padding: 0.65rem 0.85rem;
+    min-width: 0;
+    padding: 0;
     border: 0;
-    border-bottom: 1px solid var(--environment-border);
-    border-radius: 0;
-    color: var(--pst-color-text-base);
-    background: var(--pst-color-background);
+    color: inherit;
+    background: transparent;
+    cursor: pointer;
     text-align: left;
 }
 
-.environment-task-row:last-child {
-    border-bottom: 0;
-}
-
-.environment-task-row:hover,
-.environment-task-row:focus-visible,
-.environment-task-row.is-selected {
-    background: color-mix(in srgb, var(--pst-color-primary) 9%, var(--pst-color-background));
+.environment-task-card-select > img {
+    display: block;
+    width: 100%;
+    aspect-ratio: 16 / 10;
+    border-bottom: 1px solid var(--environment-border);
+    object-fit: cover;
 }
 
-.environment-task-row.is-selected {
-    box-shadow: inset 3px 0 var(--pst-color-primary);
+.environment-task-card-content {
+    display: grid;
+    align-content: start;
+    min-width: 0;
+    padding: 0.55rem 0.6rem 0.35rem;
 }
 
 .environment-task-name {
+    display: block;
     min-width: 0;
     overflow-wrap: anywhere;
     font-family: var(--pst-font-family-monospace);
+    font-size: 0.8rem;
     font-weight: 650;
 }
 
-.environment-task-meta {
+.environment-task-symbols {
+    display: flex;
+    flex-wrap: wrap;
+    gap: 0.3rem;
+    padding: 0 0.6rem 0.6rem;
+}
+
+.environment-task-symbols:empty {
+    display: none;
+}
+
+.environment-task-symbol {
     display: inline-flex;
-    gap: 0.45rem;
-    color: var(--environment-muted);
-    font-size: 0.78rem;
-    white-space: nowrap;
+    align-items: center;
+    gap: 0.25rem;
+    padding: 0.18rem 0.45rem;
+    border: 1px solid transparent;
+    border-radius: 999px;
+    font-family: var(--pst-font-family-monospace);
+    font-size: 0.64rem;
+    font-weight: 600;
+    line-height: 1.25;
+}
+
+.environment-task-symbol i {
+    font-size: 0.6rem;
+}
+
+.environment-task-symbol-physics {
+    border-color: color-mix(in srgb, var(--environment-physics) 35%, transparent);
+    color: var(--environment-physics);
+    background: color-mix(in srgb, var(--environment-physics) 8%, transparent);
+}
+
+.environment-task-symbol-renderer {
+    border-color: color-mix(in srgb, var(--environment-renderer) 35%, transparent);
+    color: var(--environment-renderer);
+    background: color-mix(in srgb, var(--environment-renderer) 8%, transparent);
 }
 
-.environment-task-meta span {
-    padding: 0.15rem 0.4rem;
+.environment-task-symbol-rl {
+    border-color: color-mix(in srgb, var(--environment-preset) 35%, transparent);
+    color: var(--environment-preset);
+    background: color-mix(in srgb, var(--environment-preset) 8%, transparent);
+}
+
+.environment-task-variants {
+    display: flex;
+    flex-wrap: wrap;
+    gap: 0.25rem;
+    padding: 0 0.6rem 0.45rem;
+}
+
+.environment-task-variants button {
+    padding: 0.12rem 0.45rem;
     border: 1px solid var(--environment-border);
-    border-radius: 4px;
+    border-radius: 999px;
+    color: var(--environment-muted);
+    background: color-mix(in srgb, var(--pst-color-surface) 65%, transparent);
+    font-size: 0.68rem;
+    font-weight: 600;
+    cursor: pointer;
+}
+
+.environment-task-variants button.is-selected {
+    color: #1f3300;
+    border-color: #76b900;
+    background: #76b900;
 }
 
 .environment-empty-state {
@@ -488,9 +579,14 @@ html[data-theme="dark"] .environment-browser {
 .environment-benchmark-legend {
     display: flex;
     flex-wrap: wrap;
-    gap: 0.75rem 1.25rem;
+    gap: 0.5rem 1rem;
+    margin-bottom: 0.75rem;
     color: var(--environment-muted);
-    font-size: 0.82rem;
+    font-size: 0.75rem;
+}
+
+.environment-benchmark-legend:empty {
+    display: none;
 }
 
 .environment-benchmark-legend span {
@@ -499,9 +595,74 @@ html[data-theme="dark"] .environment-browser {
     gap: 0.4rem;
 }
 
+.environment-benchmark-results {
+    display: grid;
+    grid-template-columns: minmax(0, 1fr) minmax(12rem, 14rem);
+    align-items: start;
+    gap: 0.75rem;
+}
+
+.environment-benchmark-table {
+    max-height: 25rem;
+    overflow: auto;
+    border: 1px solid var(--environment-border);
+    border-radius: 8px;
+    font-size: 0.75rem;
+}
+
+.environment-benchmark-table table {
+    width: 100%;
+    border-collapse: separate;
+    border-spacing: 0;
+}
+
+.environment-benchmark-table th,
+.environment-benchmark-table td {
+    padding: 0.55rem 0.5rem;
+    border-bottom: 1px solid var(--environment-border);
+    vertical-align: top;
+}
+
+.environment-benchmark-table thead th {
+    position: sticky;
+    top: 0;
+    z-index: 1;
+    background: var(--pst-color-surface);
+    white-space: nowrap;
+}
+
+.environment-benchmark-table tbody th {
+    font-weight: 500;
+    text-align: left;
+}
+
+.environment-benchmark-table tbody tr:nth-child(even) {
+    background: color-mix(in srgb, var(--pst-color-surface) 55%, transparent);
+}
+
+.environment-benchmark-table td {
+    text-align: right;
+    white-space: nowrap;
+    font-variant-numeric: tabular-nums;
+}
+
+.environment-benchmark-table th span {
+    display: flex;
+    align-items: baseline;
+    gap: 0.4rem;
+    overflow-wrap: anywhere;
+}
+
+@media (max-width: 900px) {
+    .environment-benchmark-results {
+        grid-template-columns: minmax(0, 1fr);
+    }
+}
+
 .environment-legend-swatch {
     width: 0.7rem;
     height: 0.7rem;
+    flex: 0 0 0.7rem;
     border-radius: 50%;
 }
 
@@ -560,11 +721,11 @@ html[data-theme="dark"] .environment-browser {
 .environment-chart-value {
     fill: var(--environment-muted);
     font-family: var(--pst-font-family-base);
-    font-size: 11px;
+    font-size: 16px;
 }
 
 .environment-chart-axis-title {
-    font-size: 10px;
+    font-size: 14px;
     font-weight: 650;
     letter-spacing: 0.04em;
     text-transform: uppercase;
@@ -581,7 +742,7 @@ html[data-theme="dark"] .environment-browser {
 }
 
 .environment-chart-value {
-    font-size: 12px;
+    font-size: 16px;
     font-weight: 750;
 }
 
@@ -732,8 +893,7 @@ html[data-theme="dark"] .environment-browser {
     }
 
     .environment-benchmark-toolbar {
-        align-items: flex-start;
-        flex-direction: column-reverse;
+        flex-wrap: wrap;
     }
 
     .environment-task-search,
@@ -745,16 +905,24 @@ html[data-theme="dark"] .environment-browser {
         width: 100%;
     }
 
-    .environment-task-row {
+    .environment-task-list {
         grid-template-columns: 1fr;
-        gap: 0.35rem;
-    }
-
-    .environment-task-meta {
-        white-space: normal;
     }
 
     .environment-benchmark-panel {
         padding: 0.85rem;
     }
 }
+
+.environment-benchmark-table .environment-benchmark-missing {
+    color: var(--environment-muted);
+    white-space: normal;
+    font-size: 0.7rem;
+}
+
+.environment-benchmark-count {
+    margin-right: auto;
+    white-space: nowrap;
+    color: var(--environment-muted);
+    font-size: 0.85rem;
+}
diff --git a/docs/source/_static/css/environment-browser.js b/docs/source/_static/css/environment-browser.js
index e4cc1f4fb286..e2aef9ecfdf1 100644
--- a/docs/source/_static/css/environment-browser.js
+++ b/docs/source/_static/css/environment-browser.js
@@ -12,56 +12,56 @@
         // Generated from the core and contributed Gym registry entries.
         // START-AUTO-GENERATED: environment-browser-task-rows
         const taskRows = [
-            ["Isaac-Ant-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/ant.jpg", true],
-            ["Isaac-Ant", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/ant.jpg", true],
-            ["Isaac-Cartpole-Direct", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/cartpole.jpg", true],
-            ["Isaac-Cartpole", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/cartpole.jpg", true],
-            ["Isaac-Cartpole-Camera-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", {}, "tasks/classic/cartpole.jpg"],
-            ["Isaac-Cartpole-Camera", "rl_games,rsl_rl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,resnet18,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl,theia_tiny", {"rl_games_cfg_entry_point": ["albedo", "depth", "rgb", "semantic_segmentation", "simple_shading_constant_diffuse", "simple_shading_diffuse_mdl", "simple_shading_full_mdl"], "rl_games_feature_cfg_entry_point": ["resnet18", "theia_tiny"], "rsl_rl_cfg_entry_point": ["albedo", "depth", "rgb", "semantic_segmentation", "simple_shading_constant_diffuse", "simple_shading_diffuse_mdl", "simple_shading_full_mdl"], "rsl_rl_feature_cfg_entry_point": ["resnet18", "theia_tiny"]}, "tasks/classic/cartpole.jpg"],
-            ["Isaac-Fourbar-Pole-Swingup", "rsl_rl", "newton_kamino", "", "", {}, "tasks/classic/fourbar_pole.jpg"],
-            ["Isaac-Humanoid-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/humanoid.jpg", true],
-            ["Isaac-Humanoid", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/humanoid.jpg", true],
-            ["Isaac-Lift-Cable-Franka", "rsl_rl", "newton_mjwarp_vbd_proxy", "", "ik,joint", {}, "tasks/manipulation/franka_lift_cable.jpg"],
-            ["Isaac-Lift-Cable-Franka-Camera", "rsl_rl", "newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint", {}, "tasks/manipulation/franka_lift_cable.jpg"],
-            ["Isaac-Lift-Cloth-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "", "ik,joint", {}, "tasks/manipulation/franka_lift_cloth.jpg"],
-            ["Isaac-Lift-Cloth-Franka-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint", {}, "tasks/manipulation/franka_lift_cloth.jpg"],
-            ["Isaac-Lift-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes"],
-            ["Isaac-Lift-KukaAllegro", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes", {}, "tasks/manipulation/kuka_allegro_lift.jpg"],
-            ["Isaac-Lift-KukaAllegro-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo128,albedo256,albedo64,cube,depth128,depth256,depth64,duo_camera,raycaster_depth128,raycaster_depth256,raycaster_depth64,rgb128,rgb256,rgb64,semantic_segmentation128,semantic_segmentation256,semantic_segmentation64,shapes,simple_shading_constant_diffuse128,simple_shading_constant_diffuse256,simple_shading_constant_diffuse64,simple_shading_diffuse_mdl128,simple_shading_diffuse_mdl256,simple_shading_diffuse_mdl64,simple_shading_full_mdl128,simple_shading_full_mdl256,simple_shading_full_mdl64,single_camera", {}, "tasks/manipulation/kuka_allegro_lift.jpg"],
-            ["Isaac-Lift-Soft-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "", "ik,joint", {}, "newton/franka-mjwarp-vbd-coupling.png"],
-            ["Isaac-Lift-Soft-Franka-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint", {}, "newton/franka-mjwarp-vbd-coupling.png"],
-            ["Isaac-Open-Drawer-Franka-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/franka_open_drawer.jpg"],
-            ["Isaac-Open-Drawer-Franka", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/franka_open_drawer.jpg"],
-            ["Isaac-Pendulum-MARL-Direct", "rl_games,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/cart_double_pendulum.jpg"],
-            ["Isaac-Reach-Franka", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik,diffik_abs,joint_pos,newton_ik", {}, "tasks/manipulation/franka_reach.jpg", true],
-            ["Isaac-Reach-Franka-OSC", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik_abs", {}, "tasks/manipulation/franka_reach.jpg"],
-            ["Isaac-Reach-UR10", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/ur10_reach.jpg", true],
-            ["Isaac-Reorient-Cube-Allegro-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/allegro_cube.jpg", true],
-            ["Isaac-Reorient-Cube-Allegro", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "randomized,reset_only", {}, "tasks/manipulation/allegro_cube.jpg"],
-            ["Isaac-Reorient-Cube-Shadow-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/shadow_cube.jpg"],
+            ["Isaac-Ant-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/classic/ant.jpg", true],
+            ["Isaac-Ant", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/classic/ant.jpg", true],
+            ["Isaac-Cartpole-Direct", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/classic/cartpole.jpg", true],
+            ["Isaac-Cartpole", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/classic/cartpole.jpg", true],
+            ["Isaac-Cartpole-Camera-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", "tasks/classic/cartpole.jpg", false, {"*": ["rgb"], "rl_games": ["depth"]}],
+            ["Isaac-Cartpole-Camera", "rl_games,rsl_rl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,resnet18,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl,theia_tiny", "tasks/classic/cartpole.jpg", false, {"*": ["rgb"], "rsl_rl": ["resnet18", "theia_tiny"]}],
+            ["Isaac-Fourbar-Pole-Swingup", "rsl_rl", "newton_kamino", "", "", "tasks/classic/fourbar_pole.jpg"],
+            ["Isaac-Humanoid-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/classic/humanoid.jpg", true],
+            ["Isaac-Humanoid", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/classic/humanoid.jpg", true],
+            ["Isaac-Lift-Cable-Franka", "rsl_rl", "newton_mjwarp_vbd_proxy", "", "ik,joint", "tasks/manipulation/franka_lift_cable.jpg", false, {"*": ["joint"]}],
+            ["Isaac-Lift-Cable-Franka-Camera", "rsl_rl", "newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint", "tasks/manipulation/franka_lift_cable.jpg", false, {"*": ["joint"]}],
+            ["Isaac-Lift-Cloth-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "", "ik,joint", "tasks/manipulation/franka_lift_cloth.jpg", false, {"*": ["joint"]}],
+            ["Isaac-Lift-Cloth-Franka-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint", "tasks/manipulation/franka_lift_cloth.jpg", false, {"*": ["joint"]}],
+            ["Isaac-Lift-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes", "", false, {"*": ["shapes"]}],
+            ["Isaac-Lift-KukaAllegro", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes", "tasks/manipulation/kuka_allegro_lift.jpg", false, {"*": ["shapes"]}],
+            ["Isaac-Lift-KukaAllegro-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo128,albedo256,albedo64,cube,depth128,depth256,depth64,duo_camera,raycaster_depth128,raycaster_depth256,raycaster_depth64,rgb128,rgb256,rgb64,semantic_segmentation128,semantic_segmentation256,semantic_segmentation64,shapes,simple_shading_constant_diffuse128,simple_shading_constant_diffuse256,simple_shading_constant_diffuse64,simple_shading_diffuse_mdl128,simple_shading_diffuse_mdl256,simple_shading_diffuse_mdl64,simple_shading_full_mdl128,simple_shading_full_mdl256,simple_shading_full_mdl64,single_camera", "tasks/manipulation/kuka_allegro_lift.jpg", false, {"*": ["rgb64", "shapes", "single_camera"]}],
+            ["Isaac-Lift-Soft-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "", "ik,joint", "newton/franka-mjwarp-vbd-coupling.png", false, {"*": ["joint"]}, {}, "tetrahedralization"],
+            ["Isaac-Lift-Soft-Franka-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint", "newton/franka-mjwarp-vbd-coupling.png", false, {"*": ["joint"]}, {}, "tetrahedralization"],
+            ["Isaac-Open-Drawer-Franka-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/franka_open_drawer.jpg"],
+            ["Isaac-Open-Drawer-Franka", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/franka_open_drawer.jpg"],
+            ["Isaac-Pendulum-MARL-Direct", "rl_games,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/classic/cart_double_pendulum.jpg", false, {}, {"skrl": "MAPPO"}],
+            ["Isaac-Reach-Franka", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik,diffik_abs,joint_pos,newton_ik", "tasks/manipulation/franka_reach.jpg", true, {"*": ["joint_pos"]}],
+            ["Isaac-Reach-Franka-OSC", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik,diffik_abs,newton_ik", "tasks/manipulation/franka_reach.jpg"],
+            ["Isaac-Reach-UR10", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/ur10_reach.jpg", true],
+            ["Isaac-Reorient-Cube-Allegro-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/allegro_cube.jpg", true],
+            ["Isaac-Reorient-Cube-Allegro", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "randomized,reset_only", "tasks/manipulation/allegro_cube.jpg", false, {"*": ["reset_only"]}],
+            ["Isaac-Reorient-Cube-Shadow-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/shadow_cube.jpg"],
             ["Isaac-Reorient-Cube-Shadow", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "asymmetric,randomized"],
-            ["Isaac-Reorient-Cube-Shadow-Camera-Direct", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,full,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", {}, "tasks/manipulation/shadow_cube.jpg"],
-            ["Isaac-Reorient-Cube-Shadow-Camera", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,full,randomized,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl"],
-            ["Isaac-Reorient-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes"],
-            ["Isaac-Reorient-KukaAllegro", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes", {}, "tasks/manipulation/kuka_allegro_reorient.jpg"],
-            ["Isaac-Reorient-KukaAllegro-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo128,albedo256,albedo64,cube,depth128,depth256,depth64,duo_camera,raycaster_depth128,raycaster_depth256,raycaster_depth64,rgb128,rgb256,rgb64,semantic_segmentation128,semantic_segmentation256,semantic_segmentation64,shapes,simple_shading_constant_diffuse128,simple_shading_constant_diffuse256,simple_shading_constant_diffuse64,simple_shading_diffuse_mdl128,simple_shading_diffuse_mdl256,simple_shading_diffuse_mdl64,simple_shading_full_mdl128,simple_shading_full_mdl256,simple_shading_full_mdl64,single_camera", {}, "tasks/manipulation/kuka_allegro_reorient.jpg"],
-            ["Isaac-Shadow-Handover-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/shadow_hand_over.jpg"],
+            ["Isaac-Reorient-Cube-Shadow-Camera-Direct", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,full,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", "tasks/manipulation/shadow_cube.jpg", false, {"*": ["full"]}],
+            ["Isaac-Reorient-Cube-Shadow-Camera", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,full,randomized,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", "", false, {"*": ["full"]}],
+            ["Isaac-Reorient-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes", "", false, {"*": ["shapes"]}],
+            ["Isaac-Reorient-KukaAllegro", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes", "tasks/manipulation/kuka_allegro_reorient.jpg", false, {"*": ["shapes"]}],
+            ["Isaac-Reorient-KukaAllegro-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo128,albedo256,albedo64,cube,depth128,depth256,depth64,duo_camera,raycaster_depth128,raycaster_depth256,raycaster_depth64,rgb128,rgb256,rgb64,semantic_segmentation128,semantic_segmentation256,semantic_segmentation64,shapes,simple_shading_constant_diffuse128,simple_shading_constant_diffuse256,simple_shading_constant_diffuse64,simple_shading_diffuse_mdl128,simple_shading_diffuse_mdl256,simple_shading_diffuse_mdl64,simple_shading_full_mdl128,simple_shading_full_mdl256,simple_shading_full_mdl64,single_camera", "tasks/manipulation/kuka_allegro_reorient.jpg", false, {"*": ["rgb64", "shapes", "single_camera"]}],
+            ["Isaac-Shadow-Handover-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/shadow_hand_over.jpg", false, {}, {"skrl": "MAPPO"}],
             ["Isaac-Shadow-Handover", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "randomized"],
-            ["Isaac-Velocity-Flat-AnymalD", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_d_flat.jpg", true],
-            ["Isaac-Velocity-Flat-Cassie", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "", true],
-            ["Isaac-Velocity-Flat-G1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/g1_flat.jpg", true],
-            ["Isaac-Velocity-Flat-H1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/h1_flat.jpg", true],
-            ["Isaac-Velocity-Flat-UnitreeGo2", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/go2_flat.jpg", true],
-            ["Isaac-Velocity-Rough-AnymalD", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_d_rough.jpg"],
-            ["Isaac-Velocity-Rough-Cassie", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_d_rough.jpg"],
-            ["Isaac-Velocity-Rough-G1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/g1_rough.jpg"],
-            ["Isaac-Velocity-Rough-H1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/h1_rough.jpg"],
-            ["Isaac-Velocity-Rough-UnitreeGo2", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/go2_rough.jpg"],
-            ["IsaacContrib-Assemble-Trocar-G129-Dex3", "rlinf", "", "", "", {}, "tasks/manipulation/g1_assemble_trocar.jpg"],
-            ["IsaacContrib-AutoMate-Assembly-Direct", "rl_games", "", "", "", {}, "tasks/automate/00004.jpg"],
-            ["IsaacContrib-AutoMate-Disassembly-Direct", "rl_games", "", "", "", {}, "tasks/automate/01053_disassembly.jpg"],
-            ["IsaacContrib-Cartpole-Camera-Showcase-Direct", "skrl", "", "", "box_box,box_discrete,box_multidiscrete,dict_box,dict_discrete,dict_multidiscrete,tuple_box,tuple_discrete,tuple_multidiscrete", {"skrl_box_box_cfg_entry_point": ["box_box"], "skrl_box_discrete_cfg_entry_point": ["box_discrete"], "skrl_box_multidiscrete_cfg_entry_point": ["box_multidiscrete"], "skrl_cfg_entry_point": ["box_box"], "skrl_dict_box_cfg_entry_point": ["dict_box"], "skrl_dict_discrete_cfg_entry_point": ["dict_discrete"], "skrl_dict_multidiscrete_cfg_entry_point": ["dict_multidiscrete"], "skrl_tuple_box_cfg_entry_point": ["tuple_box"], "skrl_tuple_discrete_cfg_entry_point": ["tuple_discrete"], "skrl_tuple_multidiscrete_cfg_entry_point": ["tuple_multidiscrete"]}],
-            ["IsaacContrib-Cartpole-Showcase-Direct", "skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "box_box,box_discrete,box_multidiscrete,dict_box,dict_discrete,dict_multidiscrete,discrete_box,discrete_discrete,discrete_multidiscrete,multidiscrete_box,multidiscrete_discrete,multidiscrete_multidiscrete,tuple_box,tuple_discrete,tuple_multidiscrete", {"skrl_box_box_cfg_entry_point": ["box_box"], "skrl_box_discrete_cfg_entry_point": ["box_discrete"], "skrl_box_multidiscrete_cfg_entry_point": ["box_multidiscrete"], "skrl_cfg_entry_point": ["box_box"], "skrl_dict_box_cfg_entry_point": ["dict_box"], "skrl_dict_discrete_cfg_entry_point": ["dict_discrete"], "skrl_dict_multidiscrete_cfg_entry_point": ["dict_multidiscrete"], "skrl_discrete_box_cfg_entry_point": ["discrete_box"], "skrl_discrete_discrete_cfg_entry_point": ["discrete_discrete"], "skrl_discrete_multidiscrete_cfg_entry_point": ["discrete_multidiscrete"], "skrl_multidiscrete_box_cfg_entry_point": ["multidiscrete_box"], "skrl_multidiscrete_discrete_cfg_entry_point": ["multidiscrete_discrete"], "skrl_multidiscrete_multidiscrete_cfg_entry_point": ["multidiscrete_multidiscrete"], "skrl_tuple_box_cfg_entry_point": ["tuple_box"], "skrl_tuple_discrete_cfg_entry_point": ["tuple_discrete"], "skrl_tuple_multidiscrete_cfg_entry_point": ["tuple_multidiscrete"]}],
+            ["Isaac-Velocity-Flat-AnymalD", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/anymal_d_flat.jpg", true],
+            ["Isaac-Velocity-Flat-Cassie", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "", true],
+            ["Isaac-Velocity-Flat-G1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/g1_flat.jpg", true],
+            ["Isaac-Velocity-Flat-H1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/h1_flat.jpg", true],
+            ["Isaac-Velocity-Flat-UnitreeGo2", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/go2_flat.jpg", true],
+            ["Isaac-Velocity-Rough-AnymalD", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/anymal_d_rough.jpg"],
+            ["Isaac-Velocity-Rough-Cassie", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/anymal_d_rough.jpg"],
+            ["Isaac-Velocity-Rough-G1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/g1_rough.jpg"],
+            ["Isaac-Velocity-Rough-H1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/h1_rough.jpg"],
+            ["Isaac-Velocity-Rough-UnitreeGo2", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/go2_rough.jpg"],
+            ["IsaacContrib-Assemble-Trocar-G129-Dex3", "rlinf", "", "", "", "tasks/manipulation/g1_assemble_trocar.jpg"],
+            ["IsaacContrib-AutoMate-Assembly-Direct", "rl_games", "", "", "", "tasks/automate/00004.jpg"],
+            ["IsaacContrib-AutoMate-Disassembly-Direct", "rl_games", "", "", "", "tasks/automate/01053_disassembly.jpg"],
+            ["IsaacContrib-Cartpole-Camera-Showcase-Direct", "skrl", "", "", "box_box,box_discrete,box_multidiscrete,dict_box,dict_discrete,dict_multidiscrete,tuple_box,tuple_discrete,tuple_multidiscrete"],
+            ["IsaacContrib-Cartpole-Showcase-Direct", "skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "box_box,box_discrete,box_multidiscrete,dict_box,dict_discrete,dict_multidiscrete,discrete_box,discrete_discrete,discrete_multidiscrete,multidiscrete_box,multidiscrete_discrete,multidiscrete_multidiscrete,tuple_box,tuple_discrete,tuple_multidiscrete"],
             ["IsaacContrib-Deploy-GearAssembly-Rizon4s-Grav", "rsl_rl", "", "", ""],
             ["IsaacContrib-Deploy-GearAssembly-Rizon4s-Grav-ROS-Inference", "rsl_rl", "", "", ""],
             ["IsaacContrib-Deploy-GearAssembly-UR10e-2F140", "rsl_rl", "", "", ""],
@@ -70,59 +70,59 @@
             ["IsaacContrib-Deploy-GearAssembly-UR10e-2F85-ROS-Inference", "rsl_rl", "", "", ""],
             ["IsaacContrib-Deploy-Reach-Rizon4s", "rsl_rl", "", "", ""],
             ["IsaacContrib-Deploy-Reach-Rizon4s-ROS-Inference", "rsl_rl", "", "", ""],
-            ["IsaacContrib-Deploy-Reach-UR10e", "rsl_rl", "", "", "", {}, "tasks/manipulation/ur10e_reach.jpg"],
-            ["IsaacContrib-Deploy-Reach-UR10e-ROS-Inference", "rsl_rl", "", "", "", {}, "tasks/manipulation/ur10e_reach.jpg"],
-            ["IsaacContrib-DrLegs-HoldPose", "rsl_rl", "", "", "", {}, "tasks/locomotion/dr_legs.jpg"],
-            ["IsaacContrib-DrLegs-Walk", "rsl_rl", "", "", "", {}, "tasks/locomotion/dr_legs.jpg"],
+            ["IsaacContrib-Deploy-Reach-UR10e", "rsl_rl", "", "", "", "tasks/manipulation/ur10e_reach.jpg"],
+            ["IsaacContrib-Deploy-Reach-UR10e-ROS-Inference", "rsl_rl", "", "", "", "tasks/manipulation/ur10e_reach.jpg"],
+            ["IsaacContrib-DrLegs-HoldPose", "rsl_rl", "isaacsim_physx,newton_kamino", "", "", "tasks/locomotion/dr_legs.jpg"],
+            ["IsaacContrib-DrLegs-Walk", "rsl_rl", "isaacsim_physx,newton_kamino", "", "", "tasks/locomotion/dr_legs.jpg"],
             ["IsaacContrib-ExhaustPipe-GR1T2-Pink-IK-Abs", "", "", "", ""],
-            ["IsaacContrib-Factory-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp", "", "accumulator,choice,gear_mesh_large,gear_mesh_medium,gear_mesh_small,nut_thread_m16,peg_insert_12mm,peg_insert_16mm,peg_insert_4mm,peg_insert_8mm,rod_insert_12mm,rod_insert_16mm,rod_insert_4mm,rod_insert_8mm"],
-            ["IsaacContrib-Factory-GearMesh-Direct", "rl_games", "", "", "", {}, "tasks/factory/gear_mesh.jpg"],
-            ["IsaacContrib-Factory-NutThread-Direct", "rl_games", "", "", "", {}, "tasks/factory/nut_thread.jpg"],
-            ["IsaacContrib-Factory-PegInsert-Direct", "rl_games", "", "", "", {}, "tasks/factory/peg_insert.jpg"],
-            ["IsaacContrib-Forge-GearMesh-Direct", "rl_games", "", "", "", {}, "tasks/factory/gear_mesh.jpg"],
-            ["IsaacContrib-Forge-NutThread-Direct", "rl_games", "", "", "", {}, "tasks/factory/nut_thread.jpg"],
-            ["IsaacContrib-Forge-PegInsert-Direct", "rl_games", "", "", "", {}, "tasks/factory/peg_insert.jpg"],
-            ["IsaacContrib-Franka-Pour", "rsl_rl", "", "", "", {}, "tasks/manipulation/franka_pour.jpg"],
-            ["IsaacContrib-Humanoid-AMP-Dance-Direct", "skrl", "", "", "", {}, "tasks/others/humanoid_amp.jpg"],
-            ["IsaacContrib-Humanoid-AMP-Run-Direct", "skrl", "", "", "", {}, "tasks/others/humanoid_amp.jpg"],
-            ["IsaacContrib-Humanoid-AMP-Walk-Direct", "skrl", "", "", "", {}, "tasks/others/humanoid_amp.jpg"],
+            ["IsaacContrib-Factory-Franka", "rsl_rl", "isaacsim_physx", "", "accumulator,choice,gear_mesh_large,gear_mesh_medium,gear_mesh_small,nut_thread_m16,peg_insert_12mm,peg_insert_16mm,peg_insert_4mm,peg_insert_8mm,rod_insert_12mm,rod_insert_16mm,rod_insert_4mm,rod_insert_8mm"],
+            ["IsaacContrib-Factory-GearMesh-Direct", "rl_games", "", "", "", "tasks/factory/gear_mesh.jpg"],
+            ["IsaacContrib-Factory-NutThread-Direct", "rl_games", "", "", "", "tasks/factory/nut_thread.jpg"],
+            ["IsaacContrib-Factory-PegInsert-Direct", "rl_games", "", "", "", "tasks/factory/peg_insert.jpg"],
+            ["IsaacContrib-Forge-GearMesh-Direct", "rl_games", "", "", "", "tasks/factory/gear_mesh.jpg"],
+            ["IsaacContrib-Forge-NutThread-Direct", "rl_games", "", "", "", "tasks/factory/nut_thread.jpg"],
+            ["IsaacContrib-Forge-PegInsert-Direct", "rl_games", "", "", "", "tasks/factory/peg_insert.jpg"],
+            ["IsaacContrib-Franka-Pour", "rsl_rl", "", "", "", "tasks/manipulation/franka_pour.jpg"],
+            ["IsaacContrib-Humanoid-AMP-Dance-Direct", "skrl", "", "", "", "tasks/others/humanoid_amp.jpg"],
+            ["IsaacContrib-Humanoid-AMP-Run-Direct", "skrl", "", "", "", "tasks/others/humanoid_amp.jpg"],
+            ["IsaacContrib-Humanoid-AMP-Walk-Direct", "skrl", "", "", "", "tasks/others/humanoid_amp.jpg"],
             ["IsaacContrib-Keyboard-SO101", "rsl_rl", "isaacsim_physx,newton_mjwarp", "", ""],
-            ["IsaacContrib-Lift-Cube-Franka", "rl_games,rsl_rl,skrl,sb3", "", "", "", {}, "tasks/manipulation/franka_lift.jpg"],
-            ["IsaacContrib-Lift-Cube-Franka-IK-Abs", "", "", "", "", {}, "tasks/manipulation/franka_lift.jpg"],
-            ["IsaacContrib-Lift-Cube-Franka-IK-Rel", "", "", "", "", {}, "tasks/manipulation/franka_lift.jpg"],
-            ["IsaacContrib-Lift-Cube-OpenArm", "rl_games,rsl_rl", "", "", "", {}, "tasks/manipulation/openarm_uni_lift.jpg"],
-            ["IsaacContrib-Multitask-Manipulation", "rsl_rl", "", "", "", {}, "tasks/manipulation/multitask_manipulation.jpg"],
-            ["IsaacContrib-Navigation-3DObstacles-ARL-Robot-1", "rl_games,rsl_rl,skrl", "", "", "", {}, "tasks/drone_arl/arl_robot_1_navigation.jpg"],
-            ["IsaacContrib-Navigation-Flat-AnymalC", "rsl_rl,skrl", "", "", "", {}, "tasks/navigation/anymal_c_nav.jpg"],
+            ["IsaacContrib-Lift-Cube-Franka", "rl_games,rsl_rl,skrl,sb3", "", "", "", "tasks/manipulation/franka_lift.jpg"],
+            ["IsaacContrib-Lift-Cube-Franka-IK-Abs", "", "", "", "", "tasks/manipulation/franka_lift.jpg"],
+            ["IsaacContrib-Lift-Cube-Franka-IK-Rel", "", "", "", "", "tasks/manipulation/franka_lift.jpg"],
+            ["IsaacContrib-Lift-Cube-OpenArm", "rl_games,rsl_rl", "", "", "", "tasks/manipulation/openarm_uni_lift.jpg"],
+            ["IsaacContrib-Multitask-Manipulation", "rsl_rl", "", "", "", "tasks/manipulation/multitask_manipulation.jpg"],
+            ["IsaacContrib-Navigation-3DObstacles-ARL-Robot-1", "rl_games,rsl_rl,skrl", "", "", "", "tasks/drone_arl/arl_robot_1_navigation.jpg"],
+            ["IsaacContrib-Navigation-Flat-AnymalC", "rsl_rl,skrl", "", "", "", "tasks/navigation/anymal_c_nav.jpg"],
             ["IsaacContrib-NutPour-GR1T2-Pink-IK-Abs", "", "", "", ""],
             ["IsaacContrib-Open-Drawer-Franka-IK-Abs", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
             ["IsaacContrib-Open-Drawer-Franka-IK-Rel", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", ""],
-            ["IsaacContrib-Open-Drawer-OpenArm", "rl_games,rsl_rl", "", "", "", {}, "tasks/manipulation/openarm_uni_open_drawer.jpg"],
-            ["IsaacContrib-PickPlace-FixedBaseUpperBodyIK-G1-Abs", "", "", "", "", {}, "tasks/manipulation/g1_pick_place_fixed_base.jpg"],
-            ["IsaacContrib-PickPlace-G1-InspireFTP-Abs", "", "", "", "", {}, "tasks/manipulation/g1_pick_place.jpg"],
-            ["IsaacContrib-PickPlace-GR1T2-Abs", "", "", "isaacsim_rtx,newton_renderer,ovrtx", "", {}, "tasks/manipulation/gr-1_pick_place.jpg"],
-            ["IsaacContrib-PickPlace-GR1T2-WaistEnabled-Abs", "", "", "", "", {}, "tasks/manipulation/gr-1_pick_place_waist.jpg"],
-            ["IsaacContrib-PickPlace-Locomanipulation-G1-Abs", "", "", "isaacsim_rtx,newton_renderer,ovrtx", "", {}, "tasks/manipulation/g1_pick_place_locomanipulation.jpg"],
-            ["IsaacContrib-Place-Mug-Agibot-Left-Arm-RmpFlow", "", "isaacsim_physx", "", "", {}, "tasks/manipulation/agibot_place_mug.jpg"],
-            ["IsaacContrib-Place-Toy2Box-Agibot-Right-Arm-RmpFlow", "", "isaacsim_physx", "", "", {}, "tasks/manipulation/agibot_place_toy.jpg"],
-            ["IsaacContrib-Reach-OpenArm", "rl_games,rsl_rl,skrl", "", "", "", {}, "tasks/manipulation/openarm_uni_reach.jpg"],
-            ["IsaacContrib-Reach-OpenArmBi", "rl_games,rsl_rl", "", "", "", {}, "tasks/manipulation/openarm_bi_reach.jpg"],
-            ["IsaacContrib-Reorient-Cube-Shadow-OpenAI-FF-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/shadow_cube.jpg"],
-            ["IsaacContrib-Reorient-Cube-Shadow-OpenAI-LSTM-Direct", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/shadow_cube.jpg"],
+            ["IsaacContrib-Open-Drawer-OpenArm", "rl_games,rsl_rl", "", "", "", "tasks/manipulation/openarm_uni_open_drawer.jpg"],
+            ["IsaacContrib-PickPlace-FixedBaseUpperBodyIK-G1-Abs", "", "", "", "", "tasks/manipulation/g1_pick_place_fixed_base.jpg"],
+            ["IsaacContrib-PickPlace-G1-InspireFTP-Abs", "", "", "", "", "tasks/manipulation/g1_pick_place.jpg"],
+            ["IsaacContrib-PickPlace-GR1T2-Abs", "", "", "isaacsim_rtx,newton_renderer,ovrtx", "", "tasks/manipulation/gr-1_pick_place.jpg"],
+            ["IsaacContrib-PickPlace-GR1T2-WaistEnabled-Abs", "", "", "", "", "tasks/manipulation/gr-1_pick_place_waist.jpg"],
+            ["IsaacContrib-PickPlace-Locomanipulation-G1-Abs", "", "", "isaacsim_rtx,newton_renderer,ovrtx", "", "tasks/manipulation/g1_pick_place_locomanipulation.jpg"],
+            ["IsaacContrib-Place-Mug-Agibot-Left-Arm-RmpFlow", "", "isaacsim_physx", "", "", "tasks/manipulation/agibot_place_mug.jpg"],
+            ["IsaacContrib-Place-Toy2Box-Agibot-Right-Arm-RmpFlow", "", "isaacsim_physx", "", "", "tasks/manipulation/agibot_place_toy.jpg"],
+            ["IsaacContrib-Reach-OpenArm", "rl_games,rsl_rl,skrl", "", "", "", "tasks/manipulation/openarm_uni_reach.jpg"],
+            ["IsaacContrib-Reach-OpenArmBi", "rl_games,rsl_rl", "", "", "", "tasks/manipulation/openarm_bi_reach.jpg"],
+            ["IsaacContrib-Reorient-Cube-Shadow-OpenAI-FF-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/shadow_cube.jpg"],
+            ["IsaacContrib-Reorient-Cube-Shadow-OpenAI-LSTM-Direct", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", "tasks/manipulation/shadow_cube.jpg"],
             ["IsaacContrib-Stack-Cube-Bin-Franka-IK-Rel-Mimic", "", "isaacsim_physx", "", ""],
             ["IsaacContrib-Stack-Cube-BlueGreen-Franka-IK-Rel", "", "isaacsim_physx", "", ""],
             ["IsaacContrib-Stack-Cube-BlueGreenRed-Franka-IK-Rel", "", "isaacsim_physx", "", ""],
-            ["IsaacContrib-Stack-Cube-Franka", "", "isaacsim_physx", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
-            ["IsaacContrib-Stack-Cube-Franka-IK-Abs", "", "isaacsim_physx", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
-            ["IsaacContrib-Stack-Cube-Franka-IK-Rel", "", "isaacsim_physx", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
-            ["IsaacContrib-Stack-Cube-Franka-IK-Rel-Blueprint", "", "isaacsim_physx,newton_mjwarp", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
-            ["IsaacContrib-Stack-Cube-Franka-IK-Rel-Skillgen", "", "isaacsim_physx", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
-            ["IsaacContrib-Stack-Cube-Franka-IK-Rel-Visuomotor", "", "isaacsim_physx,newton_mjwarp", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
-            ["IsaacContrib-Stack-Cube-Franka-IK-Rel-Visuomotor-Cosmos", "", "isaacsim_physx,newton_mjwarp", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
-            ["IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow", "", "isaacsim_physx", "", "", {}, "tasks/manipulation/galbot_stack_cube.jpg"],
-            ["IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor", "", "isaacsim_physx,newton_mjwarp", "isaacsim_rtx,newton_renderer,ovrtx", ""],
-            ["IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-Joint-Position", "", "isaacsim_physx,newton_mjwarp", "isaacsim_rtx,newton_renderer,ovrtx", ""],
-            ["IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-RmpFlow", "", "isaacsim_physx,newton_mjwarp", "isaacsim_rtx,newton_renderer,ovrtx", ""],
+            ["IsaacContrib-Stack-Cube-Franka", "", "isaacsim_physx", "", "", "tasks/manipulation/franka_stack.jpg"],
+            ["IsaacContrib-Stack-Cube-Franka-IK-Abs", "", "isaacsim_physx", "", "", "tasks/manipulation/franka_stack.jpg"],
+            ["IsaacContrib-Stack-Cube-Franka-IK-Rel", "", "isaacsim_physx", "", "", "tasks/manipulation/franka_stack.jpg"],
+            ["IsaacContrib-Stack-Cube-Franka-IK-Rel-Blueprint", "", "isaacsim_physx,newton_mjwarp", "", "", "tasks/manipulation/franka_stack.jpg"],
+            ["IsaacContrib-Stack-Cube-Franka-IK-Rel-Skillgen", "", "isaacsim_physx", "", "", "tasks/manipulation/franka_stack.jpg"],
+            ["IsaacContrib-Stack-Cube-Franka-IK-Rel-Visuomotor", "", "isaacsim_physx,newton_mjwarp", "", "", "tasks/manipulation/franka_stack.jpg"],
+            ["IsaacContrib-Stack-Cube-Franka-IK-Rel-Visuomotor-Cosmos", "", "isaacsim_physx,newton_mjwarp", "", "", "tasks/manipulation/franka_stack.jpg"],
+            ["IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow", "", "isaacsim_physx", "", "", "tasks/manipulation/galbot_stack_cube.jpg"],
+            ["IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor", "", "isaacsim_physx", "isaacsim_rtx,newton_renderer,ovrtx", ""],
+            ["IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-Joint-Position", "", "isaacsim_physx", "isaacsim_rtx,newton_renderer,ovrtx", ""],
+            ["IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-RmpFlow", "", "isaacsim_physx", "isaacsim_rtx,newton_renderer,ovrtx", ""],
             ["IsaacContrib-Stack-Cube-Galbot-Right-Arm-Suction-RmpFlow", "", "isaacsim_physx", "", ""],
             ["IsaacContrib-Stack-Cube-Instance-Randomize-Franka", "", "", "", ""],
             ["IsaacContrib-Stack-Cube-Instance-Randomize-Franka-IK-Rel", "", "", "", ""],
@@ -131,30 +131,33 @@
             ["IsaacContrib-Stack-Cube-SO101-IK-Abs-v0", "", "isaacsim_physx", "", ""],
             ["IsaacContrib-Stack-Cube-SO101-Joint-Teleop-v0", "", "isaacsim_physx", "", ""],
             ["IsaacContrib-Stack-Cube-SO101-v0", "", "isaacsim_physx", "", ""],
-            ["IsaacContrib-Stack-Cube-UR10-Long-Suction-IK-Rel", "", "isaacsim_physx,newton_mjwarp", "", "", {}, "tasks/manipulation/ur10_stack_surface_gripper.jpg"],
-            ["IsaacContrib-Stack-Cube-UR10-Short-Suction-IK-Rel", "", "isaacsim_physx", "", "", {}, "tasks/manipulation/ur10_stack_surface_gripper.jpg"],
-            ["IsaacContrib-TrackPositionNoObstacles-ARL-Robot-1", "rl_games,rsl_rl,skrl", "", "", "", {}, "tasks/drone_arl/arl_robot_1_track_position_state_based.jpg"],
-            ["IsaacContrib-Tracking-LocoManip-Digit", "rsl_rl", "isaacsim_physx", "", "", {}, "tasks/locomotion/agility_digit_loco_manip.jpg"],
-            ["IsaacContrib-UR10-Particle-Push", "rsl_rl", "", "", "", {}, "tasks/manipulation/ur10_particle_push.jpg"],
-            ["IsaacContrib-Velocity-Flat-AnymalB", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_b_flat.jpg", true],
-            ["IsaacContrib-Velocity-Flat-AnymalC-Direct", "rl_games,rsl_rl,skrl", "", "", "", {}, "tasks/locomotion/anymal_c_flat.jpg"],
-            ["IsaacContrib-Velocity-Flat-AnymalC", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_c_flat.jpg", true],
-            ["IsaacContrib-Velocity-Flat-Digit", "rsl_rl", "isaacsim_physx", "", "", {}, "tasks/locomotion/agility_digit_flat.jpg"],
-            ["IsaacContrib-Velocity-Flat-Spot", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp", "", "", {}, "tasks/locomotion/spot_flat.jpg"],
-            ["IsaacContrib-Velocity-Flat-UnitreeA1", "rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/a1_flat.jpg", true],
-            ["IsaacContrib-Velocity-Flat-UnitreeGo1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/go1_flat.jpg", true],
-            ["IsaacContrib-Velocity-Rough-AnymalB", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_b_rough.jpg"],
-            ["IsaacContrib-Velocity-Rough-AnymalC-Direct", "rl_games,rsl_rl,skrl", "", "", "", {}, "tasks/locomotion/anymal_c_rough.jpg"],
-            ["IsaacContrib-Velocity-Rough-AnymalC", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_c_rough.jpg"],
-            ["IsaacContrib-Velocity-Rough-Digit", "rsl_rl", "isaacsim_physx", "", "", {}, "tasks/locomotion/agility_digit_rough.jpg"],
-            ["IsaacContrib-Velocity-Rough-UnitreeA1", "rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/a1_rough.jpg"],
-            ["IsaacContrib-Velocity-Rough-UnitreeGo1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/go1_rough.jpg"],
+            ["IsaacContrib-Stack-Cube-UR10-Long-Suction-IK-Rel", "", "isaacsim_physx", "", "", "tasks/manipulation/ur10_stack_surface_gripper.jpg"],
+            ["IsaacContrib-Stack-Cube-UR10-Short-Suction-IK-Rel", "", "isaacsim_physx", "", "", "tasks/manipulation/ur10_stack_surface_gripper.jpg"],
+            ["IsaacContrib-TrackPositionNoObstacles-ARL-Robot-1", "rl_games,rsl_rl,skrl", "", "", "", "tasks/drone_arl/arl_robot_1_track_position_state_based.jpg"],
+            ["IsaacContrib-Tracking-LocoManip-Digit", "rsl_rl", "isaacsim_physx", "", "", "tasks/locomotion/agility_digit_loco_manip.jpg"],
+            ["IsaacContrib-UR10-Particle-Push", "rsl_rl", "", "", "", "tasks/manipulation/ur10_particle_push.jpg"],
+            ["IsaacContrib-Velocity-Flat-AnymalB", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/anymal_b_flat.jpg", true],
+            ["IsaacContrib-Velocity-Flat-AnymalC-Direct", "rl_games,rsl_rl,skrl", "", "", "", "tasks/locomotion/anymal_c_flat.jpg"],
+            ["IsaacContrib-Velocity-Flat-AnymalC", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/anymal_c_flat.jpg", true],
+            ["IsaacContrib-Velocity-Flat-Digit", "rsl_rl", "isaacsim_physx", "", "", "tasks/locomotion/agility_digit_flat.jpg"],
+            ["IsaacContrib-Velocity-Flat-Spot", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp", "", "", "tasks/locomotion/spot_flat.jpg"],
+            ["IsaacContrib-Velocity-Flat-UnitreeA1", "rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/a1_flat.jpg", true],
+            ["IsaacContrib-Velocity-Flat-UnitreeGo1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/go1_flat.jpg", true],
+            ["IsaacContrib-Velocity-Rough-AnymalB", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/anymal_b_rough.jpg"],
+            ["IsaacContrib-Velocity-Rough-AnymalC-Direct", "rl_games,rsl_rl,skrl", "", "", "", "tasks/locomotion/anymal_c_rough.jpg"],
+            ["IsaacContrib-Velocity-Rough-AnymalC", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/anymal_c_rough.jpg"],
+            ["IsaacContrib-Velocity-Rough-Digit", "rsl_rl", "isaacsim_physx", "", "", "tasks/locomotion/agility_digit_rough.jpg"],
+            ["IsaacContrib-Velocity-Rough-UnitreeA1", "rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/a1_rough.jpg"],
+            ["IsaacContrib-Velocity-Rough-UnitreeGo1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", "tasks/locomotion/go1_rough.jpg"],
         ];
         // END-AUTO-GENERATED: environment-browser-task-rows
 
     const splitValues = (value) => value ? value.split(",") : [];
     const tasks = taskRows.map(([
-        task, rl, physics, renderer, presets, agentPresetCompatibility = {}, previewImage = "", supportsWarpFrontend = false,
+        task, rl, physics, renderer, presets, previewImage = "", supportsWarpFrontend = false,
+        pretrainedCheckpointPresetCompatibility = {},
+        defaultAlgorithms = {},
+        requiredExtras = "",
     ]) => ({
         task,
         scope: task.startsWith("IsaacContrib-") ? "contrib" : "core",
@@ -162,9 +165,11 @@
         physics: splitValues(physics),
         renderer: splitValues(renderer),
         presets: splitValues(presets),
-        agentPresetCompatibility,
         previewImage,
         supportsWarpFrontend,
+        pretrainedCheckpointPresetCompatibility,
+        defaultAlgorithms,
+        requiredExtras: splitValues(requiredExtras),
     }));
 
     const builder = document.querySelector("[data-environment-browser]");
@@ -183,20 +188,23 @@
     const copyButton = builder.querySelector("[data-copy-command]");
     const copyStatus = builder.querySelector("[data-copy-status]");
     const modeButtons = [...builder.querySelectorAll("[data-command-mode]")];
-    const scopeButtons = [...builder.querySelectorAll("[data-task-scope]")];
+    const scopeButtons = [...taskBrowser.querySelectorAll("[data-task-scope]")];
     const taskList = taskBrowser.querySelector("[data-task-list]");
     const taskSearch = taskBrowser.querySelector("[data-task-search]");
     const taskCategory = taskBrowser.querySelector("[data-task-category]");
     const taskCount = taskBrowser.querySelector("[data-task-count]");
     const taskEmpty = taskBrowser.querySelector("[data-task-empty]");
+    const taskCardRefreshers = new WeakMap();
     const state = {
         mode: "train",
         scope: "core",
         task: "Isaac-Cartpole",
-        benchmarkWorkload: "runtime",
+        benchmarkWorkload: "collection",
+        benchmarkChannel: "release",
     };
     const rlLibraryExtras = {rl_games: "rl-games", sb3: "sb3", skrl: "skrl", rlinf: "rlinf"};
     let benchmarkRows = [];
+    const benchmarkErrors = new Set();
 
     const categoryFor = (task) => {
         if (/Velocity|Navigation|TrackPosition|Locomanip|Humanoid/.test(task)) {
@@ -208,6 +216,89 @@
         return "classic";
     };
 
+    // Direct/camera variants of the same task are folded into a single card; this only strips
+    // exact trailing suffixes, so unrelated tasks that merely contain "Camera"/"Direct" elsewhere
+    // in their name are never merged.
+    const variantOrder = ["manager", "direct", "camera", "direct-camera"];
+    const variantLabels = {manager: "Manager", direct: "Direct", camera: "Camera", "direct-camera": "Direct-Camera"};
+    const variantOf = (task) => {
+        if (task.endsWith("-Camera-Direct")) {
+            return "direct-camera";
+        }
+        if (task.endsWith("-Direct")) {
+            return "direct";
+        }
+        if (task.endsWith("-Camera")) {
+            return "camera";
+        }
+        return "manager";
+    };
+    const baseTaskName = (task) => task
+        .replace(/-Camera-Direct$/, "")
+        .replace(/-Direct$/, "")
+        .replace(/-Camera$/, "");
+
+    const groupTasks = (taskList) => {
+        const groups = new Map();
+        for (const task of taskList) {
+            const base = baseTaskName(task.task);
+            if (!groups.has(base)) {
+                groups.set(base, []);
+            }
+            groups.get(base).push(task);
+        }
+        for (const variants of groups.values()) {
+            variants.sort((left, right) => (
+                variantOrder.indexOf(variantOf(left.task)) - variantOrder.indexOf(variantOf(right.task))
+            ));
+        }
+        return groups;
+    };
+
+    // Keep capability labels compact on the cards while retaining the full names in tooltips and
+    // accessible labels.
+    const capabilitySymbolSets = [
+        ["physics", [
+            ["isaacsim_physx", "physx", "Isaac Sim PhysX"],
+            ["newton_kamino", "kamino", "Newton Kamino"],
+            ["newton_mjwarp", "mjwarp", "Newton MJWarp"],
+            ["newton_mjwarp_vbd_proxy", "mjwarp vbd", "Newton MJWarp VBD proxy"],
+            ["ovphysx", "ovphysx", "OV PhysX"],
+        ]],
+        ["renderer", [
+            ["isaacsim_rtx", "rtx", "Isaac Sim RTX"],
+            ["newton_renderer", "renderer", "Newton renderer"],
+            ["ovrtx", "ovrtx", "OV RTX"],
+        ]],
+        ["rl", [
+            ["rl_games", "rl_games", "RL Games"],
+            ["rsl_rl", "rsl_rl", "RSL-RL"],
+            ["skrl", "skrl", "skrl"],
+            ["sb3", "sb3", "Stable-Baselines3"],
+            ["rlinf", "rlinf", "RLinf"],
+        ]],
+    ];
+
+    const buildCapabilitySymbols = (task) => {
+        const values = {physics: task.physics, renderer: task.renderer, rl: task.rl};
+        const icons = {physics: "fa-gears", renderer: "fa-eye", rl: "fa-chart-line"};
+        return capabilitySymbolSets.flatMap(([type, symbols]) => symbols
+            .filter(([value]) => values[type].includes(value))
+            .map(([, shortLabel, fullLabel]) => {
+                const symbol = document.createElement("span");
+                symbol.className = `environment-task-symbol environment-task-symbol-${type}`;
+                symbol.title = fullLabel;
+                symbol.setAttribute("aria-label", fullLabel);
+                const icon = document.createElement("i");
+                icon.className = `fa-solid ${icons[type]}`;
+                icon.setAttribute("aria-hidden", "true");
+                const label = document.createElement("span");
+                label.textContent = shortLabel;
+                symbol.replaceChildren(icon, label);
+                return symbol;
+            }));
+    };
+
     const preferredValue = (values, preferred) => preferred.find((value) => values.includes(value)) || values[0] || "";
 
     const populateSelect = (select, values, preferred) => {
@@ -247,7 +338,6 @@
             [/Reorient-Franka/, "tasks/manipulation/franka_lift.jpg"],
             [/Reorient-KukaAllegro/, "tasks/manipulation/kuka_allegro_reorient.jpg"],
             [/Shadow-Handover/, "tasks/manipulation/shadow_hand_over.jpg"],
-            [/Keyboard-SO101/, "tasks/manipulation/so101_keyboard.jpg"],
             [/AnymalB/, "tasks/locomotion/anymal_b_flat.jpg"],
             [/AnymalC/, "tasks/locomotion/anymal_c_flat.jpg"],
             [/AnymalD/, "tasks/locomotion/anymal_d_flat.jpg"],
@@ -271,6 +361,15 @@
         "Isaac-Velocity-Rough-G1": "velocity-rough-g1-newton-mjwarp-rsl-rl.mp4",
         "Isaac-Lift-KukaAllegro": "lift-kuka-allegro-newton-mjwarp-rsl-rl.mp4",
     };
+    const previewImageBaseUrl = "https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/";
+    const failedPreviewVideos = new Set();
+
+    const previewImageUrl = (task) => {
+        const imagePath = previewImageFor(task);
+        return imagePath.startsWith("tasks/")
+            ? new URL(imagePath, previewImageBaseUrl).href
+            : new URL(`../../_static/${imagePath}`, window.location.href).href;
+    };
 
     const updateTaskControls = () => {
         const task = selectedTask();
@@ -291,15 +390,37 @@
             modeButton.setAttribute("aria-pressed", String(isActive));
         }
         nonRlNote.hidden = supportsRl;
-        const supportsPretrainedCheckpoint = supportsRl && state.scope === "core";
+        const task = selectedTask();
+        const selectedPreset = fields.presets.value;
+        const compatiblePresets = [
+            ...(task.pretrainedCheckpointPresetCompatibility["*"] || []),
+            ...(task.pretrainedCheckpointPresetCompatibility[fields.rl.value] || []),
+        ];
+        const supportsPretrainedCheckpoint = supportsRl && state.scope === "core"
+            && (!selectedPreset || compatiblePresets.includes(selectedPreset));
         fields.checkpoint.disabled = !supportsPretrainedCheckpoint;
         if (!supportsPretrainedCheckpoint) {
             fields.checkpoint.checked = false;
         }
     };
 
+    const incompatibleBackends = () => (
+        (fields.physics.value === "ovphysx" && fields.renderer.value === "isaacsim_rtx")
+        || (fields.physics.value === "isaacsim_physx" && fields.renderer.value === "ovrtx")
+    );
+
+    const updateCommand = () => {
+        const incompatible = incompatibleBackends();
+        commandOutput.textContent = currentCommand();
+        commandOutput.closest(".environment-command-output").classList.toggle("is-disabled", incompatible);
+        builder.querySelector("[data-backend-warning]").hidden = !incompatible;
+        copyButton.disabled = incompatible;
+        copyStatus.textContent = "";
+    };
+
     const currentCommand = () => {
-        const extras = [];
+        const task = selectedTask();
+        const extras = [...task.requiredExtras];
         if (fields.physics.value === "ovphysx" && fields.renderer.value === "ovrtx") {
             extras.push("ov");
         } else {
@@ -321,18 +442,15 @@
         if (extras.length) {
             parts.push("--extra", extras.join(","));
         }
-        const task = selectedTask();
         const supportsRl = task.rl.length > 0;
         parts.push("isaaclab", supportsRl ? state.mode : "zero_agent");
         if (supportsRl && fields.rl.value) {
             parts.push("--rl_library", fields.rl.value);
         }
         parts.push("--task", state.task);
-        const selectedAgent = Object.entries(task.agentPresetCompatibility).find(([agent, presets]) => (
-            agent.startsWith(`${fields.rl.value}_`) && presets.includes(fields.presets.value)
-        ))?.[0];
-        if (selectedAgent && selectedAgent !== `${fields.rl.value}_cfg_entry_point`) {
-            parts.push("--agent", selectedAgent);
+        const selectedAlgorithm = task.defaultAlgorithms[fields.rl.value];
+        if (selectedAlgorithm) {
+            parts.push("--algorithm", selectedAlgorithm);
         }
         if (state.scope === "warp") {
             parts.push("--frontend", "warp");
@@ -354,11 +472,19 @@
         const videoName = fields.rl.value === "rsl_rl" && fields.physics.value === "newton_mjwarp"
             ? previewVideos[state.task]
             : undefined;
-        const previewImageName = previewImageFor(selectedTask()).split("/").pop();
-        previewImage.src = new URL(`../../_images/${previewImageName}`, window.location.href).href;
+        const videoUrl = videoName
+            ? new URL(`../../_static/tasks/previews/${videoName}`, window.location.href).href
+            : undefined;
+        previewImage.src = previewImageUrl(selectedTask());
         previewImage.alt = `${state.task} preview`;
-        if (videoName) {
-            const videoUrl = new URL(`../../_static/${videoName}`, window.location.href).href;
+        if (videoUrl && !failedPreviewVideos.has(videoUrl)) {
+            previewVideo.onerror = () => {
+                if (previewVideo.src === videoUrl) {
+                    failedPreviewVideos.add(videoUrl);
+                    previewVideo.hidden = true;
+                    previewImage.hidden = false;
+                }
+            };
             if (previewVideo.src !== videoUrl) {
                 previewVideo.src = videoUrl;
             }
@@ -367,6 +493,7 @@
             previewImage.hidden = true;
             previewVideo.play().catch(() => {});
         } else {
+            previewVideo.onerror = null;
             previewVideo.pause();
             previewVideo.hidden = true;
             previewImage.hidden = false;
@@ -381,7 +508,10 @@
         preview.querySelector("[data-preview-renderer]").textContent = fields.renderer.value || "Default";
         preview.querySelector("[data-preview-presets]").textContent = fields.presets.value || "Default";
         const latestVramRows = benchmarkRows
+            .filter((row) => row.channel === state.benchmarkChannel)
             .filter((row) => row.task === state.task && row.physics_backend === fields.physics.value)
+            .filter((row) => !selectedTask().renderer.length || row.rendering_backend === fields.renderer.value)
+            .filter((row) => row.rl_library === fields.rl.value)
             .sort((left, right) => right.recorded_at_utc.localeCompare(left.recorded_at_utc));
         const latestTraining = latestVramRows.find((row) => row.workload === "training");
         const vram = preview.querySelector("[data-preview-vram]");
@@ -398,8 +528,11 @@
         fields.task.value = state.task;
         updateTaskControls();
         updateModeControls();
-        commandOutput.textContent = currentCommand();
+        updateCommand();
         updatePreview();
+        for (const card of taskList.querySelectorAll(".environment-task-card")) {
+            taskCardRefreshers.get(card)?.();
+        }
         for (const row of taskList.querySelectorAll("[data-task-name]")) {
             const isSelected = row.dataset.taskName === state.task;
             row.classList.toggle("is-selected", isSelected);
@@ -407,44 +540,98 @@
         }
     };
 
+    const createTaskCard = (variants) => {
+        const card = document.createElement("div");
+        card.className = "environment-task-card";
+
+        const selectButton = document.createElement("button");
+        selectButton.type = "button";
+        selectButton.className = "environment-task-card-select";
+
+        const image = document.createElement("img");
+        image.alt = "";
+        image.loading = "lazy";
+
+        const content = document.createElement("span");
+        content.className = "environment-task-card-content";
+        const nameEl = document.createElement("span");
+        nameEl.className = "environment-task-name";
+        const symbolsEl = document.createElement("span");
+        symbolsEl.className = "environment-task-symbols";
+        content.append(nameEl);
+        selectButton.append(image, content);
+
+        const variantsRow = document.createElement("div");
+        variantsRow.className = "environment-task-variants";
+        variantsRow.setAttribute("role", "group");
+        variantsRow.setAttribute("aria-label", "Task variant");
+        for (const variantTask of variants) {
+            const variantButton = document.createElement("button");
+            variantButton.type = "button";
+            variantButton.textContent = variantLabels[variantOf(variantTask.task)];
+            variantButton.dataset.taskName = variantTask.task;
+            variantButton.addEventListener("click", (event) => {
+                event.stopPropagation();
+                state.task = variantTask.task;
+                refreshCard();
+                updateSelection();
+            });
+            variantsRow.append(variantButton);
+        }
+
+        const refreshCard = () => {
+            const activeTask = variants.find((task) => task.task === state.task) || variants[0];
+            const isSelected = variants.includes(activeTask) && activeTask.task === state.task;
+            image.src = previewImageUrl(activeTask);
+            image.alt = "";
+            selectButton.dataset.taskName = activeTask.task;
+            selectButton.setAttribute("aria-pressed", String(isSelected));
+            nameEl.textContent = activeTask.task;
+            symbolsEl.replaceChildren(...buildCapabilitySymbols(activeTask));
+            card.classList.toggle("is-selected", isSelected);
+            for (const button of variantsRow.querySelectorAll("[data-task-name]")) {
+                const isActiveVariant = button.dataset.taskName === state.task;
+                button.classList.toggle("is-selected", isActiveVariant);
+                button.setAttribute("aria-pressed", String(isActiveVariant));
+            }
+        };
+
+        selectButton.addEventListener("click", () => {
+            state.task = selectButton.dataset.taskName;
+            updateSelection();
+        });
+
+        taskCardRefreshers.set(card, refreshCard);
+        refreshCard();
+        card.append(selectButton, variantsRow, symbolsEl);
+        return card;
+    };
+
     const renderTasks = () => {
         const query = taskSearch.value.trim().toLowerCase();
         const category = taskCategory.value;
-        const visibleTasks = tasksForScope().filter((task) => {
-            const matchesQuery = task.task.toLowerCase().includes(query);
+        const matchesFilter = (task) => {
+            const searchableValues = [
+                task.task,
+                ...(task.physics.length ? task.physics : ["Default"]),
+                ...(task.renderer.length ? task.renderer : ["Default"]),
+                ...(task.rl.length ? task.rl : ["Not supported"]),
+            ];
+            const matchesQuery = searchableValues.some((value) => value.toLowerCase().includes(query));
             const matchesCategory = category === "all"
                 || categoryFor(task.task) === category;
             return matchesQuery && matchesCategory;
-        });
-        taskList.replaceChildren(...visibleTasks.map((task) => {
-            const button = document.createElement("button");
-            button.type = "button";
-            button.className = "environment-task-row";
-            button.dataset.taskName = task.task;
-            const isSelected = task.task === state.task;
-            button.classList.toggle("is-selected", isSelected);
-            button.setAttribute("aria-pressed", String(isSelected));
-            button.innerHTML = `<span class="environment-task-name"></span><span class="environment-task-meta"></span>`;
-            button.querySelector(".environment-task-name").textContent = task.task;
-            const meta = button.querySelector(".environment-task-meta");
-            const workflow = task.task.includes("Direct") ? "Direct" : "Manager based";
-            const rlSupport = task.rl.length
-                ? `${task.rl.length} RL ${task.rl.length === 1 ? "library" : "libraries"}`
-                : "RL not supported";
-            meta.replaceChildren(...[workflow, rlSupport].map((label) => {
-                const badge = document.createElement("span");
-                badge.textContent = label;
-                return badge;
-            }));
-            button.addEventListener("click", () => {
-                state.task = task.task;
-                updateSelection();
-            });
-            return button;
-        }));
-        taskCount.textContent = `${visibleTasks.length} ${visibleTasks.length === 1 ? "task" : "tasks"}`;
-        taskEmpty.hidden = visibleTasks.length !== 0;
-        taskList.hidden = visibleTasks.length === 0;
+        };
+        const groups = groupTasks(tasksForScope());
+        const visibleGroups = [...groups.values()]
+            .map((variants) => variants.filter(matchesFilter))
+            .filter((variants) => variants.length > 0);
+
+        taskList.replaceChildren(...visibleGroups.map(createTaskCard));
+        const matchingTaskCount = visibleGroups.reduce((total, variants) => total + variants.length, 0);
+        taskCount.textContent = `${matchingTaskCount} ${matchingTaskCount === 1 ? "task" : "tasks"}`;
+        taskEmpty.hidden = visibleGroups.length !== 0;
+        taskList.hidden = visibleGroups.length === 0;
     };
 
     const initializeTasks = () => {
@@ -499,13 +686,47 @@
             .find((candidate) => candidate >= paddedValue);
     };
     const backendLabels = {
-        isaacsim_physx: "Isaac Sim PhysX",
-        newton_kamino: "Newton Kamino",
-        newton_mjwarp: "Newton MJWarp",
-        ovphysx: "OV PhysX",
+        isaacsim_physx: "physx",
+        newton_mjwarp: "mjwarp",
+        newton_mjwarp_vbd_proxy: "mjwarp + vbd",
+        ovphysx: "ovphysx",
     };
     const backendOrder = Object.keys(backendLabels);
     const backendClass = (backend) => `environment-chart-backend-${backend.replaceAll("_", "-")}`;
+    const rendererLabels = {
+        isaacsim_rtx: "rtx",
+        newton_renderer: "newton",
+        ovrtx: "ovrtx",
+    };
+    // Snapshots contain one fixed camera profile per physics/renderer pair.
+    const seriesKey = (row) => JSON.stringify([row.physics_backend, row.rendering_backend]);
+    const configurationLabel = (row) => [
+        backendLabels[row.physics_backend] || row.physics_backend,
+        rendererLabels[row.rendering_backend],
+    ].filter(Boolean).join(" + ");
+    const seriesLabel = (row) => [
+        backendLabels[row.physics_backend] || row.physics_backend,
+        rendererLabels[row.rendering_backend]
+            || (row.task.includes("Camera") ? "Unspecified renderer" : ""),
+        row.task_presets ? row.task_presets.split(",").join(", ")
+            : (row.task.includes("Camera") ? "Presets not recorded" : ""),
+        row.camera_resolution ? `${row.camera_resolution} px` : "",
+        `${Number(row.num_envs).toLocaleString()} envs`,
+        row.rl_library,
+    ].filter(Boolean).join(" · ");
+    const benchmarkSeries = (rows) => [...new Map(rows.map((row) => [seriesKey(row), row])).values()]
+        .sort((left, right) => backendOrder.indexOf(left.physics_backend) - backendOrder.indexOf(right.physics_backend)
+            || seriesKey(left).localeCompare(seriesKey(right)));
+    const seriesColor = (row, rows) => {
+        const index = benchmarkSeries(rows).findIndex((candidate) => seriesKey(candidate) === seriesKey(row));
+        return `hsl(${(index * 137.508 + 30) % 360} 65% 42%)`;
+    };
+
+    const benchmarkDate = (row) => (row.snapshot_date_utc || row.benchmark_date_utc).slice(0, 10);
+    const benchmarkDates = () => benchmarks.getAttribute(`data-benchmark-${state.benchmarkChannel}-dates`).split(",");
+    const benchmarkFps = (row) => Number(row[state.benchmarkWorkload === "collection"
+        ? "collection_fps_mean" : "total_fps_mean"]);
+    const benchmarkMetricLabel = () => state.benchmarkWorkload === "collection" ? "Collection FPS" : "Training FPS";
 
     const renderBenchmarkChart = (rows, maximum) => {
         const namespace = "http://www.w3.org/2000/svg";
@@ -516,19 +737,18 @@
             }
             return element;
         };
-        const svg = createSvgElement("svg", {viewBox: "0 0 900 400", role: "img"});
-        const workloadLabel = state.benchmarkWorkload === "runtime" ? "collection" : "training";
+        const svg = createSvgElement("svg", {viewBox: "0 0 600 360", role: "img"});
+        const workloadLabel = state.benchmarkWorkload === "collection" ? "collection" : "training";
         svg.setAttribute("aria-label", `${state.task} ${workloadLabel} throughput history in frames per second`);
-        const width = 900;
-        const height = 400;
-        const margins = {top: 38, right: 38, bottom: 60, left: 82};
+        const width = 600;
+        const height = 360;
+        const margins = {top: 38, right: 50, bottom: 60, left: 65};
         const plotWidth = width - margins.left - margins.right;
         const plotHeight = height - margins.top - margins.bottom;
-        const benchmarkDate = (row) => (row.benchmark_date_utc || row.recorded_at_utc).slice(0, 10);
-        const dateKeys = [...new Set(rows.map(benchmarkDate))].sort();
+        const dateKeys = benchmarkDates();
         const latestBySeriesAndDate = new Map();
         for (const row of rows) {
-            const key = `${row.physics_backend}:${benchmarkDate(row)}`;
+            const key = `${seriesKey(row)}:${benchmarkDate(row)}`;
             if (!latestBySeriesAndDate.has(key) || latestBySeriesAndDate.get(key).recorded_at_utc < row.recorded_at_utc) {
                 latestBySeriesAndDate.set(key, row);
             }
@@ -555,7 +775,7 @@
             x: 15, y: margins.top + plotHeight / 2, class: "environment-chart-axis-title",
             transform: `rotate(-90 15 ${margins.top + plotHeight / 2})`, "text-anchor": "middle",
         });
-        axisTitle.textContent = "Total FPS";
+        axisTitle.textContent = benchmarkMetricLabel();
         svg.appendChild(axisTitle);
 
         const visibleDateIndexes = dateKeys.length <= 4
@@ -566,44 +786,49 @@
             const label = createSvgElement("text", {
                 x: xPosition(date), y: height - 15, class: "environment-chart-axis-label", "text-anchor": "middle",
             });
-            label.textContent = new Date(`${date}T00:00:00Z`).toLocaleDateString(undefined, {
+            label.textContent = state.benchmarkChannel === "release" ? "EA 3.0" : new Date(`${date}T00:00:00Z`).toLocaleDateString(undefined, {
                 month: "short", day: "numeric", year: "numeric", timeZone: "UTC",
             });
             svg.appendChild(label);
         }
 
-        const backends = [...new Set(plottedRows.map((row) => row.physics_backend))]
-            .sort((left, right) => backendOrder.indexOf(left) - backendOrder.indexOf(right));
-        for (const backend of backends) {
+        const configurations = benchmarkSeries(plottedRows);
+        for (const representative of configurations) {
             const series = plottedRows
-                .filter((row) => row.physics_backend === backend)
+                .filter((row) => seriesKey(row) === seriesKey(representative))
                 .sort((left, right) => benchmarkDate(left).localeCompare(benchmarkDate(right)));
-            const seriesClass = backendClass(backend);
-            if (series.length > 1) {
-                const points = series.map((row) => {
-                    const date = benchmarkDate(row);
-                    return `${xPosition(date)},${yPosition(Number(row.total_fps_mean))}`;
-                }).join(" ");
-                svg.appendChild(createSvgElement("polyline", {
-                    points, class: `environment-chart-line ${seriesClass}`,
+            const seriesClass = backendClass(representative.physics_backend);
+            const style = `--environment-series-color: ${seriesColor(representative, rows)}`;
+            // Do not draw a trend through a snapshot with no measurement.
+            for (let index = 1; index < series.length; index += 1) {
+                const previous = series[index - 1];
+                const current = series[index];
+                if (dateKeys.indexOf(benchmarkDate(current)) - dateKeys.indexOf(benchmarkDate(previous)) !== 1) {
+                    continue;
+                }
+                svg.appendChild(createSvgElement("line", {
+                    x1: xPosition(benchmarkDate(previous)), y1: yPosition(benchmarkFps(previous)),
+                    x2: xPosition(benchmarkDate(current)), y2: yPosition(benchmarkFps(current)),
+                    class: `environment-chart-line ${seriesClass}`, style,
                 }));
             }
             for (const [index, row] of series.entries()) {
                 const date = benchmarkDate(row);
-                const value = Number(row.total_fps_mean);
+                const value = benchmarkFps(row);
                 const x = xPosition(date);
                 const y = yPosition(value);
                 const circle = createSvgElement("circle", {
-                    cx: x, cy: y, r: 5, class: `environment-chart-point ${seriesClass}`,
+                    cx: x, cy: y, r: 5, class: `environment-chart-point ${seriesClass}`, style,
                 });
                 const title = createSvgElement("title");
-                const tooltipWorkload = state.benchmarkWorkload === "runtime" ? "Collection" : "Training";
-                title.textContent = `${backendLabels[backend] || backend} · ${tooltipWorkload}: ${Math.round(value).toLocaleString()} FPS on ${date}`;
+                const tooltipWorkload = state.benchmarkWorkload === "collection" ? "Collection" : "Training";
+                title.textContent = `${seriesLabel(row)} · ${tooltipWorkload}: ${Math.round(value).toLocaleString()} FPS · measured ${(row.measurement_timestamp || row.recorded_at_utc).slice(0, 10)}`;
                 circle.appendChild(title);
                 svg.appendChild(circle);
-                if (index === series.length - 1) {
+                // Dense camera charts expose exact values in tooltips without overlapping labels.
+                if (index === series.length - 1 && configurations.length <= 3) {
                     const valueLabel = createSvgElement("text", {
-                        x, y: y - 11, class: `environment-chart-value ${seriesClass}`, "text-anchor": "middle",
+                        x, y: y - 11, class: `environment-chart-value ${seriesClass}`, "text-anchor": "middle", style,
                     });
                     valueLabel.textContent = formatFps(value);
                     svg.appendChild(valueLabel);
@@ -615,31 +840,93 @@
 
     const renderBenchmarkLegend = (rows) => {
         const legend = benchmarks.querySelector(".environment-benchmark-legend");
-        const backends = [...new Set(rows.map((row) => row.physics_backend))]
-            .sort((left, right) => backendOrder.indexOf(left) - backendOrder.indexOf(right));
-        const entries = backends.map((backend) => {
+        const entries = benchmarkSeries(rows).map((row) => {
             const entry = document.createElement("span");
-            entry.innerHTML = `<i class="environment-legend-swatch ${backendClass(backend)}"></i>`;
-            entry.append(backendLabels[backend] || backend);
+            const swatch = document.createElement("i");
+            swatch.className = `environment-legend-swatch ${backendClass(row.physics_backend)}`;
+            swatch.style.setProperty("--environment-series-color", seriesColor(row, rows));
+            swatch.setAttribute("aria-hidden", "true");
+            entry.title = seriesLabel(row);
+            entry.append(swatch, configurationLabel(row));
             return entry;
         });
         legend.replaceChildren(...entries);
     };
 
+    const renderBenchmarkTable = (rows) => {
+        const container = benchmarks.querySelector("[data-benchmark-table]");
+        container.hidden = rows.length === 0;
+        const table = document.createElement("table");
+        table.setAttribute("aria-label", `${state.task} · ${benchmarkMetricLabel()}`);
+        const header = table.createTHead().insertRow();
+        for (const label of ["Configuration", "Mean FPS"]) {
+            const cell = document.createElement("th");
+            cell.scope = "col";
+            cell.textContent = label;
+            header.appendChild(cell);
+        }
+        const body = table.createTBody();
+        const configurations = benchmarkSeries(rows);
+        for (const physics of selectedTask().physics.filter((value) => value !== "newton_kamino")) {
+            for (const renderer of selectedTask().renderer.length ? selectedTask().renderer : ["none"]) {
+                if ((physics === "isaacsim_physx" && renderer === "ovrtx")
+                    || (physics === "ovphysx" && renderer === "isaacsim_rtx")) {
+                    continue;
+                }
+                if (!rows.some((row) => row.physics_backend === physics
+                    && (renderer === "none" || row.rendering_backend === renderer))) {
+                    configurations.push({physics_backend: physics, rendering_backend: renderer, missing: true});
+                }
+            }
+        }
+        for (const representative of configurations) {
+            const entry = body.insertRow();
+            const configuration = document.createElement("th");
+            configuration.scope = "row";
+            const label = document.createElement("span");
+            const swatch = document.createElement("i");
+            swatch.className = `environment-legend-swatch ${backendClass(representative.physics_backend)}`;
+            swatch.style.setProperty("--environment-series-color", representative.missing
+                ? "var(--environment-muted)" : seriesColor(representative, rows));
+            swatch.setAttribute("aria-hidden", "true");
+            label.append(swatch, configurationLabel(representative));
+            configuration.title = representative.missing
+                ? `${rendererLabels[representative.rendering_backend] || ""} 8,192-environment matching-profile run unavailable`.trim()
+                : seriesLabel(representative);
+            configuration.appendChild(label);
+            entry.appendChild(configuration);
+            const row = rows.filter((candidate) => seriesKey(candidate) === seriesKey(representative))
+                .sort((left, right) => benchmarkDate(right).localeCompare(benchmarkDate(left))
+                    || right.recorded_at_utc.localeCompare(left.recorded_at_utc))[0];
+            const value = entry.insertCell();
+            if (!row) {
+                value.textContent = "Not available";
+                value.className = "environment-benchmark-missing";
+                continue;
+            }
+            value.textContent = Math.round(benchmarkFps(row)).toLocaleString();
+            const measuredDate = (row.measurement_timestamp || row.recorded_at_utc).slice(0, 10);
+            value.title = `Measured ${measuredDate} · source record ${row.source_record_id} · ${row.source_entry_key} · commit ${row.git_commit}`;
+        }
+
+        container.replaceChildren(table);
+    };
+
     const updateBenchmark = () => {
         if (!benchmarks) {
             return;
         }
-        const taskRows = benchmarkRows.filter((row) => row.task === state.task);
-        const rows = taskRows.filter((row) => row.workload === state.benchmarkWorkload);
+        const taskRows = benchmarkRows.filter((row) => row.task === state.task && row.channel === state.benchmarkChannel);
+        const rows = taskRows;
         const chart = benchmarks.querySelector("[data-benchmark-chart]");
         const empty = benchmarks.querySelector("[data-benchmark-empty]");
-        const toolbar = benchmarks.querySelector(".environment-benchmark-toolbar");
-        const maximum = standardFpsScale(Math.max(...taskRows.map((row) => Number(row.total_fps_mean))));
+        const failed = benchmarkErrors.has(state.benchmarkChannel);
+        const maximum = standardFpsScale(Math.max(...taskRows.flatMap((row) => [Number(row.collection_fps_mean), Number(row.total_fps_mean)])));
         chart.hidden = rows.length === 0;
-        empty.hidden = rows.length !== 0;
-        toolbar.hidden = taskRows.length === 0;
+        empty.hidden = rows.length !== 0 || failed;
+        benchmarks.querySelector("[data-benchmark-error]").hidden = !failed;
         renderBenchmarkLegend(rows);
+        renderBenchmarkTable(rows);
         chart.replaceChildren(...(rows.length ? [renderBenchmarkChart(rows, maximum)] : []));
     };
 
@@ -647,21 +934,28 @@
         if (!benchmarks) {
             return;
         }
-        try {
-            const source = new URL(benchmarks.dataset.benchmarkSource, window.location.href);
-            const response = await fetch(source);
-            if (!response.ok) {
-                throw new Error(`Benchmark request failed with ${response.status}`);
+        benchmarkRows = (await Promise.all(["release", "develop"].map(async (channel) => {
+            try {
+                const source = new URL(benchmarks.getAttribute(`data-benchmark-${channel}-source`), window.location.href);
+                const response = await fetch(source);
+                if (!response.ok) {
+                    throw new Error(`Benchmark request failed with ${response.status}`);
+                }
+                return parseCsv(await response.text())
+                    .filter((row) => row.data_origin === "measured" && row.workload === "training")
+                    .filter((row) => [row.collection_fps_mean, row.total_fps_mean]
+                        .every((value) => Number.isFinite(Number(value)) && Number(value) > 0))
+                    .filter((row) => row.task.startsWith("Isaac-") && row.physics_backend !== "newton_kamino")
+                    .filter((row) => !(row.physics_backend === "isaacsim_physx" && row.rendering_backend === "ovrtx")
+                        && !(row.physics_backend === "ovphysx" && row.rendering_backend === "isaacsim_rtx"))
+                    .map((row) => ({...row, channel}));
+            } catch (error) {
+                benchmarkErrors.add(channel);
+                console.error(error);
+                return [];
             }
-            benchmarkRows = parseCsv(await response.text()).filter((row) => row.data_origin === "measured");
-            updatePreview();
-        } catch (error) {
-            benchmarks.querySelector("[data-benchmark-chart]").hidden = true;
-            benchmarks.querySelector("[data-benchmark-empty]").hidden = true;
-            benchmarks.querySelector(".environment-benchmark-toolbar").hidden = true;
-            benchmarks.querySelector("[data-benchmark-error]").hidden = false;
-            console.error(error);
-        }
+        }))).flat();
+        updatePreview();
     };
 
     fields.task.addEventListener("change", () => {
@@ -670,7 +964,8 @@
     });
     for (const field of [fields.rl, fields.physics, fields.renderer, fields.presets, fields.checkpoint]) {
         field.addEventListener("change", () => {
-            commandOutput.textContent = currentCommand();
+            updateModeControls();
+            updateCommand();
             updatePreview();
         });
     }
@@ -686,7 +981,7 @@
                 modeButton.setAttribute("aria-pressed", String(isActive));
             }
             updateModeControls();
-            commandOutput.textContent = currentCommand();
+            updateCommand();
             updatePreview();
         });
     }
@@ -723,9 +1018,20 @@
             modeButton.classList.toggle("is-active", isActive);
             modeButton.setAttribute("aria-pressed", String(isActive));
         }
-        commandOutput.textContent = currentCommand();
+        updateCommand();
         updatePreview();
     });
+    for (const button of benchmarks?.querySelectorAll("[data-benchmark-channel]") || []) {
+        button.addEventListener("click", () => {
+            state.benchmarkChannel = button.dataset.benchmarkChannel;
+            for (const channelButton of benchmarks.querySelectorAll("[data-benchmark-channel]")) {
+                const isActive = channelButton === button;
+                channelButton.classList.toggle("is-active", isActive);
+                channelButton.setAttribute("aria-pressed", String(isActive));
+            }
+            updatePreview();
+        });
+    }
     for (const button of benchmarks?.querySelectorAll("[data-benchmark-workload]") || []) {
         button.addEventListener("click", () => {
             state.benchmarkWorkload = button.dataset.benchmarkWorkload;
@@ -738,6 +1044,9 @@
         });
     }
     copyButton.addEventListener("click", async () => {
+        if (incompatibleBackends()) {
+            return;
+        }
         const command = currentCommand();
         try {
             await navigator.clipboard.writeText(command);
diff --git a/docs/source/_static/css/guide-browser.css b/docs/source/_static/css/guide-browser.css
new file mode 100644
index 000000000000..034de168368b
--- /dev/null
+++ b/docs/source/_static/css/guide-browser.css
@@ -0,0 +1,279 @@
+/*
+ * Copyright (c) 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
+ */
+
+.guide-browser-toolbar {
+    position: sticky;
+    top: 4rem;
+    z-index: 5;
+    display: flex;
+    align-items: center;
+    gap: 0.75rem;
+    margin: 1.25rem 0 1.5rem;
+    padding: 0.75rem;
+    border: 1px solid var(--pst-color-border);
+    border-radius: 8px;
+    background: color-mix(in srgb, var(--pst-color-background) 94%, transparent);
+    box-shadow: 0 8px 24px color-mix(in srgb, var(--pst-color-shadow) 18%, transparent);
+    backdrop-filter: blur(12px);
+}
+
+.guide-search {
+    position: relative;
+    flex: 1 1 24rem;
+    min-width: 12rem;
+    height: 2.5rem;
+    margin: 0;
+}
+
+.guide-search i {
+    position: absolute;
+    top: 50%;
+    left: 0.8rem;
+    z-index: 1;
+    color: var(--pst-color-text-muted);
+    pointer-events: none;
+    transform: translateY(-50%);
+}
+
+.guide-search input {
+    position: absolute;
+    inset: 0;
+    display: block;
+    width: 100%;
+    height: 100%;
+    margin: 0;
+    padding: 0.45rem 0.8rem 0.45rem 2.35rem;
+    border: 1px solid var(--pst-color-border);
+    border-radius: 6px;
+    color: var(--pst-color-text-base);
+    background: var(--pst-color-background);
+}
+
+.guide-search input:focus {
+    border-color: var(--pst-color-primary);
+    outline: 2px solid color-mix(in srgb, var(--pst-color-primary) 25%, transparent);
+    outline-offset: 0;
+}
+
+.guide-result-count {
+    flex: 0 0 auto;
+    min-width: 5.25rem;
+    color: var(--pst-color-text-muted);
+    font-size: 0.85rem;
+    text-align: right;
+    white-space: nowrap;
+}
+
+.guide-group {
+    margin: 0 0 1.5rem;
+}
+
+.guide-group > .rubric {
+    margin: 0 0 0.5rem;
+    color: var(--pst-color-text-base);
+    font-size: 1.05rem;
+    font-weight: 700;
+}
+
+.guide-entry {
+    position: relative;
+    display: grid;
+    grid-template-columns: minmax(0, 1fr) auto;
+    grid-template-rows: auto auto;
+    column-gap: 0.8rem;
+    align-items: center;
+    min-height: 4.5rem;
+    padding: 0.8rem 1.25rem !important;
+    border: 1px solid var(--pst-color-border);
+    border-bottom: 0;
+    background: var(--pst-color-background);
+}
+
+.guide-entry:first-of-type {
+    border-radius: 8px 8px 0 0;
+}
+
+.guide-entry.is-first-visible {
+    border-radius: 8px 8px 0 0;
+}
+
+.guide-entry:last-child {
+    border-bottom: 1px solid var(--pst-color-border);
+    border-radius: 0 0 8px 8px;
+}
+
+.guide-entry.is-last-visible {
+    border-bottom: 1px solid var(--pst-color-border);
+    border-radius: 0 0 8px 8px;
+}
+
+.guide-entry.is-first-visible.is-last-visible {
+    border-radius: 8px;
+}
+
+.guide-entry:only-of-type {
+    border-bottom: 1px solid var(--pst-color-border);
+    border-radius: 8px;
+}
+
+.guide-entry:hover,
+.guide-entry:focus-within {
+    border-color: var(--pst-color-primary);
+    background: color-mix(in srgb, var(--pst-color-primary) 7%, var(--pst-color-background));
+    box-shadow: inset 3px 0 var(--pst-color-primary);
+}
+
+.guide-entry::after {
+    grid-row: 1 / 3;
+    grid-column: 2;
+    width: 0.45rem;
+    height: 0.45rem;
+    margin-right: 0.2rem;
+    border-top: 2px solid var(--pst-color-text-muted);
+    border-right: 2px solid var(--pst-color-text-muted);
+    content: "";
+    transform: rotate(45deg);
+}
+
+.guide-entry > p {
+    grid-column: 1;
+    margin: 0;
+}
+
+.guide-entry > p:first-of-type {
+    align-self: end;
+    font-weight: 650;
+}
+
+.guide-entry > p:last-of-type {
+    align-self: start;
+    color: var(--pst-color-text-muted);
+    font-size: 0.88rem;
+}
+
+.guide-entry a {
+    color: var(--pst-color-text-base);
+    text-decoration: none;
+}
+
+.guide-entry a::after {
+    position: absolute;
+    inset: 0;
+    content: "";
+}
+
+.guide-entry[hidden],
+.guide-group[hidden],
+.guide-empty-state[hidden] {
+    display: none;
+}
+
+.guide-empty-state {
+    margin: 2rem 0;
+    padding: 1.25rem;
+    border: 1px dashed var(--pst-color-border);
+    border-radius: 8px;
+    color: var(--pst-color-text-muted);
+    text-align: center;
+}
+
+.guide-viewer {
+    overflow: hidden;
+    margin: 1.25rem 0;
+    scroll-margin-top: 4.5rem;
+    border: 1px solid var(--pst-color-border);
+    border-radius: 10px;
+    background: var(--pst-color-background);
+    box-shadow: 0 12px 36px color-mix(in srgb, var(--pst-color-shadow) 20%, transparent);
+}
+
+.guide-viewer-header {
+    display: flex;
+    align-items: center;
+    justify-content: space-between;
+    gap: 1rem;
+    padding: 0.75rem 1rem;
+    border-bottom: 1px solid var(--pst-color-border);
+    background: color-mix(in srgb, var(--pst-color-background) 94%, transparent);
+    backdrop-filter: blur(12px);
+}
+
+.guide-viewer-content {
+    padding: 1.5rem;
+}
+
+.guide-back-button {
+    display: inline-flex;
+    align-items: center;
+    gap: 0.5rem;
+    min-height: 2.5rem;
+    padding: 0.45rem 0.8rem;
+    border: 1px solid var(--pst-color-primary);
+    border-radius: 6px;
+    color: #1f3300;
+    background: #76b900;
+    font-weight: 650;
+}
+
+.guide-back-button:hover,
+.guide-back-button:focus-visible {
+    background: color-mix(in srgb, #76b900 82%, white);
+}
+
+.guide-open-page {
+    font-size: 0.88rem;
+    white-space: nowrap;
+}
+
+.guide-loading {
+    min-height: 12rem;
+    margin: 0;
+    padding: 5rem 1rem;
+    color: var(--pst-color-text-muted);
+    text-align: center;
+}
+
+.guide-frame {
+    display: block;
+    width: 100%;
+    min-height: 20rem;
+    border: 0;
+    background: transparent;
+}
+
+.guide-browser-intro[hidden],
+.guide-browser-toolbar[hidden],
+.guide-list[hidden],
+.guide-browser-note[hidden],
+.guide-viewer[hidden],
+.guide-frame[hidden],
+.guide-loading[hidden] {
+    display: none;
+}
+
+@media (max-width: 760px) {
+    .guide-browser-toolbar {
+        position: static;
+        flex-wrap: wrap;
+    }
+
+    .guide-search {
+        flex-basis: 100%;
+    }
+
+    .guide-entry {
+        grid-template-columns: minmax(0, 1fr);
+    }
+
+    .guide-entry::after {
+        display: none;
+    }
+
+    .guide-viewer-content {
+        padding: 1rem;
+    }
+}
diff --git a/docs/source/_static/css/guide-browser.js b/docs/source/_static/css/guide-browser.js
new file mode 100644
index 000000000000..796869ca6462
--- /dev/null
+++ b/docs/source/_static/css/guide-browser.js
@@ -0,0 +1,217 @@
+/*
+ * Copyright (c) 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
+ */
+
+(() => {
+    "use strict";
+
+    const embeddedGuideStyles = `
+        html, body {
+            overflow: hidden;
+            background: transparent;
+        }
+        #pst-header,
+        #pst-primary-sidebar,
+        #pst-secondary-sidebar,
+        .bd-header-article,
+        .onlyprint,
+        .prev-next-footer,
+        .bd-footer,
+        footer.bd-footer-article {
+            display: none !important;
+        }
+        .bd-container,
+        .bd-container__inner,
+        .bd-page-width,
+        .bd-main,
+        .bd-content,
+        .bd-article-container,
+        .bd-article {
+            width: 100% !important;
+            max-width: none !important;
+            margin: 0 !important;
+            padding: 0 !important;
+        }
+    `;
+
+    const initializeGuideBrowser = () => {
+        const browser = document.querySelector("[data-guide-browser]");
+        const guideList = document.querySelector(".guide-list");
+        const viewer = document.querySelector("[data-guide-viewer]");
+        if (!browser || !guideList || !viewer) {
+            return;
+        }
+
+        const intro = document.querySelector(".guide-browser-intro");
+        const note = document.querySelector(".guide-browser-note");
+        const search = browser.querySelector("[data-guide-search]");
+        const count = browser.querySelector("[data-guide-count]");
+        const empty = document.querySelector("[data-guide-empty]");
+        const backButton = viewer.querySelector("[data-guide-back]");
+        const openPage = viewer.querySelector("[data-guide-open-page]");
+        const loading = viewer.querySelector("[data-guide-loading]");
+        const frame = viewer.querySelector("[data-guide-frame]");
+        const groups = [...guideList.querySelectorAll(".guide-group")];
+        const entries = [...guideList.querySelectorAll(".guide-entry")];
+        const canEmbedGuides = window.location.protocol !== "file:";
+        let selectedEntry = null;
+        let frameObserver = null;
+
+        const normalizedTokens = (value) => value.toLowerCase().trim().split(/\s+/).filter(Boolean);
+
+        const render = () => {
+            const tokens = normalizedTokens(search.value);
+            let visibleCount = 0;
+            for (const entry of entries) {
+                const searchableText = entry.textContent.toLowerCase();
+                const matchesSearch = tokens.every((token) => searchableText.includes(token));
+                entry.hidden = !matchesSearch;
+                visibleCount += entry.hidden ? 0 : 1;
+            }
+            for (const group of groups) {
+                const visibleEntries = [...group.querySelectorAll(".guide-entry:not([hidden])")];
+                for (const entry of group.querySelectorAll(".guide-entry")) {
+                    entry.classList.remove("is-first-visible", "is-last-visible");
+                }
+                visibleEntries[0]?.classList.add("is-first-visible");
+                visibleEntries.at(-1)?.classList.add("is-last-visible");
+                group.hidden = visibleEntries.length === 0;
+            }
+            count.textContent = `${visibleCount} ${visibleCount === 1 ? "guide" : "guides"}`;
+            empty.hidden = visibleCount !== 0;
+        };
+
+        const setBrowserVisible = (isVisible) => {
+            intro.hidden = !isVisible;
+            browser.hidden = !isVisible;
+            guideList.hidden = !isVisible;
+            note.hidden = !isVisible;
+            empty.hidden = !isVisible || entries.some((entry) => !entry.hidden);
+            viewer.hidden = isVisible;
+        };
+
+        const closeGuide = () => {
+            frameObserver?.disconnect();
+            frameObserver = null;
+            frame.hidden = true;
+            frame.removeAttribute("src");
+            setBrowserVisible(true);
+            selectedEntry?.focus();
+            selectedEntry = null;
+        };
+
+        const resizeFrame = () => {
+            const frameDocument = frame.contentDocument;
+            if (!frameDocument) {
+                return;
+            }
+            const height = Math.ceil(frameDocument.documentElement.scrollHeight);
+            if (height > 0 && frame.style.height !== `${height}px`) {
+                frame.style.height = `${height}px`;
+            }
+        };
+
+        const scrollToFrameTarget = (hash) => {
+            const frameDocument = frame.contentDocument;
+            if (!frameDocument || !hash) {
+                return;
+            }
+            const target = frameDocument.getElementById(decodeURIComponent(hash.slice(1)));
+            if (!target) {
+                return;
+            }
+            frame.contentWindow.scrollTo(0, 0);
+            const targetTop = window.scrollY + frame.getBoundingClientRect().top + target.getBoundingClientRect().top;
+            window.scrollTo({top: Math.max(0, targetTop - 80), behavior: "smooth"});
+        };
+
+        const prepareFrame = () => {
+            if (viewer.hidden || !frame.contentDocument) {
+                return;
+            }
+
+            const frameDocument = frame.contentDocument;
+            const style = frameDocument.createElement("style");
+            style.textContent = embeddedGuideStyles;
+            frameDocument.head.append(style);
+
+            frameDocument.addEventListener("click", (event) => {
+                const anchor = event.target.closest("a[href]");
+                if (!anchor) {
+                    return;
+                }
+                const destination = new URL(anchor.href, frame.contentWindow.location.href);
+                if (destination.origin !== window.location.origin) {
+                    anchor.target = "_blank";
+                    anchor.rel = "noopener";
+                } else if (destination.pathname === window.location.pathname) {
+                    event.preventDefault();
+                    closeGuide();
+                } else if (destination.pathname === frame.contentWindow.location.pathname && destination.hash) {
+                    event.preventDefault();
+                    scrollToFrameTarget(destination.hash);
+                }
+            });
+
+            const title = frameDocument.querySelector("article.bd-article h1")?.firstChild?.textContent.trim();
+            if (title) {
+                frame.title = title;
+            }
+            openPage.href = frame.contentWindow.location.href;
+            loading.hidden = true;
+            frame.hidden = false;
+            resizeFrame();
+
+            frameObserver?.disconnect();
+            frameObserver = new frame.contentWindow.ResizeObserver(resizeFrame);
+            frameObserver.observe(frameDocument.documentElement);
+            frameDocument.fonts?.ready.then(resizeFrame);
+            requestAnimationFrame(() => scrollToFrameTarget(frame.contentWindow.location.hash));
+        };
+
+        const openGuide = (link) => {
+            selectedEntry = link;
+            openPage.href = link.href;
+            frame.title = link.textContent.trim();
+            frame.style.height = "0";
+            frame.hidden = true;
+            loading.hidden = false;
+            setBrowserVisible(false);
+            frame.src = link.href;
+            viewer.scrollIntoView({block: "start"});
+            backButton.focus({preventScroll: true});
+        };
+
+        for (const entry of entries) {
+            const link = entry.querySelector("a[href]");
+            if (!link) {
+                continue;
+            }
+            link.addEventListener("click", (event) => {
+                if (event.button !== 0 || event.metaKey || event.ctrlKey || event.shiftKey || event.altKey) {
+                    return;
+                }
+                // Browsers isolate file URLs, so local previews must use direct navigation.
+                if (!canEmbedGuides) {
+                    return;
+                }
+                event.preventDefault();
+                openGuide(link);
+            });
+        }
+
+        backButton.addEventListener("click", closeGuide);
+        frame.addEventListener("load", prepareFrame);
+        search.addEventListener("input", render);
+        render();
+    };
+
+    if (document.readyState === "loading") {
+        document.addEventListener("DOMContentLoaded", initializeGuideBrowser, {once: true});
+    } else {
+        initializeGuideBrowser();
+    }
+})();
diff --git a/docs/source/_static/overview/sensors/camera-renderer-isaac-rtx-depth.png b/docs/source/_static/overview/sensors/camera-renderer-isaac-rtx-depth.png
new file mode 100644
index 000000000000..02b31da62278
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diff --git a/docs/source/_static/overview/sensors/camera-renderer-isaac-rtx-instance-segmentation.png b/docs/source/_static/overview/sensors/camera-renderer-isaac-rtx-instance-segmentation.png
new file mode 100644
index 000000000000..6b78e0ab0a24
Binary files /dev/null and b/docs/source/_static/overview/sensors/camera-renderer-isaac-rtx-instance-segmentation.png differ
diff --git a/docs/source/_static/overview/sensors/camera-renderer-isaac-rtx-motion-vectors.png b/docs/source/_static/overview/sensors/camera-renderer-isaac-rtx-motion-vectors.png
new file mode 100644
index 000000000000..bf36638f465a
Binary files /dev/null and b/docs/source/_static/overview/sensors/camera-renderer-isaac-rtx-motion-vectors.png differ
diff --git a/docs/source/_static/overview/sensors/camera-renderer-isaac-rtx-normals.png b/docs/source/_static/overview/sensors/camera-renderer-isaac-rtx-normals.png
new file mode 100644
index 000000000000..d51ab11daba6
Binary files /dev/null and b/docs/source/_static/overview/sensors/camera-renderer-isaac-rtx-normals.png differ
diff --git a/docs/source/_static/overview/sensors/camera-renderer-isaac-rtx-semantic-segmentation.png b/docs/source/_static/overview/sensors/camera-renderer-isaac-rtx-semantic-segmentation.png
new file mode 100644
index 000000000000..c76893c109c6
Binary files /dev/null and b/docs/source/_static/overview/sensors/camera-renderer-isaac-rtx-semantic-segmentation.png differ
diff --git a/docs/source/_static/overview/sensors/camera-renderer-isaac-rtx-simple-shading-constant-diffuse.png b/docs/source/_static/overview/sensors/camera-renderer-isaac-rtx-simple-shading-constant-diffuse.png
new file mode 100644
index 000000000000..9a109a7b623c
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diff --git a/docs/source/_static/overview/sensors/camera-renderer-newton-depth.png b/docs/source/_static/overview/sensors/camera-renderer-newton-depth.png
new file mode 100644
index 000000000000..8e14d787187d
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diff --git a/docs/source/_static/overview/sensors/camera-renderer-newton-instance-segmentation.png b/docs/source/_static/overview/sensors/camera-renderer-newton-instance-segmentation.png
new file mode 100644
index 000000000000..6aeebe40022c
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diff --git a/docs/source/_static/overview/sensors/camera-renderer-newton-normals.png b/docs/source/_static/overview/sensors/camera-renderer-newton-normals.png
new file mode 100644
index 000000000000..7f981aa59f58
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diff --git a/docs/source/_static/overview/sensors/camera-renderer-newton-semantic-segmentation.png b/docs/source/_static/overview/sensors/camera-renderer-newton-semantic-segmentation.png
new file mode 100644
index 000000000000..8485286f37f0
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diff --git a/docs/source/_static/overview/sensors/camera-renderer-ovrtx-depth.png b/docs/source/_static/overview/sensors/camera-renderer-ovrtx-depth.png
new file mode 100644
index 000000000000..eaeee0b3ba66
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diff --git a/docs/source/_static/overview/sensors/camera-renderer-ovrtx-instance-segmentation.png b/docs/source/_static/overview/sensors/camera-renderer-ovrtx-instance-segmentation.png
new file mode 100644
index 000000000000..8e92b39cfee8
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diff --git a/docs/source/_static/overview/sensors/camera-renderer-ovrtx-motion-vectors.png b/docs/source/_static/overview/sensors/camera-renderer-ovrtx-motion-vectors.png
new file mode 100644
index 000000000000..d27ac906962f
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diff --git a/docs/source/_static/overview/sensors/camera-renderer-ovrtx-normals.png b/docs/source/_static/overview/sensors/camera-renderer-ovrtx-normals.png
new file mode 100644
index 000000000000..d84445d0f75d
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diff --git a/docs/source/_static/overview/sensors/camera-renderer-ovrtx-semantic-segmentation.png b/docs/source/_static/overview/sensors/camera-renderer-ovrtx-semantic-segmentation.png
new file mode 100644
index 000000000000..756ae8c11365
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diff --git a/docs/source/_static/overview/sensors/camera-renderer-ovrtx-simple-shading-constant-diffuse.png b/docs/source/_static/overview/sensors/camera-renderer-ovrtx-simple-shading-constant-diffuse.png
new file mode 100644
index 000000000000..264a857f3b0b
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diff --git a/docs/source/_static/overview/sensors/camera_depth.jpg b/docs/source/_static/overview/sensors/camera_depth.jpg
deleted file mode 100644
index a53155c8653b..000000000000
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diff --git a/docs/source/_static/overview/sensors/camera_instance.jpg b/docs/source/_static/overview/sensors/camera_instance.jpg
deleted file mode 100644
index 9715ba8c0746..000000000000
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diff --git a/docs/source/_static/overview/sensors/camera_instanceID.jpg b/docs/source/_static/overview/sensors/camera_instanceID.jpg
deleted file mode 100644
index 985461567e6f..000000000000
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diff --git a/docs/source/_static/overview/sensors/camera_normals.jpg b/docs/source/_static/overview/sensors/camera_normals.jpg
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diff --git a/docs/source/api/lab/isaaclab.app.rst b/docs/source/api/lab/isaaclab.app.rst
index dc68c35d463f..06738c0ae908 100644
--- a/docs/source/api/lab/isaaclab.app.rst
+++ b/docs/source/api/lab/isaaclab.app.rst
@@ -53,17 +53,73 @@ option is required for camera tasks.
 
 To set the environment variables, one can use the following command in the terminal:
 
-.. code:: bash
+.. tab-set::
+   :sync-group: os
 
-   export LIVESTREAM=2
-   # run the python script
-   uv run --extra isaacsim python scripts/demos/quadrupeds.py
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux x86_64
+      :sync: linux-x86_64
 
-Alternatively, one can set the environment variables to the python script directly:
+      .. code-block:: bash
 
-.. code:: bash
+         export LIVESTREAM=2
+         # run the python script
+         uv run --extra isaacsim python scripts/demos/quadrupeds.py
 
-   LIVESTREAM=2 uv run --extra isaacsim python scripts/demos/quadrupeds.py
+      Alternatively, set the environment variable inline for a single invocation:
+
+      .. code-block:: bash
+
+         LIVESTREAM=2 uv run --extra isaacsim python scripts/demos/quadrupeds.py
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux aarch64 (DGX Spark)
+      :sync: linux-aarch64
+
+      .. code-block:: bash
+
+         export LIVESTREAM=2
+         # run the python script
+         LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1 uv run --extra isaacsim python scripts/demos/quadrupeds.py
+
+      Alternatively, set the environment variable inline for a single invocation:
+
+      .. code-block:: bash
+
+         LIVESTREAM=2 LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1 uv run --extra isaacsim python scripts/demos/quadrupeds.py
+
+      .. note::
+
+         Direct Python commands that import Isaac Sim on aarch64 require the
+         ``LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1`` prefix shown above. See
+         :ref:`installation-method-uv`.
+
+      .. warning::
+
+         Livestreaming is not currently supported or validated on DGX Spark. See the
+         :doc:`/source/setup/installation/index` for the current list of features not
+         yet validated on this platform.
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      In Command Prompt:
+
+      .. code-block:: batch
+
+         set LIVESTREAM=2
+         uv run --extra isaacsim python scripts/demos/quadrupeds.py
+
+      In PowerShell:
+
+      .. code-block:: powershell
+
+         $env:LIVESTREAM = "2"
+         uv run --extra isaacsim python scripts/demos/quadrupeds.py
+
+      .. note::
+
+         The POSIX inline ``VAR=value <command>`` prefix form used on Linux (for example
+         ``LIVESTREAM=2 uv run ...``) has no Windows equivalent; use one of the two forms
+         above instead.
 
 
 Overriding the environment variables
diff --git a/docs/source/api/lab/isaaclab.controllers.rst b/docs/source/api/lab/isaaclab.controllers.rst
index 9be24d4c56a8..b7bb8046d561 100644
--- a/docs/source/api/lab/isaaclab.controllers.rst
+++ b/docs/source/api/lab/isaaclab.controllers.rst
@@ -47,6 +47,13 @@ Operational Space controllers
 Pink IK Controller
 ------------------
 
+.. note::
+
+   The standard Isaac Lab installation provides Pink IK dependencies only on Linux x86_64 and aarch64.
+   Pink IK requires ``pin`` (Pinocchio), ``pin-pink``, and ``daqp``. The Windows uv/pip installation does not
+   provide Pinocchio, so Pink IK tasks cannot run with that installation. This is an installation limitation;
+   upstream Pinocchio supports Windows through other distribution methods.
+
 .. automodule:: isaaclab.controllers.pink_ik
 
 .. autoclass:: PinkIKController
diff --git a/docs/source/api/lab/isaaclab.sim.schemas.rst b/docs/source/api/lab/isaaclab.sim.schemas.rst
index f218855c9e7f..8b56fb73841a 100644
--- a/docs/source/api/lab/isaaclab.sim.schemas.rst
+++ b/docs/source/api/lab/isaaclab.sim.schemas.rst
@@ -8,7 +8,7 @@ isaaclab.sim.schemas
   These base classes carry the universal-physics fields that every backend honors.
   They live in core ``isaaclab`` and have no backend dependency. For backend-specific
   knobs, use the matching subclass in :mod:`isaaclab_physx.sim.schemas` or
-  :mod:`isaaclab_newton.sim.schemas`. See :doc:`/source/overview/core-concepts/schema_cfgs`
+  :mod:`isaaclab_newton.sim.schemas`. See :doc:`/source/concepts/schema_cfgs`
   for the full design.
 
   .. autosummary::
diff --git a/docs/source/api/lab_newton/isaaclab_newton.sim.schemas.rst b/docs/source/api/lab_newton/isaaclab_newton.sim.schemas.rst
index ed9ba8c692ba..8325935bc901 100644
--- a/docs/source/api/lab_newton/isaaclab_newton.sim.schemas.rst
+++ b/docs/source/api/lab_newton/isaaclab_newton.sim.schemas.rst
@@ -9,7 +9,7 @@ isaaclab_newton.sim.schemas
   Newton's MuJoCo solver). MuJoCo cfgs subclass their Newton counterpart
   because MuJoCo is one of Newton's solver options.
 
-  See :doc:`/source/overview/core-concepts/schema_cfgs` for the design and
+  See :doc:`/source/concepts/schema_cfgs` for the design and
   when to use each class.
 
   .. rubric:: Newton-targeted (family roots)
diff --git a/docs/source/api/lab_physx/isaaclab_physx.sim.schemas.rst b/docs/source/api/lab_physx/isaaclab_physx.sim.schemas.rst
index 730bd1628772..166d7b756021 100644
--- a/docs/source/api/lab_physx/isaaclab_physx.sim.schemas.rst
+++ b/docs/source/api/lab_physx/isaaclab_physx.sim.schemas.rst
@@ -6,7 +6,7 @@ isaaclab_physx.sim.schemas
   PhysX-specific schema configuration classes. Each cfg below extends a
   solver-common base in :mod:`isaaclab.sim.schemas` with PhysX-namespaced
   attributes (``physx*:*``) and applies the corresponding ``Physx*API``
-  applied schema. See :doc:`/source/overview/core-concepts/schema_cfgs`
+  applied schema. See :doc:`/source/concepts/schema_cfgs`
   for the design.
 
   .. rubric:: Rigid body and joint drive
diff --git a/docs/source/concepts/_renderer_gallery.rst b/docs/source/concepts/_renderer_gallery.rst
new file mode 100644
index 000000000000..112920f4aa04
--- /dev/null
+++ b/docs/source/concepts/_renderer_gallery.rst
@@ -0,0 +1,223 @@
+.. tab-set::
+
+   .. tab-item:: Newton Warp
+
+      .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-newton.webp
+         :align: center
+         :width: 90%
+         :alt: Six material spheres falling onto a table in Newton Warp RGB output.
+
+         RGB animation
+
+      .. grid:: 1 2 3 3
+         :gutter: 2
+
+         .. grid-item::
+
+            .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-newton-albedo.png
+               :width: 100%
+               :alt: Newton Warp albedo output for six material spheres.
+
+               Albedo
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-newton-depth.png
+               :width: 100%
+               :alt: Color-mapped Newton Warp depth output for six material spheres.
+
+               Depth. Turbo colors progress from near (purple) to far (red).
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-newton-normals.png
+               :width: 100%
+               :alt: Newton Warp surface-normal output for six material spheres.
+
+               Normals
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-newton-semantic-segmentation.png
+               :width: 100%
+               :alt: Color-mapped Newton Warp semantic-segmentation output for six material spheres.
+
+               Semantic segmentation
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-newton-instance-segmentation.png
+               :width: 100%
+               :alt: Color-mapped Newton Warp instance-segmentation output for six material spheres.
+
+               Instance segmentation
+
+   .. tab-item:: OVRTX
+
+      .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-ovrtx.webp
+         :align: center
+         :width: 90%
+         :alt: Six material spheres falling onto a table in OVRTX RGB output.
+
+         RGB animation
+
+      .. grid:: 1 2 3 3
+         :gutter: 2
+
+         .. grid-item::
+
+            .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-ovrtx-albedo.png
+               :width: 100%
+               :alt: OVRTX albedo output for six material spheres.
+
+               Albedo
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-ovrtx-depth.png
+               :width: 100%
+               :alt: Color-mapped OVRTX depth output for six material spheres.
+
+               Depth. Turbo colors progress from near (purple) to far (red).
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-ovrtx-normals.png
+               :width: 100%
+               :alt: OVRTX surface-normal output for six material spheres.
+
+               Normals
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-ovrtx-semantic-segmentation.png
+               :width: 100%
+               :alt: Color-mapped OVRTX semantic-segmentation output for six material spheres.
+
+               Semantic segmentation
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-ovrtx-instance-segmentation.png
+               :width: 100%
+               :alt: Color-mapped OVRTX instance-segmentation output for six material spheres.
+
+               Instance segmentation
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-ovrtx-motion-vectors.png
+               :width: 100%
+               :alt: Color-mapped OVRTX motion-vector output for six falling material spheres.
+
+               Motion vectors. Color encodes direction and relative magnitude; arrows show sampled
+               image-space motion.
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-ovrtx-simple-shading-constant-diffuse.png
+               :width: 100%
+               :alt: OVRTX constant-diffuse simple-shading output for six material spheres.
+
+               Constant diffuse shading
+
+         .. grid-item::
+
+            .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-ovrtx-simple-shading-diffuse-mdl.png
+               :width: 100%
+               :alt: OVRTX diffuse-MDL simple-shading output for six material spheres.
+
+               Diffuse MDL shading
+
+         .. grid-item::
+
+            .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-ovrtx-simple-shading-full-mdl.png
+               :width: 100%
+               :alt: OVRTX full-MDL simple-shading output for six material spheres.
+
+               Full MDL shading
+
+   .. tab-item:: Isaac RTX
+
+      .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-isaac-rtx.webp
+         :align: center
+         :width: 90%
+         :alt: Six material spheres falling onto a table in Isaac RTX RGB output.
+
+         RGB animation
+
+      .. grid:: 1 2 3 3
+         :gutter: 2
+
+         .. grid-item::
+
+            .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-isaac-rtx-albedo.png
+               :width: 100%
+               :alt: Isaac RTX albedo output for six material spheres.
+
+               Albedo
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-isaac-rtx-depth.png
+               :width: 100%
+               :alt: Color-mapped Isaac RTX depth output for six material spheres.
+
+               Depth. Turbo colors progress from near (purple) to far (red).
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-isaac-rtx-normals.png
+               :width: 100%
+               :alt: Isaac RTX surface-normal output for six material spheres.
+
+               Normals
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-isaac-rtx-semantic-segmentation.png
+               :width: 100%
+               :alt: Color-mapped Isaac RTX semantic-segmentation output for six material spheres.
+
+               Semantic segmentation
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-isaac-rtx-instance-segmentation.png
+               :width: 100%
+               :alt: Color-mapped Isaac RTX instance-segmentation output for six material spheres.
+
+               Instance segmentation
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-isaac-rtx-motion-vectors.png
+               :width: 100%
+               :alt: Color-mapped Isaac RTX motion-vector output for six falling material spheres.
+
+               Motion vectors. Color encodes direction and relative magnitude; arrows show sampled
+               image-space motion.
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-isaac-rtx-simple-shading-constant-diffuse.png
+               :width: 100%
+               :alt: Isaac RTX constant-diffuse simple-shading output for six material spheres.
+
+               Constant diffuse shading
+
+         .. grid-item::
+
+            .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-isaac-rtx-simple-shading-diffuse-mdl.png
+               :width: 100%
+               :alt: Isaac RTX diffuse-MDL simple-shading output for six material spheres.
+
+               Diffuse MDL shading
+
+         .. grid-item::
+
+            .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-isaac-rtx-simple-shading-full-mdl.png
+               :width: 100%
+               :alt: Isaac RTX full-MDL simple-shading output for six material spheres.
+
+               Full MDL shading
diff --git a/docs/source/concepts/actuators.rst b/docs/source/concepts/actuators.rst
index 4e54e04a2af2..f33117a58de2 100644
--- a/docs/source/concepts/actuators.rst
+++ b/docs/source/concepts/actuators.rst
@@ -270,7 +270,7 @@ position target. Higher stiffness improves tracking but can increase overshoot a
 Too little stiffness leaves steady-state error under load. Tune stiffness together with damping.
 Units are [N·m/rad] for revolute joints and [N/m] for prismatic joints.
 
-.. figure:: ../_static/actuators/stiffness-clip.webp
+.. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/stiffness-clip.webp
     :align: center
     :width: 100%
     :alt: Five pendulums with increasing stiffness stepping to the same target.
@@ -296,7 +296,7 @@ stiff joint to oscillate. More damping reduces overshoot until the joint becomes
 beyond that point, the response becomes sluggish. Damping also sets the tracking gain for velocity
 targets. Units are [N·m·s/rad] for revolute joints and [N·s/m] for prismatic joints.
 
-.. figure:: ../_static/actuators/damping-clip.webp
+.. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/damping-clip.webp
     :align: center
     :width: 100%
     :alt: Five pendulums from underdamped to overdamped stepping to the same target.
@@ -329,7 +329,7 @@ convergence. Choose armature from the motor and transmission model. See the `Omn
 <https://docs.omniverse.nvidia.com/kit/docs/omni_physics/latest/dev_guide/guides/articulation_stability_guide.html>`_
 for more information.
 
-.. figure:: ../_static/actuators/armature-clip.webp
+.. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/armature-clip.webp
     :align: center
     :width: 100%
     :alt: Five pendulums with increasing armature responding to the same command.
@@ -365,7 +365,7 @@ stiction and drag, not to stabilize a controller.
     effort and has no separate dynamic-friction value. All three use viscous damping
     [N·s/m or N·m·s/rad, depending on joint type].
 
-.. figure:: ../_static/actuators/friction-clip.webp
+.. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/friction-clip.webp
     :align: center
     :width: 100%
     :alt: Five free-spinning pendulums with increasing joint friction decaying at different rates.
@@ -398,7 +398,7 @@ demand exceeds the limit, the applied torque and damping term are both clipped.
 therefore oscillate until the demand returns within the limit. An effort limit below the load's
 static demand prevents the controller from damping the joint effectively.
 
-.. figure:: ../_static/actuators/effort-limit-clip.webp
+.. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/effort-limit-clip.webp
     :align: center
     :width: 100%
     :alt: Five pendulums with increasing effort limit holding or failing against gravity.
@@ -631,20 +631,20 @@ configuration leaves a value unspecified. Unspecified values appear as ``Not Spe
 Native actuators
 ----------------
 
-By default, Isaac Lab runs explicit actuator models once per step outside the solver, usually on
-Torch or Warp. This path is deprecated. Set
-:attr:`~isaaclab.sim.SimulationCfg.use_newton_actuators` to ``True`` to use the native path for
-supported explicit models:
+By default, Isaac Lab uses the native path for supported explicit actuator models. Each explicit
+model runs either inside the solver or through a shared host adapter. To restore the deprecated
+Isaac Lab execution path, set :attr:`~isaaclab.sim.SimulationCfg.use_newton_actuators` to ``False``:
 
 .. code-block:: python
 
     from isaaclab.sim import SimulationCfg
 
-    sim_cfg = SimulationCfg(use_newton_actuators=True)
+    sim_cfg = SimulationCfg(use_newton_actuators=False)
 
-With the flag enabled, each supported explicit actuator config becomes a ``NewtonActuator`` USD
-prim. Newton executes it in the solver. PhysX and OVPhysX execute the same model through the shared
-host adapter during :meth:`~isaaclab.assets.Articulation.write_data_to_sim`.
+With the default native path enabled, each supported explicit actuator config becomes a
+``NewtonActuator`` USD prim. Newton executes it in the solver. PhysX and OVPhysX execute the same
+model through the shared host adapter during
+:meth:`~isaaclab.assets.Articulation.write_data_to_sim`.
 
 On Newton, native actuators run in the CUDA-graph-captured region. Implicit actuators are unchanged:
 the solver still applies their PD gains. On CUDA, the host adapter captures actuator staging, model
@@ -702,9 +702,9 @@ joints.
 
 .. warning::
 
-    With ``use_newton_actuators=True``, every explicit actuator config must be supported. An
-    unsupported config raises an error before native authoring. Disable ``use_newton_actuators`` to
-    use the Isaac Lab execution path, or select a supported config.
+    With the default ``use_newton_actuators=True``, every explicit actuator config must be
+    supported. An unsupported config raises an error before native authoring. Disable
+    ``use_newton_actuators`` to use the Isaac Lab execution path, or select a supported config.
 
 .. note::
 
@@ -745,7 +745,7 @@ model owns the gains.
 This page does **not** cover:
 
 * Motion generators or low-level control modes -- see
-  :doc:`/source/overview/core-concepts/motion_generators`.
+  :doc:`/source/concepts/motion_generators`.
 * Cross-backend policy transfer and solver-dynamics differences -- see
   :doc:`/source/how-to/transfer_policies_between_physx_and_newton`.
 
diff --git a/docs/source/concepts/backend_architecture.rst b/docs/source/concepts/backend_architecture.rst
new file mode 100644
index 000000000000..cc4d63a9736a
--- /dev/null
+++ b/docs/source/concepts/backend_architecture.rst
@@ -0,0 +1,148 @@
+.. Copyright (c) 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
+
+.. _backend-architecture:
+
+Backend Architecture
+====================
+
+Overview
+--------
+
+Isaac Lab supports multiple physics backends while presenting common asset,
+sensor, and scene interfaces to environment code. Factories dispatch an object
+to the active backend implementation at construction time, so code can use the
+same public API without importing backend-specific modules directly. For
+choosing a backend or preset in an environment, see
+:ref:`backends-and-presets`.
+
+Factory dispatch
+----------------
+
+All factories inherit from :class:`~isaaclab.utils.backend_utils.FactoryBase`.
+They locate supported backend implementations through a core backend-key
+selector followed by package and module-path conventions:
+
+1. The name of ``SimulationContext.physics_manager`` is mapped to one of the
+   backend keys recognized by ``FactoryBase._get_backend()``. Adding another
+   physics backend requires extending this core selector.
+2. The factory module path determines the backend module path. For example,
+   ``isaaclab.assets.articulation`` maps to
+   ``isaaclab_physx.assets.articulation``,
+   ``isaaclab_newton.assets.articulation``, or
+   ``isaaclab_ov.assets.articulation``. The OvPhysX backend key uses the shared
+   ``isaaclab_ov`` integration package.
+3. The factory lazily imports the backend module and caches the implementation
+   class in a registry.
+
+.. code-block:: text
+
+    User code: Articulation(cfg)
+        │
+        ▼
+    FactoryBase.__new__()
+        │
+        ├─ _get_backend()       → "physx", "newton", or "ovphysx"
+        │    (reads SimulationContext.physics_manager)
+        │
+        ├─ _get_module_name()   → "isaaclab_physx.assets.articulation"
+        │    (OvPhysX maps to the shared isaaclab_ov package)
+        │
+        ├─ importlib.import_module()
+        │    (lazy load — only on first use)
+        │
+        └─ Return backend-specific instance
+
+Some factories use a different resolution key. For example,
+:class:`~isaaclab.renderers.Renderer` selects an implementation from its
+renderer configuration because rendering and physics are independent.
+Visualizers similarly use their ``visualizer_type`` configuration field.
+
+Physics manager lifecycle
+-------------------------
+
+Each backend implements :class:`~isaaclab.physics.PhysicsManager`, the abstract
+base class that owns its simulation lifecycle. Implementations initialize their
+engine from a :class:`~isaaclab.sim.SimulationContext`, update kinematics with
+``forward()``, advance simulation with ``step()``, reset state with ``reset()``,
+and release resources with ``close()``.
+
+The manager exposes :class:`~isaaclab.physics.PhysicsEvent` callbacks for
+cross-backend lifecycle work. ``MODEL_INIT`` occurs during scene construction,
+``PHYSICS_READY`` after physics initialization, and ``STOP`` during shutdown.
+The concrete ``close()`` implementation dispatches the ``STOP`` event.
+
+Portable asset and sensor interfaces
+------------------------------------
+
+Assets and sensors use the same layering as the factories:
+
+1. A base class in ``isaaclab`` defines the public contract, such as
+   ``BaseArticulation`` or ``BaseContactSensor``.
+2. A factory class inherits from both :class:`FactoryBase
+   <isaaclab.utils.backend_utils.FactoryBase>` and that base class.
+3. Backend packages provide the supported implementations.
+
+Data classes use the same pattern, for example
+``ArticulationData(FactoryBase, BaseArticulationData)``. Implementations expose
+:class:`~isaaclab.utils.warp.ProxyArray` values through public asset and sensor
+data properties. Each proxy wraps the underlying ``wp.array`` and provides
+explicit ``.warp`` access to that array and cached, zero-copy ``.torch`` access
+to a :class:`torch.Tensor` view. Use those accessors when an API specifically
+requires one representation. Passing a ``ProxyArray`` to ``wp.to_torch()`` is
+supported only by a deprecated compatibility shim; new code should use
+``proxy_array.torch``. Backend-native and internal storage may still use raw
+Warp arrays. See :doc:`/source/how-to/proxy_array` for usage and buffer lifetime
+guidance.
+
+Portable renderer and scene-data interfaces
+-------------------------------------------
+
+Rendering is selected independently from physics. Renderer configurations
+dispatch through :class:`~isaaclab.renderers.Renderer` to implementations that
+share the :class:`~isaaclab.renderers.BaseRenderer` contract, with
+:class:`~isaaclab.renderers.RenderContext` owning their lifecycle. See
+:ref:`overview_renderers` for renderer choices and usage.
+
+Physics managers expose live simulation data through
+:class:`~isaaclab.scene_data.SceneDataBackend`. The
+:class:`~isaaclab.scene_data.SceneDataProvider` owned by the simulation context
+converts and remaps that data for backend-independent consumers:
+
+.. code-block:: text
+
+   physics manager -> SceneDataBackend -> SceneDataProvider -> renderer or visualizer
+
+This boundary lets renderers and visualizers consume a common Warp-native data
+path without knowing which physics engine owns the state. See
+:doc:`/source/developer-tools/scene_data_providers` for the complete
+data-flow model.
+
+Native engine access boundary
+-----------------------------
+
+The portable interfaces define the stable API boundary. Advanced code can use
+each engine's native low-level data API, but those APIs intentionally keep their
+own ownership and synchronization semantics. See
+:doc:`/source/concepts/native-physics-api/index`
+for PhysX typed views, Newton live model/state arrays and generic selections,
+and OvPhysX tensor bindings.
+
+Design principles
+-----------------
+
+- **Lazy loading:** Backend modules are imported only when first instantiated,
+  keeping startup fast and avoiding dependencies on unused backends.
+- **Recognized keys plus convention:** Once the core selector recognizes a
+  backend key, module paths mirror the ``isaaclab.X.Y`` structure. OvPhysX
+  maps to ``isaaclab_ov.X.Y``; other recognized backends use
+  ``isaaclab_<backend>.X.Y`` by default.
+- **Independent selection:** Physics backend, renderer, and visualizer are
+  selected independently.
+- **Explicit data interop:** Public asset and sensor data properties return
+  :class:`~isaaclab.utils.warp.ProxyArray`; its ``.warp`` and ``.torch``
+  accessors expose the required array representation without copying.
+- **Zero runtime overhead:** Selection occurs at instantiation time; it does
+  not add dispatch logic to the simulation hot path.
diff --git a/docs/source/concepts/backends_and_presets.rst b/docs/source/concepts/backends_and_presets.rst
index 700efe6c5d50..b484f321584e 100644
--- a/docs/source/concepts/backends_and_presets.rst
+++ b/docs/source/concepts/backends_and_presets.rst
@@ -1,8 +1,22 @@
+.. Copyright (c) 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
+
 .. _backends-and-presets:
 
 Backends and Presets
 ====================
 
+.. seealso::
+
+   This page is the source of truth for the ``isaaclab-selecting-backends`` and
+   ``isaaclab-using-presets`` agent skills
+   (`skills/user/select-backends/ <../../../skills/user/select-backends/SKILL.md>`__,
+   `skills/user/use-presets/ <../../../skills/user/use-presets/SKILL.md>`__).
+   When you change this page, update those skills so agent guidance stays in sync. See
+   :doc:`/source/developer-tools/agent_skills`.
+
 An Isaac Lab environment describes the robot, scene, sensors, and task. A
 **backend** supplies the physics or rendering implementation that brings that
 description to life. A **preset** is a named, tested configuration choice that
@@ -203,7 +217,7 @@ For a multi-backend task, the preset wrapper belongs in
 
    from isaaclab.physics import PhysxAutoCfg
    from isaaclab.sim import SimulationCfg
-   from isaaclab.utils.configclass import configclass
+   from isaaclab.utils import configclass
    from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
    from isaaclab_ov.physics import OvPhysxCfg
    from isaaclab_physx.physics import PhysxCfg
@@ -243,9 +257,9 @@ Where to go next
   presets.
 - :doc:`/source/features/hydra` covers scalar overrides, preset authoring,
   conflict handling, and advanced configuration behavior.
-- :doc:`/source/overview/core-concepts/multi_backend_architecture` explains how
-  factories, the physics manager, assets, and sensors dispatch across backends.
-- :doc:`/source/overview/core-concepts/physical-backends/index` compares physics
-  backend capabilities and links to backend-specific setup guides.
-- :doc:`/source/overview/core-concepts/renderers` explains renderer selection and
+- :ref:`backend-architecture` explains how factories, the physics manager,
+  assets, and sensors dispatch across backends.
+- :ref:`physics-backends` compares physics backend runtime requirements,
+  maturity, solver families, and intended uses.
+- :doc:`/source/concepts/renderers` explains renderer selection and
   implementation details.
diff --git a/docs/source/concepts/deformables.rst b/docs/source/concepts/deformables.rst
new file mode 100644
index 000000000000..53b16d654324
--- /dev/null
+++ b/docs/source/concepts/deformables.rst
@@ -0,0 +1,622 @@
+.. Copyright (c) 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
+
+.. _deformables:
+
+Deformables
+===========
+
+A deformable is an asset whose shape changes during simulation. Unlike a rigid body, it has no
+rigid root frame: its state is the position and velocity of every node of its simulation mesh.
+
+Isaac Lab models three kinds of deformable, distinguished by the dimensionality of the simulated
+geometry:
+
+.. list-table::
+    :header-rows: 1
+    :widths: 16 28 28 28
+
+    * - Property
+      - Volume
+      - Surface
+      - Cable
+    * - Models
+      - Soft solids: rubber blocks, teddy bears, organs
+      - Cloth, sheets, membranes
+      - Ropes, hoses, wires, harnesses
+    * - Simulated geometry
+      - Tetrahedral mesh (``UsdGeom.TetMesh``)
+      - Triangle mesh (``UsdGeom.Mesh``)
+      - Open curve (``UsdGeom.BasisCurves``), simulated as capsule segments
+    * - Asset class
+      - :class:`~isaaclab.assets.DeformableObject`
+      - :class:`~isaaclab.assets.DeformableObject`
+      - :class:`~isaaclab.assets.CableObject`
+    * - Runtime state
+      - Nodal positions and velocities
+      - Nodal positions and velocities
+      - Per-segment poses and velocities
+
+Volume and surface deformables share one asset class and one authoring pattern; they differ only
+in the physics material assigned to them. Cables are a separate asset class with their own
+spawner, material, and state layout, and are covered in `Cables`_.
+
+Particle-based materials such as fluids and granular media are not deformables in this sense. They
+use a separate asset and solver; see :doc:`/source/concepts/using_mpm`.
+
+.. note::
+    All three kinds are under active development. On Newton, deformables are implemented in
+    :mod:`isaaclab_contrib.deformable` and re-exported through :mod:`isaaclab_newton.assets`.
+    Cable support in particular is experimental: its spawner cfg, asset class, and material
+    defaults may still change.
+
+
+Backend support
+---------------
+
+.. list-table::
+    :header-rows: 1
+    :widths: 22 26 26 26
+
+    * - Kind
+      - PhysX
+      - Newton
+      - OvPhysX
+    * - Volume
+      - Yes
+      - Yes, VBD solver only
+      - Experimental, CUDA devices only
+    * - Surface
+      - Yes
+      - Yes, VBD solver only
+      - Experimental, CUDA devices only
+    * - Cable
+      - No
+      - Yes, VBD solver only
+      - No
+
+On Newton, deformables of every kind are simulated by the VBD solver, so a scene containing them
+must select a physics cfg whose solver is VBD. For the solver parameters, for running a rigid robot
+and a deformable in one scene, and for the tuning workflow, see
+:doc:`/source/concepts/solver-tuning/tune_vbd` and :doc:`/source/concepts/coupled_solvers`.
+
+OvPhysX deformables carry further restrictions on node counts and startup cost. See
+:doc:`/source/concepts/ovphysx`.
+
+
+Volume and surface deformables
+------------------------------
+
+Authoring
+^^^^^^^^^
+
+A deformable is a mesh spawner with two extra fields:
+
+* ``deformable_props``, a backend-specific ``*DeformableBodyPropertiesCfg``. Setting it is what
+  turns the mesh into a deformable at all.
+* ``physics_material``, a deformable material cfg. Its type selects volume or surface.
+
+Wrap the spawner in a :class:`~isaaclab.assets.DeformableObjectCfg` to get a runtime asset.
+
+.. code-block:: python
+
+    import isaaclab.sim as sim_utils
+    from isaaclab.assets import DeformableObjectCfg
+    from isaaclab_physx.sim.schemas import PhysxDeformableBodyPropertiesCfg
+    from isaaclab_physx.sim.spawners.materials import PhysxDeformableBodyMaterialCfg
+
+    cfg = DeformableObjectCfg(
+        prim_path="/World/env_.*/Cube",
+        spawn=sim_utils.MeshCuboidCfg(
+            size=(0.2, 0.2, 0.2),
+            deformable_props=PhysxDeformableBodyPropertiesCfg(),
+            physics_material=PhysxDeformableBodyMaterialCfg(
+                youngs_modulus=1.0e5, poissons_ratio=0.4, density=1000.0
+            ),
+        ),
+    )
+
+The same object on Newton swaps the two backend cfgs:
+
+.. code-block:: python
+
+    import isaaclab.sim as sim_utils
+    from isaaclab.assets import DeformableObjectCfg
+    from isaaclab_newton.sim.schemas import NewtonDeformableBodyPropertiesCfg
+    from isaaclab_newton.sim.spawners.materials import NewtonDeformableBodyMaterialCfg
+
+    cfg = DeformableObjectCfg(
+        prim_path="/World/env_.*/Cube",
+        spawn=sim_utils.MeshCuboidCfg(
+            size=(0.2, 0.2, 0.2),
+            deformable_props=NewtonDeformableBodyPropertiesCfg(),
+            physics_material=NewtonDeformableBodyMaterialCfg(
+                k_mu=3.5714e4, k_lambda=1.4286e5, density=1000.0
+            ),
+        ),
+    )
+
+The two backends parameterize elasticity differently: PhysX takes ``youngs_modulus`` and
+``poissons_ratio``, Newton takes the Lame parameters ``k_mu`` and ``k_lambda``. The values above
+are the same material, converted with ``k_mu = E / (2 * (1 + nu))`` and
+``k_lambda = E * nu / ((1 + nu) * (1 - 2 * nu))``.
+
+A surface deformable is authored the same way, with a 2D mesh spawner and a surface material:
+
+.. code-block:: python
+
+    from isaaclab_newton.sim.spawners.materials import NewtonSurfaceDeformableBodyMaterialCfg
+
+    cloth = DeformableObjectCfg(
+        prim_path="{ENV_REGEX_NS}/Cloth",
+        spawn=sim_utils.MeshRectangleCfg(
+            size=(0.2, 0.2),
+            edge_refinement=8,
+            deformable_props=NewtonDeformableBodyPropertiesCfg(),
+            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.95, 0.85, 0.1)),
+            physics_material=NewtonSurfaceDeformableBodyMaterialCfg(
+                density=1.0, particle_radius=0.002, tri_ke=5e2, tri_ka=5e2, edge_ke=0.5
+            ),
+        ),
+        init_state=DeformableObjectCfg.InitialStateCfg(pos=(0.4, 0.0, 0.1)),
+    )
+
+The material values above are the tuned ones from ``Isaac-Lift-Cloth-Franka`` rather than the
+defaults. For what each parameter does and what it defaults to, see
+:doc:`/source/concepts/solver-tuning/tune_vbd`, which also covers cloth self-contact. Self-contact
+is off by default, so cloth passes through itself until it is enabled.
+
+``edge_refinement`` sets the simulation resolution for both kinds: the maximum surface edge length
+is the bounding-box diagonal divided by this value, and volume deformables reuse it as the
+tetrahedralization target. It defaults to ``4.0`` and must be at least ``1.0``. Values near ``1.0``
+make tetrahedralization significantly slower.
+
+The mesh spawner rejects combinations that cannot work: ``deformable_props`` together with
+``rigid_props`` or ``mass_props``, or with a ``physics_material`` that is not a deformable
+material, raise a :exc:`ValueError` at spawn time.
+
+Loading from USD
+^^^^^^^^^^^^^^^^
+
+A deformable can also come from a pre-authored asset. Pass ``deformable_props`` and
+``physics_material`` to :class:`~isaaclab.sim.spawners.from_files.UsdFileCfg`; the spawner applies
+the deformable schema to the loaded prim, or modifies it in place if the prim already carries one.
+
+.. code-block:: python
+
+    cfg_usd = sim_utils.UsdFileCfg(
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Objects/Teddy_Bear/teddy_bear.usd",
+        deformable_props=PhysxDeformableBodyPropertiesCfg(),
+        physics_material=PhysxDeformableBodyMaterialCfg(),
+        scale=[0.05, 0.05, 0.05],
+    )
+
+Volume or surface
+^^^^^^^^^^^^^^^^^
+
+There is no explicit type field, and no separate cloth asset class. At authoring time the kind
+follows from the material cfg: a material deriving from
+:class:`~isaaclab.sim.spawners.materials.SurfaceDeformableBodyMaterialBaseCfg` produces a surface
+deformable, and anything else produces a volume deformable. That choice decides what USD is
+authored, a ``UsdGeom.TetMesh`` simulation mesh for volume and a triangle ``UsdGeom.Mesh`` copy of
+the visual mesh for surface.
+
+At initialization the asset re-derives the kind from the stage. PhysX and OvPhysX read the applied
+schema on the bound physics material, falling back to mesh topology when that is inconclusive;
+Newton uses topology alone, treating a ``UsdGeom.TetMesh`` under the prim as volume and a plain
+``UsdGeom.Mesh`` as surface.
+
+So the material cfg is load-bearing: pairing a volume material with a cloth-shaped mesh authors a
+tetrahedralized solid, not a sheet.
+
+Tetrahedralization
+^^^^^^^^^^^^^^^^^^
+
+Volume deformables need a tetrahedral simulation mesh. When the spawned prim does not already
+contain a ``UsdGeom.TetMesh``, Isaac Lab generates one, which requires the optional
+``tetrahedralization`` dependencies on every backend:
+
+.. code-block:: bash
+
+    uv sync --inexact --extra tetrahedralization
+
+    # With the legacy installer.
+    ./isaaclab.sh -i tetrahedralization
+
+Surface deformables never need it, and neither do volume deformables loaded from a USD that already
+ships a pre-tetrahedralized ``UsdGeom.TetMesh`` under the deformable prim.
+
+Runtime state
+^^^^^^^^^^^^^
+
+The state of a deformable is nodal, expressed in the simulation world frame. ``N`` below is
+:attr:`~isaaclab.assets.DeformableObject.max_sim_vertices_per_body`.
+
+* ``data.nodal_pos_w`` and ``data.nodal_vel_w``, shape ``(num_instances, N)`` of ``vec3f``,
+  positions [m] and velocities [m/s].
+* ``data.nodal_state_w``, the same data as ``(num_instances, N)`` of ``vec6f``.
+* ``data.default_nodal_state_w``, the spawn state, used for resets.
+* ``data.root_pos_w`` and ``data.root_vel_w``, shape ``(num_instances,)``. These are *derived*
+  quantities, computed as the mean over the simulation nodes. There is no root orientation.
+
+Write state back with the indexed setters. :meth:`~isaaclab.assets.DeformableObject.transform_nodal_pos`
+applies a pose offset relative to the current nodal mean, which is how a spawn-state buffer is
+scattered across environment origins.
+
+.. code-block:: python
+
+    nodal_state = cube.data.default_nodal_state_w.torch[env_ids].clone()
+    nodal_state[..., :3] = cube.transform_nodal_pos(nodal_state[..., :3], pos, quat)
+    cube.write_nodal_state_to_sim_index(nodal_state, env_ids=env_ids)
+    cube.reset(env_ids=env_ids)
+
+Like every other asset, a :class:`~isaaclab.assets.DeformableObject` integrates with
+:class:`~isaaclab.scene.InteractiveScene`, ``scene.get_state`` / ``scene.reset_to``, and the
+``reset_scene_to_default`` event term.
+
+.. note::
+    The unsuffixed writers (``write_nodal_state_to_sim`` and friends) are deprecated in favor of the
+    ``_to_sim_index`` and ``_to_sim_mask`` variants. The mask variants are CUDA-graph capturable.
+
+Cables
+------
+
+A cable is a 1D rod: a single open ``UsdGeom.BasisCurves`` prim carrying the
+``PhysicsCurvesDeformableSimAPI`` schema, simulated as a chain of per-segment capsule bodies joined
+by cable joints.
+
+Cable authoring
+^^^^^^^^^^^^^^^
+
+A cable is configured with a :class:`~isaaclab.sim.spawners.shapes.CableCfg` plus a
+:class:`~isaaclab.sim.spawners.materials.CableMaterialCfg`. Adjacent pairs in ``positions`` become
+segments, each materialized as a capsule of diameter ``thickness`` and joined to its neighbor by a
+cable joint. ``N`` control points produce ``N-1`` segment bodies and ``N-2`` joints; the root
+segment is free-floating.
+
+.. list-table::
+    :header-rows: 1
+    :widths: 30 70
+
+    * - Parameter
+      - Description
+    * - ``positions``
+      - Control points in the cable-local frame [m]. Requires at least **three** finite points,
+        with consecutive points separated by more than ``1e-8`` m.
+    * - ``physics_material``
+      - Required :class:`~isaaclab.sim.spawners.materials.CableMaterialCfg`; see
+        `Cable material parameters`_. Thickness is also written to the curve's ``widths``
+        attribute so the visual radius matches the physics.
+    * - ``collision_props``
+      - Optional collision properties. When omitted, the cable is collision-free; when set
+        (typically ``[UsdPhysicsCollisionCfg(collision_enabled=True)]``), the cable collides with
+        the ground and other cables. See `Cable collision`_.
+    * - ``visual_material``
+      - Optional :class:`~isaaclab.sim.spawners.materials.VisualMaterialCfg` for the curve's
+        appearance.
+    * - ``visual_material_path``
+      - Sub-path of the visual material under the cable geometry prim. Defaults to ``"material"``.
+    * - ``physics_material_path``
+      - Sub-path of the physics material under the cable geometry prim. Defaults to
+        ``"physics_material"``.
+
+.. code-block:: python
+
+    import isaaclab.sim as sim_utils
+    from isaaclab.assets import CableObject, CableObjectCfg
+
+    cable = CableObject(
+        cfg=CableObjectCfg(
+            prim_path="/World/Env_0/Cable",
+            spawn=sim_utils.CableCfg(
+                positions=[(index * 0.1, 0.0, 0.0) for index in range(10)],
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.7, 0.2, 0.2)),
+                physics_material=sim_utils.CableMaterialCfg(
+                    thickness=0.03,
+                    density=1000.0,
+                    stretch_stiffness=1.0e9,
+                    bend_stiffness=1.0e6,
+                ),
+                collision_props=[sim_utils.UsdPhysicsCollisionCfg(collision_enabled=True)],
+            ),
+            init_state=CableObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 0.5)),
+        )
+    )
+
+This authors a straight 0.9 m red cable along the cable-local x-axis: 9 capsule segments (0.1 m
+long, 0.03 m diameter) joined by 8 cable joints. The inherited ``init_state`` sets the cable root's
+spawn pose in each environment.
+
+Cable material parameters
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+:class:`~isaaclab.sim.spawners.materials.CableMaterialCfg` defines the cable's geometry and
+stiffness. All values are validated at author time; nonfinite or out-of-range values raise a
+:exc:`ValueError` before any prim is created.
+
+The stiffness fields are elastic moduli, not joint stiffnesses. Each rod joint gets its own
+discretized stiffness, using that joint's dual rest length ``L = 0.5 * (L_parent + L_child)``,
+where ``L_parent`` and ``L_child`` are the rest lengths of the two segments it spans.
+
+.. list-table::
+    :header-rows: 1
+    :widths: 24 76
+
+    * - Parameter
+      - Description
+    * - ``thickness``
+      - Full cable thickness (diameter) [m]. Must be finite and positive. Used as
+        ``radius = thickness / 2`` for the capsule cross-section, the bending second moment of
+        area, and the collision radius. Default ``0.001``.
+    * - ``density``
+      - Cable density [kg/m^3]. Must be finite and positive. Per-segment mass is derived from the
+        density and the capsule volume. Default ``1000.0``.
+    * - ``stretch_stiffness``
+      - Axial (stretch) elastic modulus ``E`` [Pa]. Must be finite and nonnegative. Becomes the
+        per-joint axial stiffness ``E * A / L``, where ``A`` is the circular cross-section area.
+        Higher values reduce elongation. Default ``1.0e9``.
+    * - ``bend_stiffness``
+      - Bending elastic modulus ``E`` [Pa]. Must be finite and nonnegative. Becomes the per-joint
+        bend stiffness ``E * I / L``, where ``I`` is the second moment of area of the circular
+        cross-section. ``0.0`` gives a limp rope; increase for a stiff hose or wire. Default
+        ``1.0e6``.
+    * - ``shear_stiffness``
+      - Transverse shear elastic modulus [Pa]. Must be finite and nonnegative. Optional: when left
+        at ``None`` the attribute is not authored and the solver reuses ``stretch_stiffness``.
+        Default ``None``.
+    * - ``twist_stiffness``
+      - Torsional elastic modulus [Pa]. Must be finite and nonnegative. Optional: when left at
+        ``None`` the attribute is not authored and the solver reuses the bend *structural*
+        stiffness. Default ``None``.
+
+.. note::
+    A cable joint has four degrees of freedom: linear stretch and shear, and angular bend and
+    twist. Leaving ``shear_stiffness`` or ``twist_stiffness`` unset does **not** mean the cable has
+    no shear or twist resistance; it means the solver falls back to the stretch and bend values.
+    Authoring ``0.0`` is distinct from leaving them unset: it removes that resistance.
+
+    The two fallbacks are not symmetric. Shear reuses the stretch modulus, applied to the same
+    cross-section area. Twist reuses the bend *structural* stiffness ``E * I / L``, whereas an
+    explicitly authored ``twist_stiffness`` is applied to the polar moment ``J = 2 * I``. Setting
+    ``twist_stiffness = bend_stiffness`` therefore gives twice the fallback stiffness, not the same
+    value.
+
+    Damping is not exposed. The rod joints have damping, but the USD curve-material schema Isaac
+    Lab authors has no attribute for it.
+
+To target a specific axial ``E * A`` or bending ``E * I``, invert these relations to pick the
+modulus; ``scripts/demos/cables.py`` does this from a target stiffness and the segment geometry.
+
+Cable collision
+^^^^^^^^^^^^^^^
+
+Collision is opt-in through ``collision_props``. When enabled, the importer applies
+**adjacent-segment-only** filtering: directly connected segments, which share a joint anchor and
+would otherwise jitter, are filtered, while every other pair collides. As a result:
+
+* The cable collides with the ground and with other cables.
+* Non-adjacent segments of the **same** cable collide, so a cable can self-arrest when it loops
+  back on itself.
+
+When ``collision_props`` is omitted, the cable imports as a dynamics-only rod and does not collide.
+
+Cable runtime state
+^^^^^^^^^^^^^^^^^^^
+
+:class:`~isaaclab.assets.CableObject` exposes per-segment world state and integrates with
+:class:`~isaaclab.scene.InteractiveScene`, ``scene.get_state`` / ``scene.reset_to``, and the
+``reset_scene_to_default`` event term.
+
+* ``cable.data.segment_pose_w``, shape ``(num_instances, num_segments)`` of ``wp.transformf``,
+  position [m] followed by quaternion ``(x, y, z, w)``. The Torch view has a trailing dimension
+  of 7.
+* ``cable.data.segment_velocity_w``, shape ``(num_instances, num_segments)`` of
+  ``wp.spatial_vectorf``, linear [m/s] followed by angular [rad/s]. The Torch view has a trailing
+  dimension of 6.
+* ``cable.data.default_segment_pose_w`` and ``default_segment_velocity_w``, the spawn state.
+
+Write per-segment state back with the indexed or masked setters; the masked form is CUDA-graph
+capturable.
+
+.. code-block:: python
+
+    cable.write_segment_pose_to_sim_index(segment_pose=cable.data.default_segment_pose_w)
+    cable.write_segment_velocity_to_sim_index(segment_velocity=cable.data.default_segment_velocity_w)
+
+Writes update the maximal-coordinate body state directly, for both simulation states, and flag the
+affected environments for a solver reset.
+
+Loading cables from USD
+^^^^^^^^^^^^^^^^^^^^^^^
+
+Physics is authored in place on the curve: :func:`~isaaclab.sim.spawners.shapes.spawn_cable` applies
+the ``PhysicsCurvesDeformableSimAPI`` schema and binds a deformable-curve material, and the curve is
+imported natively. Topology comes from the curve's own ``points`` and ``curveVertexCounts``; no
+custom edge attribute is required.
+
+A cable can therefore also be loaded from an external USD, for example one authored in a DCC tool,
+via :class:`~isaaclab.sim.spawners.from_files.UsdFileCfg`, provided the curve already carries:
+
+* a single open, linear, nonperiodic ``UsdGeom.BasisCurves`` under the loaded prim,
+* the ``PhysicsCurvesDeformableSimAPI`` applied schema, and
+* a bound deformable-curve material (``PhysicsCurvesDeformableMaterialAPI``) supplying
+  ``thickness``, ``density``, ``stretchStiffness``, and ``bendStiffness`` in the ``physics:``
+  namespace.
+
+Two failure modes follow from that list. A curve without the sim schema is not part of the
+deformable import at all and is silently skipped. A curve that has the schema but no resolvable
+thickness is imported with a default radius and a warning. Author cables through
+:func:`~isaaclab.sim.spawners.shapes.spawn_cable`, or apply the schema and material to the imported
+prim before construction.
+
+Cable rendering
+^^^^^^^^^^^^^^^
+
+Cables render in the Kit viewport as ``UsdGeom.BasisCurves``. At render cadence the curve points are
+refreshed from the cable segment endpoints so the rendered shape always matches the simulation.
+
+.. note::
+    Curve points are synchronized through **CPU** Fabric because the RTX Hydra delegate does not
+    read GPU-backed Fabric arrays for ``BasisCurves`` (NVBug 6502662). Periodic curves are skipped
+    by the sync.
+
+Cable limitations
+^^^^^^^^^^^^^^^^^
+
+* **One standalone, unwelded cable per object.** :class:`~isaaclab.assets.CableObject` requires
+  exactly one ``BasisCurves`` prim carrying ``PhysicsCurvesDeformableSimAPI`` under ``prim_path``,
+  holding a single open curve that is not welded to another cable. Multi-curve ``BasisCurves``
+  prims, periodic (closed) curves, and hard coincident curve-to-curve ``PhysicsAttachment`` welds
+  all fail during initialization.
+* **Cable ends can be pinned, not clamped.** A ``PhysicsAttachment`` to an xform target lowers to a
+  ball joint, so it constrains position only and the cable pivots freely at the anchor. Rigid plugs
+  and end fittings that must transfer orientation are not representable.
+* **No damping knobs.** The four stiffness moduli are exposed; their damping counterparts are not.
+* **CPU-only render sync** (NVBug 6502662); periodic curves are not synced.
+* **Culled by Isaac RTX scene partitioning** once the cable deforms beyond its initial extent
+  (OMPE-105749). See :ref:`known-issues-animated-curve-scene-partition`.
+
+.. note::
+    An attachment joint is created only when the attachment stiffness is unauthored or infinite. A
+    finite stiffness is kept as metadata and no joint is created. Both cases are import warnings
+    rather than errors, so the cable initializes normally with the attachment missing. Check the
+    importer output when an attachment appears to have no effect.
+
+.. note::
+    Topologies the runtime object rejects still simulate: the physics model is built from the whole
+    USD stage, so every curve carrying ``PhysicsCurvesDeformableSimAPI`` is imported whether or not
+    a :class:`~isaaclab.assets.CableObject` wraps it. Drive them through
+    :class:`~isaaclab_newton.physics.NewtonManager` ``get_model()`` / ``get_state_0()`` and your own
+    ``newton.selection.ArticulationView``. There is no Isaac Lab asset wrapper for those cases.
+
+
+Material parameters in practice
+-------------------------------
+
+Each animation below runs the same scene three times, changing one material parameter and holding
+everything else fixed. The labels give the value used in each run.
+
+Volume
+^^^^^^
+
+.. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/volume_youngs_1e3_1e4_1e5.gif
+    :width: 640px
+    :align: center
+    :alt: A soft ball dropped on a table at three values of Young's modulus
+
+    **Young's modulus**: overall stiffness. At ``1e3`` Pa the ball collapses into a pancake on
+    impact; at ``1e5`` Pa it barely deforms. This is the first knob to reach for when a soft body
+    is too floppy or too rigid.
+
+.. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/volume_poisson.gif
+    :width: 640px
+    :align: center
+    :alt: A soft ball dropped on a table at three values of Poisson's ratio
+
+    **Poisson's ratio**: how strongly the material preserves volume under compression. At ``0.10``
+    the ball squashes without spreading. At ``0.49`` it is nearly incompressible, so the same
+    squash has to go somewhere and pushes outward into a wide bulge.
+
+.. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/volume_particle_radius.gif
+    :width: 640px
+    :align: center
+    :alt: A soft ball resting on a table at three values of particle radius
+
+    **Particle radius**: the contact thickness around each simulation node, not a material
+    property. A larger radius detects contact further from the surface, so the ball rests visibly
+    higher off the table and cannot be compressed as thin. Too small and contacts are missed or
+    detected late; too large relative to the mesh resolution and they start too early.
+
+Surface
+^^^^^^^
+
+.. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/cloth_stretch_stiffness.gif
+    :width: 640px
+    :align: center
+    :alt: A cloth sheet draped over a roller at three values of stretch stiffness
+
+    **Stretch stiffness**: resistance to in-plane elongation. The low value lets the sheet stretch
+    and sag under its own weight; the high value holds it near its rest length.
+
+.. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/cloth_bendstiffness.gif
+    :width: 640px
+    :align: center
+    :alt: A cloth sheet falling from a roller at three values of bend stiffness
+
+    **Bend stiffness**: resistance to folding. At ``1e-2`` the sheet crumples into a loose heap; at
+    ``1e0`` it keeps large, stiff folds and stays draped over the roller. This is the difference
+    between silk and canvas.
+
+Cable
+^^^^^
+
+.. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/cable_bend_1e0_1e1_1e.gif
+    :width: 640px
+    :align: center
+    :alt: A cable spanning two posts at three values of bend stiffness
+
+    **Bend stiffness**: at ``1e0`` the cable droops between its supports like slack rope; at
+    ``1e2`` it holds itself straight like a stiff hose.
+
+.. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/cable_twiststiffness_1e_1_1e0_1e1.gif
+    :width: 640px
+    :align: center
+    :alt: A weighted hanging cable twisted at the top, at three values of twist stiffness
+
+    **Twist stiffness**: a weighted cable is twisted at its anchor. At ``1e-1`` the twist is
+    absorbed locally and the cable hangs straight. At ``1e1`` torsion is carried along the rod
+    until it buckles and coils into a helix. Set this explicitly when a cable should resist
+    winding, since leaving it unset falls back to the bend value as described above.
+
+
+Demos and tasks
+---------------
+
+Run a demo first to confirm that the spawner, solver, and visualizer all work in your environment.
+
+.. list-table::
+    :header-rows: 1
+    :widths: 20 44 36
+
+    * - Kind
+      - Demo
+      - Tasks
+    * - Volume
+      - ``scripts/demos/deformables.py``
+      - ``Isaac-Lift-Soft-Franka``, ``Isaac-Lift-Soft-Franka-Camera``
+    * - Surface
+      - ``scripts/demos/deformables.py``
+      - ``Isaac-Lift-Cloth-Franka``, ``Isaac-Lift-Cloth-Franka-Camera``
+    * - Cable
+      - ``scripts/demos/cables.py``
+      - ``Isaac-Lift-Cable-Franka``, ``Isaac-Lift-Cable-Franka-Camera``
+
+.. code-block:: bash
+
+    # Volume and surface deformables falling onto a ground plane.
+    uv run --extra isaacsim --extra tetrahedralization python scripts/demos/deformables.py
+
+    # A pile of cables that collide and settle. Newton VBD only.
+    uv run --extra isaacsim python scripts/demos/cables.py
+
+    # A larger cable pile, without a visualizer, stopping after a fixed number of steps.
+    uv run python scripts/demos/cables.py --visualizer none --num_cables 40 --num_segments 15 --max_steps 500
+
+``scripts/environments/state_machine/lift_franka_soft.py`` drives ``Isaac-Lift-Soft-Franka`` with a
+scripted state machine, which is a useful starting point for a deformable manipulation task.
+
+
+Related
+-------
+
+* :ref:`tutorial-interact-deformable-object` walks through a volume deformable step by step.
+* :doc:`/source/concepts/solver-tuning/tune_vbd` covers the VBD solver parameters, the Newton
+  material tables, cloth self-contact, and the tuning workflow.
+* :doc:`/source/concepts/coupled_solvers` covers running a rigid robot and a deformable in one
+  scene.
+* :ref:`migrating-deformables` covers the Isaac Lab 3.0 deformable API changes.
+* :doc:`/source/concepts/ovphysx` covers the OvPhysX deformable limitations.
+* :doc:`/source/api/lab/isaaclab.assets` and :doc:`/source/api/lab/isaaclab.sim.spawners` are the
+  API references for the asset, spawner, and material classes used here.
diff --git a/docs/source/concepts/joint_and_body_ordering.rst b/docs/source/concepts/joint_and_body_ordering.rst
new file mode 100644
index 000000000000..c06ac076454b
--- /dev/null
+++ b/docs/source/concepts/joint_and_body_ordering.rst
@@ -0,0 +1,287 @@
+Joint and Body Ordering
+=======================
+
+PhysX and MJWarp may order an articulation's joints and bodies differently. Set
+``joint_ordering`` and ``body_ordering`` to keep names mapped to the same tensor elements
+across backends. This page explains the supported conventions, conversion costs, and direct
+backend-view access. For backend selection and capabilities, see
+:doc:`Physics Backends <physics_backends>`.
+
+.. seealso::
+
+    For policy transfer instructions and validated examples, see
+    :doc:`/source/how-to/transfer_policies_between_physx_and_newton`.
+
+
+Why Articulation Orders Differ
+------------------------------
+
+Three facts explain why a checkpoint can need an ordering convention even when
+both backends load the same USD asset:
+
+1. USD names identify physical joints and bodies, but they do not impose one
+   universal tensor-axis order across solvers.
+2. PhysX and MJWarp construct native articulation views with different topology
+   traversal and internal representation choices.
+3. Isaac Lab resolves the requested names once during articulation
+   initialization, then exposes the selected public order through its
+   high-level API.
+
+The backend selection described in :ref:`backend-architecture` controls which
+native view is created. The
+ordering selection controls how the high-level API presents that view.
+
+
+Public and Backend Order
+------------------------
+
+Set ``joint_ordering`` and ``body_ordering`` on
+:class:`~isaaclab.assets.ArticulationCfg`. Each field accepts one of:
+
+* ``None`` -- backend-native order and the zero-conversion default (see below).
+* ``"physx"`` -- PhysX or OVPhysX articulation-view order.
+* ``"mjwarp"`` -- Newton or MJWarp articulation-view order.
+* ``"robot_schema"`` -- the order authored on the asset's
+  ``isaac:physics:robotJoints`` (joints) or ``isaac:physics:robotLinks``
+  (bodies) relationships.
+* an explicit, complete name permutation -- a ``list`` or ``tuple`` naming every
+  joint or body exactly once.
+
+See :attr:`~isaaclab.assets.ArticulationCfg.joint_ordering` for the
+authoritative list of accepted values.
+
+For Python configs, prefer
+:func:`~isaaclab.assets.apply_articulation_ordering_preset` to set both fields
+to the same convention in a single call, which keeps joint and body order
+consistent:
+
+.. code-block:: python
+
+    from isaaclab.assets import apply_articulation_ordering_preset
+
+    robot_cfg = apply_articulation_ordering_preset(robot_cfg, "mjwarp")
+
+.. warning::
+    When overriding from the CLI or Hydra, set **both** ``joint_ordering`` and
+    ``body_ordering``. Setting only ``joint_ordering`` silently leaves bodies in
+    backend order, which mismatches a checkpoint whose body vectors follow the
+    source convention.
+
+Once initialized, the articulation and its
+:class:`~isaaclab.assets.ArticulationNameMap` objects establish this contract:
+
+.. list-table::
+    :header-rows: 1
+    :widths: 42 58
+
+    * - Surface
+      - Ordering contract
+    * - ``joint_names`` and ``body_names``
+      - Public order
+    * - :class:`~isaaclab.assets.ArticulationData` joint and body properties
+      - Public order
+    * - Articulation command and property writers
+      - Public input order
+    * - ``backend_joint_names`` and ``backend_body_names``
+      - Backend order
+    * - ``root_view`` metadata and arrays
+      - Backend order
+    * - ``joint_ordering`` and ``body_ordering`` maps
+      - Bridge between public and backend order
+
+``None`` is the zero-conversion default. Public names follow the active
+backend, no ordering map is installed, no reorder staging is allocated, and no
+reorder kernel is launched. An explicit convention or name sequence that
+resolves to backend order is normalized to ``None`` at initialization after a
+one-time name resolution, so it reaches the exact same zero-conversion state:
+a non-``None`` ordering map always denotes an actual permutation.
+
+.. tip::
+    After configuring an ordering, confirm the resolved public axis by comparing
+    :attr:`~isaaclab.assets.Articulation.joint_names` with
+    :attr:`~isaaclab.assets.Articulation.backend_joint_names` (and ``body_names``
+    with ``backend_body_names``). Cross-backend conventions are resolved by
+    emulation, so spot-check the result against the order your checkpoint expects.
+
+High-Level MDP Terms
+^^^^^^^^^^^^^^^^^^^^
+
+Standard MDP terms that consume high-level articulation data use public
+indices. This includes terms that resolve joint or body selections by name and
+then index public-order :class:`~isaaclab.assets.ArticulationData` properties
+or call high-level articulation writers.
+
+Material randomization crosses the backend boundary explicitly: it converts
+selected public body IDs to backend body IDs before deriving the corresponding
+backend shape ranges. Custom or backend-specific MDP code that accesses
+``root_view`` bypasses these high-level conversions and must convert its own
+indices and tensors.
+
+
+Conversion Cost
+---------------
+
+Convention resolution and map construction are one-time initialization
+work. For a nonidentity map, affected reads and writes can require persistent
+staging memory plus gather/scatter kernel launches. Identity maps avoid those
+ongoing conversion paths.
+
+On the Newton backend, a nonidentity ordering additionally records a fixed
+per-step reorder of the core state buffers -- joint positions and velocities,
+body poses and velocities -- inside the stepped and CUDA-graph-captured region.
+This publishes backend-order state into the public-order buffers every step, so
+a small baseline per-step cost exists independent of how often properties are
+accessed.
+
+The runtime and memory cost scales with environment count, joint or body count,
+and how often affected properties and writers are accessed. Measure the
+specific task and access pattern; there is no hardware-independent
+steps-per-second number or fixed percentage overhead.
+
+
+Direct Backend-View Access
+--------------------------
+
+.. warning::
+    Arrays returned by the raw solver view (``root_view``) are always in
+    backend solver order, regardless of the configured ``joint_ordering`` or
+    ``body_ordering``. Indices from ``joint_names``, ``body_names``,
+    ``find_joints``, or ``find_bodies`` are in public order and must not be
+    used to index ``root_view`` arrays directly. Use the asset's ``data``
+    buffers and write APIs, which already operate in public order, or
+    translate indices through the asset's ``joint_ordering``/``body_ordering``
+    maps first.
+
+Prefer the high-level articulation API when possible; its data and writer
+contracts already use public order. Direct ``root_view`` access uses backend
+order even when ``joint_names`` or ``body_names`` uses another convention.
+When a small set of indices needs to cross into a view array, translate them
+with :meth:`~isaaclab.assets.Articulation.map_joint_ids_to_backend` or
+:meth:`~isaaclab.assets.Articulation.map_body_ids_to_backend` instead of
+indexing the ordering maps by hand; both return the input unchanged under
+identity ordering.
+
+Torch Conversion
+^^^^^^^^^^^^^^^^
+
+To gather a backend-order joint tensor into public order, enumerate public
+output columns and use ``user_to_backend_indices`` to select the matching
+backend source columns:
+
+.. code-block:: python
+
+    ordering = robot.joint_ordering
+    if ordering is None:
+        joint_pos_public = joint_pos_backend
+    else:
+        joint_pos_public = joint_pos_backend[:, list(ordering.user_to_backend_indices)]
+
+For the opposite direction, enumerate backend output columns and use
+``backend_to_user_indices`` to select the matching public source columns:
+
+.. code-block:: python
+
+    ordering = robot.joint_ordering
+    if ordering is None:
+        joint_target_backend = joint_target_public
+    else:
+        joint_target_backend = joint_target_public[:, list(ordering.backend_to_user_indices)]
+
+Use ``robot.body_ordering`` in the same way for body-indexed axes. Keep the
+``None`` guard because it avoids an unnecessary gather and means no map object
+exists.
+
+Warp Conversion
+^^^^^^^^^^^^^^^
+
+The elementwise reorder kernels in
+``isaaclab.assets.articulation.ordering_kernels`` translate raw-view arrays
+between backend and public order. For example,
+``reorder_2d_backend_to_user`` gathers one ``(environment, joint)`` array into
+public order:
+
+.. code-block:: python
+
+    import warp as wp
+
+    from isaaclab.assets.articulation.ordering_kernels import reorder_2d_backend_to_user
+
+
+    ordering = robot.joint_ordering
+    if ordering is None:
+        joint_pos_public = joint_pos_backend
+    else:
+        joint_pos_public = wp.empty(
+            (robot.num_instances, robot.num_joints),
+            dtype=wp.float32,
+            device=robot.device,
+        )
+        wp.launch(
+            reorder_2d_backend_to_user,
+            dim=(robot.num_instances, robot.num_joints),
+            inputs=[joint_pos_backend, ordering.user_to_backend],
+            outputs=[joint_pos_public],
+            device=robot.device,
+        )
+
+The caller owns output allocation, launch dimensions, data type, and every
+non-articulation axis. A public-to-backend gather uses
+``ordering.backend_to_user``. Treat both device maps as read-only.
+
+The ``reorder_2d`` and ``reorder_3d`` kernels, in both the ``*_backend_to_user``
+and ``*_user_to_backend`` directions, form this public elementwise family. All
+other kernels in ``isaaclab.assets.articulation.ordering_kernels`` are internal
+and may change without deprecation.
+
+Joint maps cover named joints, not floating-base generalized coordinates.
+When converting raw Jacobians or mass matrices, preserve the leading
+``robot.num_base_dofs`` coordinates and offset mapped joint indices by that
+count. Apply the joint permutation to both generalized-coordinate axes of a
+mass matrix and leave all other axes unchanged.
+
+The public floating-base Jacobian body rows use the full public body order; to
+convert a raw backend Jacobian, gather with the full body map. Fixed-base raw
+backend Jacobians omit the fixed root, so do not apply the full body map
+directly. Omit public/root body index 0 and convert each remaining mapped
+backend body ID to a Jacobian row by subtracting 1. The fixed-root-first
+invariant makes this well-defined. See
+:attr:`~isaaclab.assets.BaseArticulationData.body_link_jacobian_w` for the
+authoritative body-axis convention. High-level articulation data performs
+these conversions automatically.
+
+
+What Ordering Does Not Solve
+----------------------------
+
+Ordering compatibility keeps names attached to the same vector elements;
+it does not make simulated trajectories match. Policy behavior can still
+diverge because of:
+
+* contact generation and resolution
+* friction
+* restitution
+* :ref:`actuator models and configuration <overview-actuators>`
+* integration method
+* timestep and substeps
+* solver convergence
+
+Use :ref:`solver-differences` to diagnose and tune these
+differences rather than treating them as ordering failures.
+
+
+Verification and Troubleshooting
+--------------------------------
+
+When a transferred policy behaves unexpectedly, check these items in
+order:
+
+1. Compare public ``joint_names`` and ``body_names`` with
+   ``backend_joint_names`` and ``backend_body_names``.
+2. Confirm both joint and body source conventions when the policy or task uses
+   both kinds of vector.
+3. Verify observation and action dimensions against the training run.
+4. Audit custom code for direct ``root_view`` access.
+5. Compare source and target values by physical name rather than by raw column.
+6. When name-to-vector semantics are stable but motion still diverges, classify
+   the problem as a solver-dynamics issue and continue with
+   :ref:`solver-differences`.
diff --git a/docs/source/overview/core-concepts/motion_generators.rst b/docs/source/concepts/motion_generators.rst
similarity index 100%
rename from docs/source/overview/core-concepts/motion_generators.rst
rename to docs/source/concepts/motion_generators.rst
diff --git a/docs/source/concepts/native-physics-api/index.rst b/docs/source/concepts/native-physics-api/index.rst
new file mode 100644
index 000000000000..16d0a5de7d94
--- /dev/null
+++ b/docs/source/concepts/native-physics-api/index.rst
@@ -0,0 +1,78 @@
+.. Copyright (c) 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
+
+.. _native-physics-api:
+
+Native Physics API Access
+=========================
+
+.. warning::
+
+   Native physics APIs are backend-specific escape hatches. They can bypass
+   Isaac Lab's buffering, validation, ordering, and lifecycle management. Use
+   the unified asset and sensor APIs unless an engine-native capability or a
+   lower-overhead data path is required.
+
+Choose an access level
+----------------------
+
+Use native access only when the unified APIs do not provide a capability or
+data path that the workload needs. Keep it close to the component that owns the
+simulation state. For the portable API boundary and backend lifecycle, see
+:ref:`backend-architecture`.
+
+#. Use the unified Isaac Lab data and write APIs for portable task code.
+#. Reuse an Isaac Lab-owned native handle when its selection already matches.
+#. Create raw engine access only for a selection or capability that the owning
+   Isaac Lab object does not expose.
+
+Ownership and synchronization
+-----------------------------
+
+.. list-table::
+   :header-rows: 1
+   :widths: 12 20 17 18 18 20 20
+
+   * - Backend
+     - Native entry point
+     - Selection model
+     - Data ownership
+     - Read/write model
+     - Synchronization
+     - Invalidation
+   * - PhysX
+     - :meth:`~isaaclab_physx.physics.PhysxManager.get_physics_sim_view`
+     - Typed views selected by prim globs
+     - Engine/view-owned buffers
+     - Getter/setter pull/push
+     - Explicit setters and occasional kinematic refresh
+     - Reacquire after view invalidation, hard reset, or teardown
+   * - Newton
+     - :meth:`~isaaclab_newton.physics.NewtonManager.get_model`,
+       :meth:`~isaaclab_newton.physics.NewtonManager.get_state_0`,
+       :meth:`~isaaclab_newton.physics.NewtonManager.get_control`, and
+       :meth:`~isaaclab_newton.physics.NewtonManager.get_contacts`
+     - Generic labels and ``ArticulationView``
+     - Live engine-owned Warp arrays
+     - Direct pointer or selection reads/writes
+     - Forward kinematics and model-change notification when applicable
+     - Reacquire current state across state-buffer swaps and all objects after
+       model rebuild
+   * - OvPhysX
+     - :meth:`~isaaclab_ov.physics.OvPhysxManager.get_physx_instance`
+       or :class:`~isaaclab_ov.sim.views.OvPhysxView`
+     - A tensor type plus pattern/prim list
+     - Caller-owned transfer buffers backed by engine bindings
+     - Explicit ``read()``/``write()`` or guarded convenience methods
+     - Caller respects access mode, device, dtype, and shape
+     - Reacquire after stage/runtime teardown
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+
+   physx
+   newton
+   ovphysx
diff --git a/docs/source/concepts/native-physics-api/newton.rst b/docs/source/concepts/native-physics-api/newton.rst
new file mode 100644
index 000000000000..f7bbf06faba1
--- /dev/null
+++ b/docs/source/concepts/native-physics-api/newton.rst
@@ -0,0 +1,128 @@
+.. Copyright (c) 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
+
+Newton Native Data and Selection API
+====================================
+
+Mental model
+------------
+
+The Newton backend exposes its engine-owned `Model
+<https://newton-physics.github.io/newton/stable/api/_generated/newton.Model.html>`_, `State
+<https://newton-physics.github.io/newton/stable/api/_generated/newton.State.html>`_, `Control
+<https://newton-physics.github.io/newton/stable/api/_generated/newton.Control.html>`_, and optional
+``Contacts`` objects through :class:`isaaclab_newton.physics.NewtonManager`. Their Warp arrays are
+the live engine data, rather than values pulled into a separate per-asset view buffer. The model
+owns structural and static arrays and labels; a state owns evolving simulation arrays; and a
+control owns actuation inputs. Contacts are optional and depend on the active solver and collision
+path.
+
+Lifecycle prerequisite
+----------------------
+
+Access Newton data after the simulation context has initialized the physics backend and built its
+model. Treat the objects as invalid after a model rebuild and reacquire them after Isaac Lab has
+reinitialized the simulation. This API is intended for code that can own the necessary lifecycle
+and synchronization responsibilities.
+
+Reuse Isaac Lab-owned access
+----------------------------
+
+Use the manager accessors to obtain the current Newton objects:
+
+.. code-block:: python
+
+   from isaaclab_newton.physics import NewtonManager
+
+   model = NewtonManager.get_model()
+   state = NewtonManager.get_state_0()
+   control = NewtonManager.get_control()
+   contacts = NewtonManager.get_contacts()
+
+   body_poses = state.body_q
+   joint_forces = control.joint_f
+
+:meth:`isaaclab_newton.physics.NewtonManager.get_model` can construct a visualization shadow
+model when PhysX is active. The write semantics in this guide apply only when Newton is the active,
+authoritative physics backend.
+
+Isaac Lab's Newton-backed assets expose the same generic
+``newton.selection.ArticulationView`` selection helper. For example, reuse an articulation's
+root selection instead of constructing the matching selection again:
+
+.. code-block:: python
+
+   robot = scene["robot"]
+   selection = robot.root_view
+   joint_positions = selection.get_dof_positions(state)
+
+Newton uses this generic, label-based selection concept for Isaac Lab articulations, rigid objects,
+rigid-object collections, and cables. It is a selection helper over model indices, not per-asset
+typed storage.
+
+Create raw access
+-----------------
+
+Code that owns a matching model can construct its own selection from a model and a label pattern:
+
+.. code-block:: python
+
+   from newton.selection import ArticulationView
+
+   selection = ArticulationView(
+       model,
+       pattern="/World/envs/env_*/Robot",
+   )
+
+Read/write semantics
+--------------------
+
+Selections provide typed convenience methods as well as generic string-keyed
+``get_attribute()`` and ``set_attribute()`` methods. The generic methods expose
+engine properties that do not have dedicated selection methods. Clone a
+selected value before modifying it when you want the write to remain explicit:
+
+.. code-block:: python
+
+   import warp as wp
+   from newton import ModelFlags
+   from isaaclab_newton.physics import NewtonManager
+
+   rolling_friction = wp.clone(
+       selection.get_attribute("shape_material_mu_rolling", model)
+   )
+   # Modify rolling_friction with a Warp kernel before writing it back.
+   selection.set_attribute(
+       "shape_material_mu_rolling",
+       model,
+       rolling_friction,
+   )
+   NewtonManager.add_model_change(ModelFlags.SHAPE_PROPERTIES)
+
+The string names a Newton model attribute rather than an Isaac Lab field. This
+example uses rolling friction because it has no dedicated selection method.
+Notify the manager with the flag appropriate to the property changed; other
+model writes can require a different flag. State writes that change generalized
+coordinates instead require forward-kinematics synchronization through
+``NewtonManager.invalidate_fk()`` and ``NewtonManager.forward()``.
+
+Ownership, synchronization, and invalidation
+---------------------------------------------
+
+Direct writes bypass Isaac Lab caches and shape/order validation. Some Newton solvers swap current
+and next state buffers, so reacquire
+:meth:`isaaclab_newton.physics.NewtonManager.get_state_0` when code needs the current authoritative
+state on a later step. A selection can survive state-buffer swaps because it describes model
+indices, but it must be recreated after a model rebuild. Solver-specific generalized- and
+maximal-coordinate conventions remain authoritative.
+
+Authoritative references
+------------------------
+
+* `Model reference <https://newton-physics.github.io/newton/stable/api/_generated/newton.Model.html>`_
+* `State reference <https://newton-physics.github.io/newton/stable/api/_generated/newton.State.html>`_
+* `Control reference <https://newton-physics.github.io/newton/stable/api/_generated/newton.Control.html>`_
+* `ArticulationView selection reference <https://newton-physics.github.io/newton/stable/api/_generated/newton.selection.ArticulationView.html>`_
+* `Newton articulation guide <https://newton-physics.github.io/newton/stable/concepts/articulations.html>`_
diff --git a/docs/source/concepts/native-physics-api/ovphysx.rst b/docs/source/concepts/native-physics-api/ovphysx.rst
new file mode 100644
index 000000000000..e572401c541f
--- /dev/null
+++ b/docs/source/concepts/native-physics-api/ovphysx.rst
@@ -0,0 +1,148 @@
+.. Copyright (c) 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
+
+OvPhysX Tensor Bindings
+=======================
+
+Mental model
+------------
+
+OvPhysX exposes generic ``TensorBinding`` objects. A binding combines a prim
+selection with one installed ``TensorType``; it is not an asset-specific native
+storage object. Callers explicitly pull values into their own buffer with
+``read()`` and push a buffer back with ``write()``. Isaac Lab optionally wraps
+these bindings in :class:`~isaaclab_ov.sim.views.OvPhysxView` for a
+string-keyed, guarded convenience surface.
+
+Lifecycle prerequisite
+----------------------
+
+Create bindings only after the OvPhysX simulation has initialized and reset,
+when its native runtime is live. A stage reload, a reset path that rebuilds the
+stage or runtime, and manager teardown invalidate all existing bindings and
+views. Reacquire them afterwards.
+
+Get the active OvPhysX handle from the manager after the lifecycle prerequisite:
+
+.. code-block:: python
+
+   from isaaclab_ov.physics import OvPhysxManager
+
+   physx = OvPhysxManager.get_physx_instance()
+   if physx is None:
+       raise RuntimeError("OvPhysX has not been constructed; initialize and reset the simulation first.")
+
+A non-``None`` handle proves only that the manager constructed an OvPhysX instance; it is not a
+readiness predicate for the current simulation context. Manager teardown releases the instance
+and clears this handle. Initialize and reset the current context before access, and always
+reacquire the handle before creating new bindings or views.
+
+Reuse Isaac Lab-owned access
+----------------------------
+
+Reuse the convenience view already owned by an Isaac Lab asset when its
+selection matches:
+
+.. code-block:: python
+
+   object_view = scene["object"].root_view
+   poses = object_view.get_attribute("rigid_body_pose")
+
+Create raw access
+-----------------
+
+Create a raw binding when the desired selection is not already owned by an
+Isaac Lab asset. The following representative pose binding is float32 and
+uses the simulation device; it is not a generic allocator for every tensor
+type:
+
+.. code-block:: python
+
+   import warp as wp
+   from isaaclab.physics import PhysicsManager
+   from ovphysx.types import TensorType
+
+   binding = physx.create_tensor_binding(
+       pattern="/World/envs/env_*/Object",
+       tensor_type=TensorType.RIGID_BODY_POSE,
+   )
+   try:
+       poses = wp.empty(
+           tuple(binding.shape),
+           dtype=wp.float32,
+           device=PhysicsManager.get_device(),
+       )
+       binding.read(poses)
+       binding.write(poses)
+   finally:
+       binding.destroy()
+
+Before allocating a buffer, inspect ``binding.shape``, ``binding.dtype``, the
+binding's count, and its path metadata. Match the binding shape and DLPack scalar
+metadata exactly, and respect the binding's native device and access mode.
+``RIGID_BODY_POSE`` has the float32 layout used above, but another tensor type
+can have a different scalar dtype, shape, native device, or write permission.
+
+For a new selection, construct :class:`~isaaclab_ov.sim.views.OvPhysxView`
+with the native runtime and a Tensor API pattern:
+
+.. code-block:: python
+
+   from isaaclab.physics import PhysicsManager
+   from isaaclab_ov.sim.views import OvPhysxView
+
+   view = OvPhysxView(
+       physx,
+       pattern="/World/envs/env_*/Object",
+       device=PhysicsManager.get_device(),
+   )
+   try:
+       if view.try_binding_for("rigid_body_pose") is not None:
+           poses = view.get_attribute("rigid_body_pose")
+           view.set_attribute("rigid_body_pose", poses)
+           view.read_into("rigid_body_pose", poses)
+   finally:
+       view.close()
+
+``try_binding_for`` attempts to create a binding for this selection and returns
+``None`` when a valid type is unavailable. ``binding_for`` returns a raw binding
+and bypasses the view's device, dtype, shape, and read-only guards.
+
+Read/write semantics
+--------------------
+
+Raw ``binding.read(buffer)`` calls pull values into caller-owned buffers, while
+``binding.write(buffer)`` calls push values to the simulation. Editing a local
+buffer alone does not change the simulation. The guarded
+:meth:`~isaaclab_ov.sim.views.OvPhysxView.get_attribute`,
+:meth:`~isaaclab_ov.sim.views.OvPhysxView.read_into`, and
+:meth:`~isaaclab_ov.sim.views.OvPhysxView.set_attribute` paths provide the
+same pull/push boundary while validating the binding's shape, scalar dtype,
+native device, and writable access.
+
+Ownership, synchronization, and invalidation
+--------------------------------------------
+
+Allocate buffers on the binding's required device and match its shape and
+DLPack scalar metadata. State tensors normally use the simulation device, while
+some property tensors are CPU-only. :class:`~isaaclab_ov.sim.views.OvPhysxView`
+validates these requirements and can reinterpret supported flat scalar layouts
+as structured Warp values, but it does not move data between CPU and GPU.
+
+Use ``try_binding_for`` when a tensor type might not apply to the selected
+prims. Reacquire raw bindings and convenience views after reset paths that
+rebuild the stage or runtime, or after teardown. Destroy raw bindings and close
+custom views before they are no longer needed. Manager teardown closes tracked
+``OvPhysxView`` instances before releasing the runtime, but explicit cleanup
+avoids retaining their bindings for the rest of a long-lived simulation.
+
+Authoritative references
+------------------------
+
+The generated Isaac Lab reference for
+:class:`~isaaclab_ov.sim.views.OvPhysxView` documents the convenience
+view. The repository metadata pins OvPhysX to a version but does not provide
+a versioned official OvPhysX documentation URL, so inspect the installed
+``TensorType`` and binding metadata at runtime.
diff --git a/docs/source/concepts/native-physics-api/physx.rst b/docs/source/concepts/native-physics-api/physx.rst
new file mode 100644
index 000000000000..f8c20bcece59
--- /dev/null
+++ b/docs/source/concepts/native-physics-api/physx.rst
@@ -0,0 +1,123 @@
+.. Copyright (c) 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
+
+PhysX Tensor API
+================
+
+The PhysX Tensor API provides typed views for data paths and capabilities that
+require engine-native access.
+
+Mental model
+------------
+
+The API starts from a ``SimulationView`` and creates typed views over selected
+physics objects. Access is entirely method-based: a getter pulls data from the
+view, and an independent setter publishes data back. Returned buffers are not
+live pointers, so editing a getter result does not update the simulation. Raw
+views select objects with PhysX Tensor API wildcard patterns.
+
+Lifecycle prerequisite
+----------------------
+
+:class:`~isaaclab_physx.physics.PhysxManager` creates its
+``SimulationView`` with the Warp frontend. Low-level
+code must run only after physics initialization and simulation reset, when the
+PhysX Tensor API view has been created:
+
+.. code-block:: python
+
+   from isaaclab_physx.physics import PhysxManager
+
+   simulation_view = PhysxManager.get_physics_sim_view()
+   if simulation_view is None:
+       raise RuntimeError("PhysX Tensor API is not ready; initialize and reset the simulation first.")
+
+Reuse Isaac Lab-owned access
+----------------------------
+
+When an Isaac Lab asset already has the desired selection, reuse its
+:attr:`~isaaclab_physx.assets.Articulation.root_view` rather than creating a
+second view:
+
+.. code-block:: python
+
+   robot = scene["robot"]
+   articulation_view = robot.root_view
+   joint_positions = articulation_view.get_dof_positions()
+
+:attr:`~isaaclab_physx.assets.Articulation.root_view` is backend-specific and
+typed. An articulation, rigid object, rigid-object collection, or deformable
+can expose a different native PhysX view type, so choose methods that match the
+returned view rather than assuming one common interface.
+
+Create raw access
+-----------------
+
+Create a view directly only when no Isaac Lab-owned selection matches the
+needed objects or capability. In this Tensor API pattern, ``*`` selects the
+matching object below every cloned environment:
+
+.. code-block:: python
+
+   rigid_body_view = simulation_view.create_rigid_body_view(
+       "/World/envs/env_*/Object"
+   )
+
+Read/write semantics
+--------------------
+
+Each getter and setter is a separate operation. Clone a returned Warp buffer
+before editing it locally, then call the matching setter to publish the result:
+
+.. code-block:: python
+
+   import warp as wp
+
+   poses = wp.clone(rigid_body_view.get_transforms())
+   indices = wp.array(
+       range(poses.shape[0]),
+       dtype=wp.int32,
+       device=poses.device,
+   )
+   rigid_body_view.set_transforms(poses, indices)
+
+Cloning makes ownership explicit. Callers can modify the clone with Warp before
+the setter, but edits to a local buffer do not publish themselves. The
+``indices`` array selects the complete view and matches the setter's required
+``int32`` dtype and device; the setter performs the write. For active Tensor API
+contracts that require link transforms to be refreshed after joint-state writes, call
+``update_articulations_kinematic()``.
+Not every setter requires that refresh; follow the method-level behavior in the
+upstream reference.
+
+Access the contact view
+-----------------------
+
+The PhysX contact sensor exposes its native ``RigidContactView`` through
+:attr:`~isaaclab_physx.sensors.ContactSensor.contact_view`. Use it when the
+public sensor data does not expose the required contact details:
+
+.. code-block:: python
+
+   contact_sensor = scene["contact_sensor"]
+   friction_forces, _, buffer_counts, buffer_start_indices = (
+       contact_sensor.contact_view.get_friction_data(dt=sim.cfg.dt)
+   )
+
+Other Isaac Lab sensors may use ordinary rigid-body or articulation views
+internally, but those views are not sensor-specific low-level interfaces.
+
+Ownership, synchronization, and invalidation
+--------------------------------------------
+
+Preserve a view's expected selection ordering, device, dtype, and tensor shape
+when supplying values to a setter. Check and reacquire views after a hard
+reset, object removal, stage reload, or manager teardown. Prefer public Isaac
+Lab sensor data when direct native contact or motion data is not required.
+
+Authoritative references
+------------------------
+
+* `Omni Physics Python API reference <https://docs.omniverse.nvidia.com/kit/docs/omni_physics/latest/dev_guide/pythonapi.html>`_
diff --git a/docs/source/concepts/ovphysx.rst b/docs/source/concepts/ovphysx.rst
new file mode 100644
index 000000000000..172dad7e47e2
--- /dev/null
+++ b/docs/source/concepts/ovphysx.rst
@@ -0,0 +1,186 @@
+OvPhysX Backend
+===============
+
+.. warning::
+
+    OvPhysX is **highly experimental** and is not recommended for general use yet.
+    The public surface is changing rapidly while the backend is under active
+    development. Expect feature coverage and test commands to change between
+    Isaac Lab 3.0 beta releases.
+
+.. warning::
+
+    Do not combine OvPhysX with the Kit visualizer. Commands such as
+    ``physics=ovphysx --visualizer kit`` are unsupported because ovphysx
+    loads USD-dependent PhysX plugins from its own package, while Kit already
+    owns a separate USD/plugin stack in the same process. Use
+    ``--visualizer newton``, ``--visualizer rerun``, ``--visualizer viser``,
+    or omit ``--visualizer`` for headless execution.
+
+OvPhysX is a kit-less variant of the PhysX backend. It drives PhysX directly
+(without the Omniverse Kit runtime) and reads scene-level solver parameters
+from the USD ``PhysicsScene`` prim rather than from a Python config. The Python
+config :class:`~isaaclab_ov.physics.OvPhysxCfg` only exposes the handful of
+GPU buffer sizes that are not represented on the USD schema.
+
+OvPhysX is selected through :class:`~isaaclab_ov.physics.OvPhysxCfg`:
+
+.. code-block:: python
+
+    from isaaclab.sim import SimulationCfg
+    from isaaclab_ov.physics import OvPhysxCfg
+
+    sim_cfg = SimulationCfg(physics=OvPhysxCfg())
+
+Why use OvPhysX?
+----------------
+
+* **Kit-less execution.** OvPhysX avoids Omniverse Kit, which makes it a useful
+  experimental path for headless deployments and for backends that don't need
+  the Kit runtime stack.
+* **USD-as-source-of-truth.** Solver parameters are taken from the
+  ``PhysicsScene`` USD prim, so authoring tools that already manage USD scenes
+  do not need a parallel Python config.
+
+What works today
+----------------
+
+The asset and sensor surface tracks PhysX, but only a subset is implemented and
+validated at the time of writing. The following pieces are available on
+``develop``:
+
+* RigidObject — merged via
+  `PR #5426 <https://github.com/isaac-sim/IsaacLab/pull/5426>`_.
+* Articulation — merged via
+  `PR #5459 <https://github.com/isaac-sim/IsaacLab/pull/5459>`_.
+* RigidObjectCollection — merged via
+  `PR #5570 <https://github.com/isaac-sim/IsaacLab/pull/5570>`_.
+* Contact Sensor — merged via
+  `PR #5422 <https://github.com/isaac-sim/IsaacLab/pull/5422>`_.
+* SceneDataProvider — merged via
+  `PR #5589 <https://github.com/isaac-sim/IsaacLab/pull/5589>`_.
+* FrameView — merged via
+  `PR #5678 <https://github.com/isaac-sim/IsaacLab/pull/5678>`_.
+* :class:`~isaaclab.assets.DeformableObject` — experimental volume- and
+  surface-deformable support on CUDA simulation devices.
+
+Additional OvPhysX work remains in flight. IMU, Frame Transformer, Joint Wrench,
+PVA, Ray Caster, and rendering support are not documented as supported here
+until their implementations land on ``develop`` and pass the backend smoke
+tests.
+
+Deformable limitations
+----------------------
+
+OvPhysX deformables currently require every body matched by one
+:class:`~isaaclab.assets.DeformableObject` to have the same number of simulation
+nodes. Initialization raises an error for mixed node counts instead of exposing
+padded state that would produce incorrect reductions.
+
+Deformable scenes also require full-stage materialization. Startup cost therefore
+grows with the number of authored environments. Use this path for small validation
+scenes; training-scale workloads with thousands of environments are not currently
+supported.
+
+Installation
+------------
+
+The public ``ovphysx`` extra remains pinned to OvPhysX 0.5.11. Install it from
+the repository root with:
+
+.. code-block:: bash
+
+    uv sync --inexact --extra ovphysx
+
+The ``--inexact`` flag preserves packages installed through other extras.
+Use ``--extra ov`` to install both public OvPhysX and OVRTX runtimes. The legacy
+Isaac Lab installer also supports ``./isaaclab.sh -i 'ov[ovphysx]'`` and
+``./isaaclab.sh -i 'ov[all]'``.
+
+Testing the Installation
+------------------------
+
+First check that the Python package and runtime wheel import correctly:
+
+.. tab-set::
+
+   .. tab-item:: uv (Recommended)
+
+      .. code-block:: bash
+
+          uv run --extra ovphysx --extra test python -c "import ovphysx.types; from isaaclab_ov.physics import OvPhysxCfg; print('OvPhysX runtime OK')"
+
+   .. tab-item:: isaaclab.sh / isaaclab.bat
+
+      .. code-block:: bash
+
+          ./isaaclab.sh -p -c "import ovphysx.types; from isaaclab_ov.physics import OvPhysxCfg; print('OvPhysX runtime OK')"
+
+Then run a small backend smoke test:
+
+.. tab-set::
+
+   .. tab-item:: uv (Recommended)
+
+      .. code-block:: bash
+
+          uv run --extra ovphysx --extra test python -m pytest source/isaaclab_ov/test/assets/test_rigid_object.py::test_initialization -k cpu
+
+   .. tab-item:: isaaclab.sh / isaaclab.bat
+
+      .. code-block:: bash
+
+          ./isaaclab.sh -p -m pytest source/isaaclab_ov/test/assets/test_rigid_object.py::test_initialization -k cpu
+
+To try a task that declares an OvPhysX physics preset, use the same preset CLI
+syntax as the other backends:
+
+.. tab-set::
+
+   .. tab-item:: uv (Recommended)
+
+      .. code-block:: bash
+
+          uv run --extra ovphysx isaaclab zero_agent --task Isaac-Cartpole-Direct \
+              --num_envs 128 --max_steps 64 --viz none physics=ovphysx
+
+   .. tab-item:: isaaclab.sh / isaaclab.bat
+
+      .. code-block:: bash
+
+          ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct \
+              --num_envs 128 --max_steps 64 --viz none physics=ovphysx
+
+This command runs a 64-step headless zero-action rollout and then exits.
+
+Supported locomotion environments
+---------------------------------
+
+The following locomotion training environments declare an ``ovphysx`` physics
+preset. Their corresponding ``-Play`` variants support the same backend where
+available.
+
+* ``Isaac-Ant-Direct``
+* ``Isaac-Humanoid-Direct``
+* ``IsaacContrib-Velocity-Rough-AnymalB``
+* ``IsaacContrib-Velocity-Rough-AnymalC``
+* ``Isaac-Velocity-Flat-AnymalD``
+* ``Isaac-Velocity-Rough-AnymalD``
+* ``IsaacContrib-Velocity-Rough-UnitreeA1``
+* ``IsaacContrib-Velocity-Rough-UnitreeGo1``
+* ``Isaac-Velocity-Rough-UnitreeGo2``
+* ``Isaac-Velocity-Rough-Cassie``
+* ``Isaac-Velocity-Rough-G1``
+* ``Isaac-Velocity-Rough-H1``
+
+Status and follow-up
+--------------------
+
+OvPhysX is still experimental, so the feature list above is intentionally
+conservative. Broader feature coverage and documentation parity are tracked in
+`issue #5634 <https://github.com/isaac-sim/IsaacLab/issues/5634>`_.
+
+For architectural context, see :ref:`backend-architecture`.
+
+For raw ``TensorBinding`` access and :class:`~isaaclab_ov.sim.views.OvPhysxView`,
+see :doc:`/source/concepts/native-physics-api/ovphysx`.
diff --git a/docs/source/concepts/physics_backends.rst b/docs/source/concepts/physics_backends.rst
new file mode 100644
index 000000000000..3bb2d22321a3
--- /dev/null
+++ b/docs/source/concepts/physics_backends.rst
@@ -0,0 +1,162 @@
+.. Copyright (c) 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
+
+.. _physics-backends:
+
+Physics Backends
+================
+
+Isaac Lab supports three physics backends behind its common asset, sensor, and
+scene APIs. Choose the backend that matches the runtime and solver family you
+need, then choose a preset that the target task exposes. See
+:ref:`backends-and-presets` for preset selection and
+:ref:`backend-architecture` for the implementation architecture.
+
+
+Backend and solver terminology
+------------------------------
+
+A **backend** integrates a physics runtime with Isaac Lab and owns simulation
+lifecycle and data exchange. A **solver** is the numerical method that advances
+the physical state within that backend. Newton is therefore not synonymous
+with MJWarp: Newton hosts MJWarp, Kamino, VBD, MPM, and other solver paths.
+
+A **physics preset** is a task-supported configuration that selects a backend
+and, when applicable, one of its solvers. Solver settings and behavior are not
+numerically portable between solver families. Expect to retune a task when
+changing solvers; see :ref:`solver-differences`.
+
+
+Choose a backend
+----------------
+
+.. list-table::
+   :header-rows: 1
+   :widths: 13 23 13 21 30
+
+   * - Backend
+     - Runtime requirement
+     - Maturity
+     - Solver family
+     - Intended use
+   * - PhysX
+     - Isaac Sim and Omniverse Kit
+     - Established reference
+     - PhysX TGS by default; PGS available
+     - Broadly validated Isaac Lab workflows and behavior-parity reference
+   * - Newton
+     - Warp-native; Isaac Sim is not required for kit-less execution
+     - Beta
+     - Multiple solvers, with MJWarp as the primary validated path
+     - Kit-less simulation and workflows that need Newton solver choices
+   * - OvPhysX
+     - Optional ``ovphysx`` runtime extra; no Omniverse Kit
+     - Experimental
+     - PhysX, configured primarily through USD
+     - Experimental kit-less PhysX workflows
+
+Follow :ref:`isaaclab-installation-root` for the supported installation paths
+and current optional extras. Do not combine OvPhysX with a Kit runtime in the
+same process.
+
+For the general PhysX--Newton policy validation workflow, see
+:doc:`/source/how-to/transfer_policies_between_physx_and_newton`. When a
+checkpoint's joint or body ordering differs from the target backend, use the
+:doc:`articulation ordering guide
+</source/concepts/joint_and_body_ordering>`.
+
+
+.. _physics-backends-physx:
+
+PhysX
+-----
+
+PhysX is Isaac Lab's established reference backend. It runs through Isaac Sim,
+uses the Temporal Gauss-Seidel (TGS) solver by default, and also offers the
+Projective Gauss-Seidel (PGS) solver. Its GPU scene capacities are static, so
+contact-rich or large vectorized scenes may require explicit buffer sizing.
+Keep TGS as the starting point for articulated robots; evaluate PGS when a
+stiff legacy asset behaves poorly with TGS. The generated API remains the
+source of truth for solver selection values and defaults.
+
+Configure scene-level fields with
+:class:`~isaaclab_physx.physics.PhysxCfg`; the generated API reference is the
+authoritative field list. Per-actor physical properties remain on the USD
+schema configuration described in
+:doc:`/source/concepts/schema_cfgs`.
+For a diagnose-first workflow covering solver selection, iterations, contacts,
+stability, and GPU capacities, see :ref:`physx-solver-tuning`.
+
+
+.. _physics-backends-newton:
+
+Newton
+------
+
+Newton is a Warp-native backend that can run without Isaac Sim. Its Isaac Lab
+integration is beta and supports multiple solver families rather than one
+fixed solver. Configure the backend with
+:class:`~isaaclab_newton.physics.NewtonCfg` and select a solver configuration
+such as :class:`~isaaclab_newton.physics.MJWarpSolverCfg`.
+
+Task and component coverage is narrower and task-specific. Check task
+``--help`` and :doc:`the environment catalog </source/setup/environments>`
+for current presets, the generated configuration APIs for available symbols,
+and the specialist guides below for solver-specific workflows and limitations.
+
+Start with :doc:`/source/how-to/prepare_asset_for_newton`, then use
+:doc:`/source/concepts/solver-tuning/tune_mjwarp` for the primary validated solver path or
+:doc:`/source/concepts/solver-tuning/tune_kamino` for the beta Kamino path. Experimental
+specialist guides cover :ref:`newton-using-vbd`, :ref:`newton-using-mpm`,
+:ref:`deformables`, :ref:`warp-environments`, and
+:ref:`warp-env-migration`. Backend developers can also read
+:doc:`/source/developer-tools/extending_newton_solvers`.
+
+
+.. _physics-backends-ovphysx:
+
+OvPhysX
+-------
+
+OvPhysX is an experimental kit-less PhysX path. It drives PhysX without
+Omniverse Kit, while scene-level solver settings primarily come from the USD
+``PhysicsScene`` prim. Only settings that are not represented in USD live on
+:class:`~isaaclab_ov.physics.OvPhysxCfg`; consult its generated API reference
+for those fields.
+
+Feature coverage is still evolving. See the
+:doc:`OvPhysX specialist page
+</source/concepts/ovphysx>` for current
+limitations and runtime constraints.
+
+
+Find supported tasks and APIs
+-----------------------------
+
+Backend support is task-specific. Use :doc:`/source/setup/environments` to
+browse registered environments and presets, or ask a task for its current
+choices:
+
+.. code-block:: bash
+
+   uv run isaaclab train --rl_library rsl_rl \
+      --task Isaac-Cartpole-Direct --help
+
+The help output is the source of truth for that task's ``physics=`` choices.
+For native solver data and views, see
+:doc:`/source/concepts/native-physics-api/index`. For field-level configuration,
+follow the generated API links for :class:`~isaaclab_physx.physics.PhysxCfg`,
+:class:`~isaaclab_newton.physics.NewtonCfg`, its solver configurations, and
+:class:`~isaaclab_ov.physics.OvPhysxCfg`.
+
+
+.. toctree::
+   :hidden:
+
+   /source/concepts/joint_and_body_ordering
+   /source/concepts/ovphysx
+   /source/concepts/using_mpm
+   /source/concepts/warp_environments
+   /source/concepts/warp_environment_migration
diff --git a/docs/source/concepts/prepare_asset_for_newton.rst b/docs/source/concepts/prepare_asset_for_newton.rst
new file mode 100644
index 000000000000..1feb40d08c04
--- /dev/null
+++ b/docs/source/concepts/prepare_asset_for_newton.rst
@@ -0,0 +1,10 @@
+:orphan:
+
+.. meta::
+   :http-equiv=refresh: 0; url=../how-to/prepare_asset_for_newton.html
+   :name=robots: noindex
+
+Page Moved
+==========
+
+This page moved to :doc:`/source/how-to/prepare_asset_for_newton`.
diff --git a/docs/source/concepts/reinforcement_learning.rst b/docs/source/concepts/reinforcement_learning.rst
index dd6af296a712..6aa96be247ee 100644
--- a/docs/source/concepts/reinforcement_learning.rst
+++ b/docs/source/concepts/reinforcement_learning.rst
@@ -532,4 +532,4 @@ Next steps
    `skills/user/debug-rl-training/
    <../../../skills/user/debug-rl-training/SKILL.md>`__). When you change this
    page, update those skills so their guidance stays in sync. See
-   :doc:`/source/overview/developer-guide/agent_skills`.
+   :doc:`/source/developer-tools/agent_skills`.
diff --git a/docs/source/concepts/renderers.rst b/docs/source/concepts/renderers.rst
new file mode 100644
index 000000000000..2d7edde69dd7
--- /dev/null
+++ b/docs/source/concepts/renderers.rst
@@ -0,0 +1,492 @@
+.. _concepts_renderers:
+.. _overview_renderers:
+
+Renderers
+=========
+
+Renderers produce camera-sensor buffers for policy observations and synthetic-data workflows.
+They are distinct from :doc:`visualizers <visualization>`, which provide
+human-facing, interactive views for inspection, debugging, and recording. Isaac Lab uses a
+pluggable renderer architecture. All implementations follow the interface defined by
+:class:`~isaaclab.renderers.BaseRenderer`.
+
+Isaac Lab supports three rendering backends. The table below summarizes their runtime requirements
+and primary use cases. See :ref:`renderer-details` for their execution models, output coverage,
+and limitations, and :ref:`camera-supported-annotators` for the output-by-backend support matrix.
+
+Choosing a renderer backend
+----------------------------
+
++---------------------+-------------------------------+---------------------------------+
+| Backend             | Requires Isaac Sim?           | Best For                        |
++=====================+===============================+=================================+
+| Isaac RTX           | Yes                           | Full sensor fidelity, RTX       |
+|                     |                               | photorealism, PhysX backend     |
++---------------------+-------------------------------+---------------------------------+
+| OVRTX               | No (kit-less; needs           | RTX-quality rendering without   |
+|                     | ``isaaclab_ov`` + ``ovrtx``)  | requiring Isaac Sim             |
++---------------------+-------------------------------+---------------------------------+
+| Newton Warp         | No (kit-less)                 | Newton backend, fast training   |
++---------------------+-------------------------------+---------------------------------+
+
+.. _renderer-visual-comparison:
+
+Renderer outputs at a glance
+----------------------------
+
+The galleries below use the same authored scene, camera, lights, materials, and initial conditions.
+Six spheres exercise mirror-like, transparent, semi-transparent, matte, glossy, and emissive
+materials. The RGB output is animated to show the spheres falling onto the table; the remaining
+outputs are still frames from the same run. Stills use the sixth rendered frame so temporal outputs,
+such as motion vectors, show useful motion while the spheres remain near their initial poses.
+
+Treat the images as a qualitative comparison of feature coverage and image character, not a
+performance benchmark. The kit-less renderers use Newton physics while Isaac RTX uses PhysX, so
+the exact sphere poses can differ. Display-only color maps make scalar, vector, and label outputs
+readable here; camera sensors still return their documented raw tensors. Closely related aliases
+and distance or ID variants are omitted because they do not add a visually distinct mode.
+
+.. include:: _renderer_gallery.rst
+
+.. _renderer-details:
+
+Renderer details
+----------------
+
+Open a renderer below for its execution model, output coverage, limitations, and typical use case.
+The gallery above remains a visual comparison; the camera support matrix is the authoritative
+output-by-backend reference.
+
+.. dropdown:: Newton Warp renderer
+
+   - **Runtime and physics:** A lightweight, kit-less rasterizer built on NVIDIA Warp and paired
+     with Newton physics.
+   - **Output coverage:** Produces RGB, albedo, depth, normals, semantic segmentation, and instance
+     segmentation. It does not produce motion vectors or RTX material transport. Its focused
+     raster pipeline exposes fewer ground-truth outputs than the RTX renderers, which integrate
+     broader RTX and annotator capabilities.
+   - **Best for:** Training workflows where throughput matters more than full RTX fidelity.
+
+.. dropdown:: OVRTX renderer
+
+   - **Runtime and physics:** Provides kit-less RTX rendering through the ``isaaclab_ov`` extension
+     and pairs with Newton physics.
+   - **Output coverage:** Provides RTX Minimal and photo-real rendering with geometry, motion, and
+     label outputs.
+   - **Best for:** RTX image quality without running Isaac Sim.
+
+.. dropdown:: Isaac RTX renderer
+
+   - **Runtime and physics:** Runs NVIDIA's Omniverse RTX rendering pipeline inside Isaac Sim and
+     pairs with PhysX.
+   - **Output coverage:** Provides RTX Minimal and photo-real rendering, plus the broadest
+     camera-output coverage.
+   - **Best for:** Full RTX fidelity and workflows that already depend on Isaac Sim or Kit.
+
+Choosing a rendering capability
+--------------------------------
+
+The overview above shows the complete range of visually distinct outputs in one place. The sections
+below regroup those outputs by purpose: simplified rendering for throughput-oriented training,
+photo-real rendering for full RTX image quality, and advanced outputs for geometry, motion, and
+labels. The detailed captions and commands use the suffixless ``Isaac-Cartpole-Camera`` task so
+each shown mode can be tried without editing Python.
+
+Simplified rendering
+~~~~~~~~~~~~~~~~~~~~
+
+Simplified rendering prioritizes throughput and predictable image formation over full light
+transport. Newton Warp provides a lightweight rasterized RGB path. OVRTX and Isaac RTX provide RTX
+Minimal mode, which disables indirect lighting and offers three levels of material evaluation:
+
+- **Constant diffuse** uses one constant surface color.
+- **Diffuse MDL** is Isaac Lab's stable name for textured diffuse shading.
+- **Full MDL** is Isaac Lab's stable name for diffuse, glossy, and emissive material evaluation.
+
+RTX Minimal uses the first distant light in the scene and hard shadows. See the upstream
+`OVRTX Minimal mode <https://nvidia-omniverse.github.io/ovrtx/sensors/cameras/render_modes/minimal.html>`_
+and `RTX Minimal renderer <https://docs.omniverse.nvidia.com/materials-and-rendering/latest/rtx-renderer_minimal.html>`_
+documentation for the renderer-level settings and limitations.
+
+.. tab-set::
+
+   .. tab-item:: Newton Warp RGB
+
+      .. grid:: 1 2 2 2
+         :gutter: 2
+
+         .. grid-item::
+
+            .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-newton-shadows-disabled.png
+               :width: 100%
+               :alt: Newton Warp RGB output with directional-light shadows disabled.
+
+               Without shadows (default)
+
+         .. grid-item::
+
+            .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-newton-shadows-enabled.png
+               :width: 100%
+               :alt: Newton Warp RGB output with directional-light shadows enabled.
+
+               With shadows
+
+      Newton Warp is the kit-less choice when a lightweight RGB observation is sufficient.
+
+      .. code-block:: bash
+
+         uv run isaaclab train --rl_library rsl_rl \
+            --task Isaac-Cartpole-Camera \
+            physics=newton_mjwarp renderer=newton_renderer presets=rgb
+
+      Enable directional-light shadows explicitly:
+
+      .. code-block:: bash
+
+         uv run isaaclab train --rl_library rsl_rl \
+            --task Isaac-Cartpole-Camera \
+            physics=newton_mjwarp renderer=newton_renderer presets=rgb \
+            env.scene.tiled_camera.renderer_cfg.enable_shadows=true
+
+   .. tab-item:: OVRTX Minimal
+
+      .. grid:: 1 2 3 3
+         :gutter: 2
+         :class-container: renderer-preset-grid
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-ovrtx-simple-shading-constant-diffuse.png
+               :width: 100%
+               :alt: OVRTX constant-diffuse RTX Minimal output.
+
+               Constant diffuse — ``presets=simple_shading_constant_diffuse``
+
+         .. grid-item::
+
+            .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-ovrtx-simple-shading-diffuse-mdl.png
+               :width: 100%
+               :alt: OVRTX textured-diffuse RTX Minimal output.
+
+               Diffuse MDL — ``presets=simple_shading_diffuse_mdl``
+
+         .. grid-item::
+
+            .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-ovrtx-simple-shading-full-mdl.png
+               :width: 100%
+               :alt: OVRTX full-material RTX Minimal output.
+
+               Full MDL — ``presets=simple_shading_full_mdl``
+
+      **Constant diffuse**
+
+      .. code-block:: bash
+
+         uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Camera \
+            physics=newton_mjwarp renderer=ovrtx presets=simple_shading_constant_diffuse
+
+      **Textured diffuse**
+
+      .. code-block:: bash
+
+         uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Camera \
+            physics=newton_mjwarp renderer=ovrtx presets=simple_shading_diffuse_mdl
+
+      **Diffuse, glossy, and emissive material evaluation**
+
+      .. code-block:: bash
+
+         uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Camera \
+            physics=newton_mjwarp renderer=ovrtx presets=simple_shading_full_mdl
+
+   .. tab-item:: Isaac RTX Minimal
+
+      .. grid:: 1 2 3 3
+         :gutter: 2
+         :class-container: renderer-preset-grid
+
+         .. grid-item::
+
+            .. figure:: ../_static/overview/sensors/camera-renderer-isaac-rtx-simple-shading-constant-diffuse.png
+               :width: 100%
+               :alt: Isaac RTX constant-diffuse RTX Minimal output.
+
+               Constant diffuse — ``presets=simple_shading_constant_diffuse``
+
+         .. grid-item::
+
+            .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-isaac-rtx-simple-shading-diffuse-mdl.png
+               :width: 100%
+               :alt: Isaac RTX textured-diffuse RTX Minimal output.
+
+               Diffuse MDL — ``presets=simple_shading_diffuse_mdl``
+
+         .. grid-item::
+
+            .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-isaac-rtx-simple-shading-full-mdl.png
+               :width: 100%
+               :alt: Isaac RTX full-material RTX Minimal output.
+
+               Full MDL — ``presets=simple_shading_full_mdl``
+
+      **Constant diffuse**
+
+      .. code-block:: bash
+
+         uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Camera \
+            physics=isaacsim_physx renderer=isaacsim_rtx presets=simple_shading_constant_diffuse
+
+      **Textured diffuse**
+
+      .. code-block:: bash
+
+         uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Camera \
+            physics=isaacsim_physx renderer=isaacsim_rtx presets=simple_shading_diffuse_mdl
+
+      **Diffuse, glossy, and emissive material evaluation**
+
+      .. code-block:: bash
+
+         uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Camera \
+            physics=isaacsim_physx renderer=isaacsim_rtx presets=simple_shading_full_mdl
+
+Photo-real rendering
+~~~~~~~~~~~~~~~~~~~~
+
+Here, **photo-real rendering** means the regular RGB path from the full RTX Real-Time Path-Tracing
+mode; it is a capability grouping, not an Isaac Lab preset name. Choose it when material appearance,
+reflections, transparency, lighting, or the accompanying RTX AOVs matter more than the lowest
+possible render latency. OVRTX provides this path without Kit, while Isaac RTX provides it inside
+Isaac Sim. See the upstream `OVRTX render modes
+<https://nvidia-omniverse.github.io/ovrtx/sensors/cameras/render_modes.html>`_ and
+`Isaac Sim rendering modes
+<https://docs.isaacsim.omniverse.nvidia.com/latest/reference_material/rendering_modes.html>`_.
+
+.. tab-set::
+
+   .. tab-item:: OVRTX
+
+      .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-ovrtx.webp
+         :align: center
+         :width: 90%
+         :alt: Six material spheres falling onto a table in OVRTX RGB output.
+
+         OVRTX photo-real RGB — ``renderer=ovrtx presets=rgb``
+
+      The same renderer also produces the albedo, depth, normals, segmentation, and motion-vector
+      outputs shown in the overview gallery.
+
+      .. code-block:: bash
+
+         uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Camera \
+            physics=newton_mjwarp renderer=ovrtx presets=rgb
+
+   .. tab-item:: Isaac RTX
+
+      .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-isaac-rtx.webp
+         :align: center
+         :width: 90%
+         :alt: Six material spheres falling onto a table in Isaac RTX RGB output.
+
+         Isaac RTX photo-real RGB — ``renderer=isaacsim_rtx presets=rgb``
+
+      The same renderer also produces the albedo, depth, normals, segmentation, and motion-vector
+      outputs shown in the overview gallery.
+
+      .. code-block:: bash
+
+         uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Camera \
+            physics=isaacsim_physx renderer=isaacsim_rtx presets=rgb
+
+Advanced rendering outputs
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Beyond RGB, renderer-produced buffers expose material, geometry, motion, and labeling information:
+
+- **Albedo** isolates the material base color from lighting.
+- **Depth** measures optical-axis distance for geometric perception and reconstruction.
+- **Normals** encode local surface orientation.
+- **Semantic segmentation** groups pixels by class, while **instance segmentation** separates
+  individual objects.
+- **Motion vectors** encode image-space motion per pixel and require prior-frame history.
+
+Request one or more buffers through :attr:`~sensors.CameraCfg.data_types`. See
+:ref:`camera-configuration` for a configuration example and :ref:`camera-output-types` for the
+available names, tensor shapes, data types, and meanings. Environment-level ``presets=...``
+selectors are task-defined convenience shortcuts, not an exhaustive list of camera outputs.
+
+Output availability differs by backend. Check the :ref:`camera renderer support matrix
+<camera-supported-annotators>` before choosing a renderer; for example, OVRTX and Isaac RTX produce
+motion vectors, while Newton Warp does not. The :ref:`renderer visual comparison
+<renderer-visual-comparison>` above shows these outputs on the same scene.
+
+.. note::
+
+   Visualization markers are debug overlays provided by visualizers, not camera outputs. Their
+   support is independent of the camera renderer: the Kit, Newton GL, Rerun, and Viser visualizers
+   support markers, while the experimental Newton RTX visualizer does not. See
+   :doc:`/source/concepts/visualization` for the visualizer support matrix.
+
+.. note::
+   **Temporal information for camera-based RL.** Unlike RTX modes with temporal
+   anti-aliasing (DLSS, DLAA, TAA), the Newton Warp renderer does not inject
+   prior-frame information into the current image. Camera-control tasks that depend
+   on velocity-like visual cues should add explicit temporal observations
+   (e.g. task-local frame stacking) rather than relying on renderer-specific artifacts.
+
+Per-environment Isaac RTX scene partitioning
+---------------------------------------------
+
+The Isaac RTX renderer enables per-environment scene partitioning by default. It assigns
+matching scene-partition tokens to each ``/World/envs/env_<index>`` hierarchy and its
+camera so tiled views render only that environment's geometry.
+
+Configure the behavior through :class:`~isaaclab_physx.renderers.IsaacRtxRendererCfg`:
+
+.. code-block:: python
+
+   from isaaclab_physx.renderers import IsaacRtxRendererCfg
+
+   renderer_cfg = IsaacRtxRendererCfg(enable_scene_partitioning=False)
+
+Scene partitioning and the all-environment spectator view are separate controls.
+:class:`~isaaclab.app.AppLauncher` enables spectator support before RTX startup only
+when the Kit viewport is enabled or Kit visualization, recording, livestreaming, or XR
+is requested. Regular headless training and camera-sensor runs keep it disabled so
+tiled cameras are not exposed to the spectator mode's world-space layout constraints.
+
+``global_settings.show_all_partitions_by_default`` maps to that same process-global RTX
+setting; it is not a separate feature. Its default value of ``None`` preserves the
+launch-time choice made by :class:`~isaaclab.app.AppLauncher`. An explicit value overrides
+that setting when the Isaac RTX renderer is constructed. When enabled, environments must
+remain spatially separated because overlapping partition bounds can make content leak into
+another environment or disappear. When disabled, the Kit viewport displays only the
+selected environment.
+
+This setting does not affect OVRTX, which always partitions multi-environment scenes.
+
+Prims outside the environment hierarchies remain in the shared background partition.
+Environment-owned ``PointInstancer`` markers can carry one matching scene-partition
+token per instance; markers without that ownership information remain shared.
+
+.. warning::
+
+   Kit RTX sizes each partition from the bounding boxes of the prims it contains and never
+   refreshes the bounding box of an animated ``UsdGeom.BasisCurves`` prim, so cables can be
+   culled once they deform beyond their initial extent. See
+   :ref:`known-issues-animated-curve-scene-partition` for the workaround.
+
+.. warning::
+
+   The Isaac RTX and OVRTX renderers cap the number of scene partitions at 15625.
+   Requesting more than 15625 environments with scene partitioning enabled discards
+   the additional partitions, and ``rtx.scenedb.plugin`` logs ``SceneDbContext : Maximum
+   number of scene partitions (15625) reached. Additional scene partitions will be
+   discarded.`` Environments beyond that count then share a partition with another
+   environment, so their tiled camera views can show another environment's geometry.
+   See :ref:`known-issues-scene-partition-count-cap` for details.
+
+Architecture Overview
+---------------------
+
+The renderer system consists of:
+
+1. **BaseRenderer** — Abstract base class defining the rendering lifecycle and interface
+2. **RendererCfg** — Base configuration; each backend extends it with backend-specific options and declares
+   its implementation in ``class_type``
+3. **Concrete implementations** — Backend-specific renderers in extension packages
+4. **RenderContext** — A management class for instantiating and accessing renderer instances using a **RendererCfg**.
+   After instantiation, a config can then be used to acquire the instance of the renderer as needed.
+
+.. code-block:: python
+
+   import isaaclab.sim as sim_utils
+   from isaaclab.renderers import BaseRenderer
+   from isaaclab_newton.renderers import NewtonWarpRendererCfg
+
+   # Create a Newton Warp renderer (no Isaac Sim required)
+   sim_ctx = sim_utils.SimulationContext.instance()
+   # RenderContext.get_renderer constructs cfg.class_type(cfg)
+   # or return an existing renderer with a matching config
+   renderer: BaseRenderer = sim_ctx.render_context.get_renderer(NewtonWarpRendererCfg())
+   assert isinstance(renderer, BaseRenderer)
+
+For the RTX renderer (requires Isaac Sim):
+
+.. code-block:: python
+
+   import isaaclab.sim as sim_utils
+   from isaaclab.renderers import BaseRenderer
+   from isaaclab_physx.renderers import IsaacRtxRendererCfg
+
+   # Create an RTX renderer
+   sim_ctx = sim_utils.SimulationContext.instance()
+   # RenderContext.get_renderer constructs cfg.class_type(cfg)
+   # or return an existing renderer with a matching config
+   renderer: BaseRenderer = sim_ctx.render_context.get_renderer(IsaacRtxRendererCfg())
+
+For RTX renderer settings, see
+:doc:`/source/how-to/configure_rendering`.
+
+Core concepts
+-------------
+
+- **Use the RenderContext**: Always acquire renderers via the RenderContext with a renderer-specific config class
+  (e.g. ``sim_ctx.render_context.get_renderer(IsaacRtxRendererCfg())``). Do not import or instantiate concrete backend classes
+  (e.g. ``IsaacRtxRenderer``, ``OVRTXRenderer``) directly—their names and package locations are
+  implementation details and may change without notice.
+
+- **Lightweight config imports**: Importing a renderer configuration class does not pull in backend-specific
+  dependencies. ``class_type`` is resolved lazily when the renderer is constructed, and construction may fail
+  if the backend is not installed.
+
+  .. code-block:: python
+
+     import isaaclab.sim as sim_utils
+     from isaaclab.renderers import BaseRenderer
+     # Lightweight: does not import OVRTX backend dependencies
+     from isaaclab_ov.renderers import OVRTXRendererCfg
+
+     # Lazily loads ovrtx when instantiated; may fail if isaaclab_ov / ovrtx is not installed
+     sim_ctx = sim_utils.SimulationContext.instance()
+     renderer: BaseRenderer = sim_ctx.render_context.get_renderer(OVRTXRendererCfg())
+
+Installing the OVRTX renderer
+------------------------------
+
+The OVRTX renderer is provided by the ``isaaclab_ov`` extension. The extension's
+source package ships with the core install, but the renderer's ``ovrtx`` runtime
+wheel (the `ovrtx <https://github.com/NVIDIA-Omniverse/ovrtx>`_ package, published
+on public PyPI) is **not** installed by default. You must request it
+explicitly — OVRTX does **not** require Isaac Sim.
+
+Install via the Isaac Lab CLI using the ``ov[ovrtx]`` token:
+
+.. code-block:: bash
+
+   # Install the ovrtx runtime wheel on top of an existing install
+   ./isaaclab.sh -i ov[ovrtx]
+
+.. note::
+
+   The bare ``ov`` token does **not** install any runtime wheel (the source
+   packages are already part of the core install). Use ``ov[ovrtx]`` (or ``ov[all]``)
+   to pull in the ``ovrtx`` dependency.
+
+Or install the public ``ovrtx`` package directly from PyPI:
+
+.. isaaclab-ovrtx-install::
+
+- **Opaque render data**: The render data object returned by :meth:`~isaaclab.renderers.BaseRenderer.create_render_data` is passed to
+  subsequent renderer methods. It should be completely opaque to the caller: inspecting or modifying it
+  via get/set attributes is an anti-pattern and breaks the API contract.
+
+.. note::
+
+   The :class:`~isaaclab.renderers.BaseRenderer` class is under active development and may change without notice.
+
+See Also
+--------
+
+- :doc:`/source/developer-tools/scene_data_providers`: how scene data flows from physics backends to renderers
+- :doc:`/source/concepts/visualization` — lightweight visualizer backends for interactive feedback
diff --git a/docs/source/concepts/scene_data_providers.rst b/docs/source/concepts/scene_data_providers.rst
index 6b173009b104..664d4dcd0bba 100644
--- a/docs/source/concepts/scene_data_providers.rst
+++ b/docs/source/concepts/scene_data_providers.rst
@@ -1,150 +1,10 @@
-Scene Data Provider
-===================
+:orphan:
 
-:class:`~isaaclab.scene_data.SceneDataProvider` bridges physics simulation backends and the
-visualizers/renderers that consume scene data. It exposes a single Warp-native read path for
-body transforms regardless of which physics backend (PhysX or Newton) is active, so renderers
-and visualizers can stay backend-agnostic.
+.. meta::
+   :http-equiv=refresh: 0; url=../developer-tools/scene_data_providers.html
+   :name=robots: noindex
 
-Overview
---------
+Page Moved
+==========
 
-Isaac Lab supports multiple physics backends (PhysX and Newton) and multiple visualizers
-(Omniverse Kit, Newton, Rerun, Viser). Each combination needs scene data to flow from the
-physics engine into the renderer or visualizer. :class:`SceneDataProvider` owns this flow: the
-physics manager provides a :class:`~isaaclab.scene_data.SceneDataBackend` that wraps its native
-tensor views, and the provider handles format conversion and re-mapping on top of it.
-
-.. code-block:: python
-
-   from isaaclab.sim import SimulationContext
-
-   # The SimulationContext owns the active provider; consumers fetch it instead of
-   # constructing one directly.
-   provider = SimulationContext.instance().get_scene_data_provider()
-
-Architecture
-------------
-
-The system has three layers:
-
-1. :class:`~isaaclab.scene_data.SceneDataBackend`: a small interface implemented by each physics
-   manager. It exposes the backend's transform array directly as one of the
-   :class:`~isaaclab.scene_data.SceneDataFormat` Warp structs, plus the per-transform prim paths
-   and total count. There is no per-frame "update" call; the property accessors return live
-   views into the underlying tensor each time they're read.
-
-   - :attr:`SceneDataBackend.transforms`: current transforms as a Warp struct (one of
-     :class:`SceneDataFormat.Vec3_Quat`, :class:`SceneDataFormat.Transform`,
-     :class:`SceneDataFormat.Matrix44`, :class:`SceneDataFormat.Vec3_Matrix33`).
-   - :attr:`SceneDataBackend.transform_count`: number of transforms.
-   - :attr:`SceneDataBackend.transform_paths`: list of USD prim paths, one per transform.
-   - :attr:`SceneDataBackend.points`: flattened deformable nodal positions as
-     :class:`SceneDataFormat.Points` (optional; rigid-only backends return an empty buffer).
-   - :attr:`SceneDataBackend.point_count`: total number of geometry points.
-   - :attr:`SceneDataBackend.geometry_paths`: one USD prim path per deformable body instance.
-   - :attr:`SceneDataBackend.geometry_counts`: unpadded nodal count per geometry entity.
-
-2. :class:`~isaaclab.scene_data.SceneDataProvider`: wraps a backend and offers format conversion
-   plus index re-mapping.
-
-   - :meth:`SceneDataProvider.get_transforms`: writes the backend's transforms into a
-     consumer-provided :class:`SceneDataFormat` struct, optionally converting format
-     (e.g. ``Vec3_Quat`` to ``Transform``) and applying an index mapping. When the backend
-     format matches the output format and no mapping is provided, the result is a zero-copy
-     passthrough.
-   - :meth:`SceneDataProvider.create_mapping`: builds a remap array from the backend's prim
-     paths to a consumer's desired ordering. Used when a renderer or visualizer wants
-     transforms indexed by its own body list rather than by the physics view order.
-   - :meth:`SceneDataProvider.get_points`: copies backend deformable nodal positions into a
-     consumer buffer, optionally remapping entity slices via
-     :meth:`SceneDataProvider.create_geometry_mapping`.
-   - :meth:`SceneDataProvider.create_geometry_mapping`: maps backend deformable entities to
-     consumer particle offsets in a shadow Newton ``particle_q`` buffer.
-   - :meth:`SceneDataProvider.get_camera_transforms`: discovers per-camera, per-env world
-     transforms from the USD stage.
-   - :attr:`SceneDataProvider.usd_stage`: USD stage handle for stage-walking consumers.
-   - :attr:`SceneDataProvider.num_envs`: environment count inferred from
-     ``/World/envs/env_<id>`` prims.
-
-3. Backend implementations:
-
-   - ``PhysxSceneDataBackend`` (internal to :mod:`isaaclab_physx.physics`) wraps PhysX's
-     ``RigidBodyView`` and exposes its transforms as :class:`SceneDataFormat.Transform`. When
-     deformable bodies are present it also exposes flattened simulation nodal positions through
-     :class:`SceneDataFormat.Points`.
-   - ``OvPhysxSceneDataBackend`` (internal to :mod:`isaaclab_ov.physics`) mirrors the PhysX
-     contract for rigid transforms and OVPhysX deformable nodal tensors.
-   - ``NewtonSceneDataBackend`` (internal to :mod:`isaaclab_newton.physics`) wraps the Newton
-     model's ``body_q`` and exposes it as :class:`SceneDataFormat.Transform`.
-
-PhysX backend
--------------
-
-When PhysX is the active physics backend, the provider reads transforms directly from PhysX's
-``RigidBodyView`` (a wildcard-expanded tensor view covering every rigid body across all envs).
-The transforms are returned as :class:`SceneDataFormat.Transform` (Warp ``transformf`` array),
-so consumers that want this format get them zero-copy.
-
-Newton-native consumers (Newton visualizer, Rerun, Viser, Newton Warp renderer, OVRTX renderer)
-also need a Newton ``Model``/``State`` to render against. To provide that,
-:class:`~isaaclab_newton.physics.NewtonManager` builds a **shadow Newton model** from the USD
-stage on first access and updates its ``body_q`` from the PhysX backend each render frame.
-When the scene has PhysX or OVPhysX deformables, the shadow model also allocates
-``particle_q`` render slots for soft/cloth meshes, syncs simulation nodal positions through
-:meth:`SceneDataProvider.get_points` with ``allow_passthrough=False`` into a separate
-sim-sized buffer, and remaps or copies those positions into the render-sized ``particle_q``
-buffer each frame. Volume deformables with mismatched sim and visual vertex counts use a
-barycentric sim-to-visual remap so Newton Warp and OVRTX render the paired visual mesh rather
-than tet simulation topology. The shadow deformable registry exposes render-slot offsets and
-``particles_per_body`` counts for OVRTX point bindings.
-
-This is hidden behind :meth:`NewtonManager.get_model` / :meth:`NewtonManager.get_state`, so
-renderers don't need to know which physics backend is active.
-
-Newton backend
---------------
-
-When Newton is the active physics backend, the backend wraps the Newton model's ``body_q``
-directly. No shadow model or per-frame sync is needed: Newton already owns the authoritative
-model and state, and the provider exposes that state as :class:`SceneDataFormat.Transform`.
-
-Data requirements
-------------------
-
-Visualizers and renderers declare what they need from the scene data path. This is resolved at
-simulation-context construction time and is what triggers the shadow-model build for PhysX:
-
-.. list-table::
-   :header-rows: 1
-
-   * - Component
-     - Requires Newton model
-     - Requires USD stage
-   * - Kit visualizer
-     - No
-     - Yes
-   * - Newton visualizer
-     - Yes
-     - No
-   * - Rerun visualizer
-     - Yes
-     - No
-   * - Viser visualizer
-     - Yes
-     - No
-   * - Isaac RTX renderer
-     - No
-     - Yes
-   * - Newton Warp renderer
-     - Yes
-     - No
-   * - OVRTX renderer
-     - Yes
-     - Yes
-
-See Also
---------
-
-- :doc:`/source/overview/core-concepts/renderers`: renderer backends that consume scene data
-- :doc:`/source/concepts/visualization`: visualizer backends that consume scene data
+This page moved to :doc:`/source/developer-tools/scene_data_providers`.
diff --git a/docs/source/overview/core-concepts/schema_cfgs.rst b/docs/source/concepts/schema_cfgs.rst
similarity index 100%
rename from docs/source/overview/core-concepts/schema_cfgs.rst
rename to docs/source/concepts/schema_cfgs.rst
diff --git a/docs/source/overview/core-concepts/schema_fragments.rst b/docs/source/concepts/schema_fragments.rst
similarity index 100%
rename from docs/source/overview/core-concepts/schema_fragments.rst
rename to docs/source/concepts/schema_fragments.rst
diff --git a/docs/source/concepts/sensors/camera.rst b/docs/source/concepts/sensors/camera.rst
new file mode 100644
index 000000000000..a392ebfbdeef
--- /dev/null
+++ b/docs/source/concepts/sensors/camera.rst
@@ -0,0 +1,343 @@
+.. _concepts_sensors_camera:
+.. _overview_sensors_camera:
+
+.. currentmodule:: isaaclab
+
+Camera
+======
+
+A :class:`~sensors.Camera` defines what to capture: camera pose, projection, resolution, sampling
+period, and output data types. A renderer defines how those images are produced. Keeping these
+responsibilities separate lets one camera configuration work with different physics and rendering
+backends.
+
+Camera data is expensive compared with low-dimensional state. Isaac Lab therefore batches the
+camera copies from cloned environments into tiled render passes and exposes the de-tiled result as
+one device-resident buffer per requested output.
+
+Rendering model
+---------------
+
+:attr:`~sensors.CameraCfg.renderer_cfg` selects the renderer. A plain
+:class:`~isaaclab.renderers.RendererCfg` requests the runtime default. Use a concrete configuration
+when the renderer must be fixed:
+
+.. list-table::
+   :header-rows: 1
+   :widths: 34 23 43
+
+   * - Renderer configuration
+     - Requires Isaac Sim
+     - Characteristics
+   * - :class:`~isaaclab_physx.renderers.IsaacRtxRendererCfg`
+     - Yes
+     - Replicator and RTX rendering through Isaac Sim
+   * - :class:`~isaaclab_ov.renderers.OVRTXRendererCfg`
+     - No
+     - Kit-less RTX rendering through ``isaaclab_ov``
+   * - :class:`~isaaclab_newton.renderers.NewtonWarpRendererCfg`
+     - No
+     - Kit-less Warp rasterization through Newton
+
+For an environment that exposes renderer presets, select the renderer at launch instead of editing
+the scene configuration:
+
+.. code-block:: bash
+
+   uv run isaaclab train --rl_library rsl_rl \
+      --task Isaac-Cartpole-Camera-Direct renderer=newton_renderer
+
+See :doc:`/source/concepts/backends_and_presets` for preset discovery and
+:ref:`renderer-visual-comparison` for a same-scene comparison of the renderer outputs.
+
+.. _camera-configuration:
+
+Configure a camera
+------------------
+
+A camera can spawn a pinhole or fisheye camera prim, or bind to a camera already on the stage.
+``offset`` uses the convention declared on :class:`~sensors.CameraCfg.OffsetCfg`:
+
+* ``world``: forward ``+X``, up ``+Z``.
+* ``ros``: forward ``+Z``, up ``-Y``.
+* ``opengl``: forward ``-Z``, up ``+Y``.
+
+.. code-block:: python
+
+   import isaaclab.sim as sim_utils
+   from isaaclab.sensors import CameraCfg
+   from isaaclab_newton.renderers import NewtonWarpRendererCfg
+
+   front_camera = CameraCfg(
+       prim_path="{ENV_REGEX_NS}/Robot/base/front_camera",
+       update_period=0.05,
+       height=240,
+       width=320,
+       data_types=["rgb", "depth", "normals"],
+       spawn=sim_utils.PinholeCameraCfg(
+           focal_length=24.0,
+           horizontal_aperture=20.955,
+           clipping_range=(0.1, 20.0),
+       ),
+       offset=CameraCfg.OffsetCfg(
+           pos=(0.45, 0.0, 0.1),
+           rot=(0.0, 0.0, 0.0, 1.0),
+           convention="world",
+       ),
+       renderer_cfg=NewtonWarpRendererCfg(),
+   )
+
+A renderer instance is reused only when cameras use equal renderer configurations of the same
+concrete configuration type. Different renderer settings create distinct instances. Camera
+configurations, including output types and backgrounds, remain per sensor.
+
+Read camera data
+----------------
+
+:attr:`~sensors.CameraData.output` maps each requested name to a
+:class:`~isaaclab.utils.warp.ProxyArray`. For ``N`` camera views, height ``H``, width ``W``, and
+``C`` channels, each output has shape ``(N, H, W, C)``. Use ``torch`` for a cached zero-copy Torch
+view or ``warp`` for the underlying Warp array:
+
+.. code-block:: python
+
+   camera_data = scene["front_camera"].data
+   rgb = camera_data.output["rgb"].torch
+   depth = camera_data.output["depth"].torch
+   intrinsics = camera_data.intrinsic_matrices.torch
+
+Camera pose and intrinsic buffers are also ``ProxyArray`` objects. ``pos_w`` has shape ``(N, 3)``,
+``intrinsic_matrices`` has shape ``(N, 3, 3)``, and camera quaternions have shape ``(N, 4)`` in
+``(x, y, z, w)`` order. Set ``update_latest_camera_pose=True`` only when current pose data is needed;
+updating it adds frame-query overhead.
+
+.. _camera-output-types:
+
+Output types
+------------
+
+The active renderer validates ``data_types`` and allocates the channel count and data type declared
+by its :class:`~isaaclab.renderers.RenderBufferSpec`.
+
+.. list-table:: Common output contracts
+   :header-rows: 1
+   :widths: 34 22 44
+
+   * - Name
+     - Channels and type
+     - Meaning
+   * - ``rgb`` / ``rgba``
+     - 3 / 4, ``uint8``
+     - Low-dynamic-range color
+   * - ``rgb_hdr``
+     - 3, ``float32``
+     - Scene-linear high-dynamic-range color
+   * - ``albedo``
+     - 4, ``uint8``
+     - Material base color
+   * - ``depth`` / ``distance_to_image_plane``
+     - 1, ``float32``
+     - Distance [m] along the camera optical axis
+   * - ``distance_to_camera``
+     - 1, ``float32``
+     - Euclidean distance [m] from the optical center
+   * - ``normals``
+     - 3, ``float32``
+     - Local surface normal ``(x, y, z)``
+   * - ``motion_vectors``
+     - 2, ``float32``
+     - Image-space motion; positive ``x`` is left and positive ``y`` is up
+   * - ``semantic_segmentation``
+     - 4 ``uint8`` or 1 ``int32``
+     - Semantic color or ID per pixel
+   * - ``instance_segmentation``
+     - 4 ``uint8`` or 1 ``int32``
+     - Semantically labeled instance color or ID per pixel
+   * - ``instance_id_segmentation_fast``
+     - 4 ``uint8`` or 1 ``int32``
+     - USD-prim instance color or ID per pixel
+
+``depth`` is an alias of ``distance_to_image_plane``. Colorized segmentation uses RGBA ``uint8``;
+non-colorized segmentation uses one ``int32`` ID channel. Label and prim-path mappings are stored in
+``camera_data.info[output_name]``.
+
+.. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/camera-renderer-isaac-rtx.webp
+   :align: center
+   :figwidth: 100%
+   :alt: RGB camera output
+
+   Isaac RTX RGB output. The animation shows the six material spheres falling onto the table.
+
+.. figure:: ../../_static/overview/sensors/camera-renderer-isaac-rtx-depth.png
+   :align: center
+   :figwidth: 100%
+   :alt: Depth camera output
+
+   Isaac RTX depth output. Display colors encode optical-axis distance; the sensor returns metric
+   values [m].
+
+.. _camera-supported-annotators:
+
+Renderer support
+~~~~~~~~~~~~~~~~
+
+The common API does not imply that every renderer produces every output. For same-scene examples
+across these backends, see the :ref:`renderer visual comparison <renderer-visual-comparison>`. The
+current support matrix is:
+
+.. list-table::
+   :header-rows: 1
+   :widths: 38 20 20 22
+
+   * - Output
+     - Isaac RTX
+     - OVRTX
+     - Newton Warp
+   * - ``rgb``, ``rgba``, ``rgb_hdr``
+     - Yes
+     - Yes
+     - Yes
+   * - ``depth`` and both distance outputs
+     - Yes
+     - Yes
+     - Yes
+   * - ``normals``
+     - Yes
+     - Yes
+     - Yes
+   * - ``albedo``
+     - Isaac Sim 6.0+
+     - Yes
+     - Yes
+   * - ``motion_vectors``
+     - Yes
+     - Yes
+     - No
+   * - semantic and instance segmentation
+     - Yes
+     - Yes
+     - Yes
+   * - ``instance_id_segmentation_fast``
+     - Yes
+     - No
+     - No
+   * - ``simple_shading_*`` modes
+     - Isaac Sim 6.0+
+     - Yes
+     - No
+
+Querying an unsupported output fails during camera initialization. Renderer configuration controls
+semantic filters, segmentation colorization, and depth clipping where those options are
+backend-specific.
+
+.. figure:: ../../_static/overview/sensors/camera-renderer-isaac-rtx-normals.png
+   :align: center
+   :figwidth: 100%
+   :alt: Camera surface-normal output
+
+   Isaac RTX normals output. Red, green, and blue encode the surface normal X, Y, and Z components.
+
+.. figure:: ../../_static/overview/sensors/camera-renderer-isaac-rtx-semantic-segmentation.png
+   :align: center
+   :figwidth: 100%
+   :alt: Semantic segmentation output
+
+   Isaac RTX semantic segmentation. One color represents each class: the six spheres share one
+   class, while the table and backdrop use separate classes.
+
+.. figure:: ../../_static/overview/sensors/camera-renderer-isaac-rtx-instance-segmentation.png
+   :align: center
+   :figwidth: 100%
+   :alt: Instance segmentation output
+
+   Isaac RTX instance segmentation. Each sphere receives its own color, distinguishing objects
+   that share the same semantic class.
+
+Background color
+----------------
+
+When :attr:`~sensors.CameraCfg.background_color` is ``None``, each renderer uses its default
+background. Set a normalized RGB tuple to use a solid color for pixels that miss all geometry:
+
+.. code-block:: python
+
+   mask_camera = front_camera.replace(background_color=(0.0, 0.0, 0.0))
+
+The setting is per camera. Cameras with renderer-default and solid backgrounds can coexist in one
+scene.
+
+Post-render image signal processing
+-----------------------------------
+
+:attr:`~sensors.CameraCfg.isp_cfg` optionally applies an image signal processing (ISP) pass to the
+renderer's scene-linear HDR output. The shipped implementation is PPISP (Physically Plausible Image
+Signal Processing), which applies responsivity, exposure, vignetting, color correction, and a camera
+response function before writing ``rgb`` or ``rgba``.
+
+The field accepts:
+
+* ``None`` to disable post-render ISP.
+* :class:`~isaaclab_ppisp.PpispCfg` for explicit coefficients or coefficients imported from a USD
+  camera.
+* :class:`~sensors.CameraISPMode` to discover ``ppisp:*`` attributes on a camera prim.
+
+.. code-block:: python
+
+   from isaaclab.sensors.camera import CameraCfg, CameraISPMode
+   from isaaclab_ppisp import PpispCfg
+
+   explicit_isp = front_camera.replace(
+       data_types=["rgb"],
+       isp_cfg=PpispCfg(inputs={"exposureOffset": 1.5}),
+   )
+
+   discovered_isp = front_camera.replace(
+       data_types=["rgb"],
+       isp_cfg=CameraISPMode.AUTO_CAMERA,
+   )
+
+``AUTO_CAMERA`` checks the first matched camera prim. ``AUTO_ANY`` falls back to the first PPISP
+camera anywhere on the stage. Discovery happens once during camera construction.
+
+PPISP is composed by Isaac RTX, OVRTX, and Newton Warp. It requires ``rgb`` or ``rgba`` output. A
+static configuration is shared by all cloned views in one camera batch; controller weights may
+predict per-view exposure and color parameters, while the remaining coefficients stay shared. ISP
+configuration and discovered USD attributes are fixed for the camera lifetime.
+
+.. important::
+
+   With Isaac RTX and OVRTX, enabling ``isp_cfg`` makes PPISP the ISP authority. The renderer
+   disables RTX auto-exposure, authors neutral ``exposure:*`` values, and applies the
+   ``OmniRtxCameraAutoExposureAPI_1`` and ``OmniRtxCameraExposureAPI_1`` schemas on every matched
+   camera prim so RTX does not process the image a second time. Do not combine ``isp_cfg`` with
+   separately authored RTX exposure or tonemapping settings. When ``isp_cfg`` is ``None``, the
+   renderer leaves authored camera exposure unchanged.
+
+Run ``scripts/demos/sensors/ppisp_camera.py`` for a complete PPISP workflow:
+
+.. code-block:: bash
+
+   uv run --extra isaacsim python scripts/demos/sensors/ppisp_camera.py \
+      --renderer newton_renderer --max_steps 60
+
+Performance and validation
+--------------------------
+
+Image memory and rendering cost scale with the number of environments, resolution, channel count,
+and requested outputs. Start camera-based tasks with a small environment count, verify shapes and
+renderer support, and then scale while monitoring GPU memory. Avoid requesting buffers that the task
+does not consume.
+
+Tiled rendering batches the cloned views into shared render passes, but it does not remove the memory
+cost of the de-tiled outputs or downstream vision models. The camera follows the shared sensor
+``update_period`` contract; choose a period that matches the observation cadence instead of rendering
+at every physics step by default.
+
+A runnable camera example is available in ``scripts/demos/sensors/cameras.py``:
+
+.. code-block:: bash
+
+   uv run --extra isaacsim python scripts/demos/sensors/cameras.py
+
+For saving output to disk, see :doc:`/source/how-to/save_camera_output`. For camera-capacity
+estimation, see :doc:`/source/how-to/estimate_how_many_cameras_can_run`.
diff --git a/docs/source/concepts/sensors/contact_sensor.rst b/docs/source/concepts/sensors/contact_sensor.rst
new file mode 100644
index 000000000000..d05b19e2e995
--- /dev/null
+++ b/docs/source/concepts/sensors/contact_sensor.rst
@@ -0,0 +1,145 @@
+.. _concepts_sensors_contact:
+.. _overview_sensors_contact:
+
+.. currentmodule:: isaaclab
+
+Contact Sensor
+==============
+
+A :class:`~sensors.ContactSensor` aggregates contacts on one or more rigid bodies into batched force
+measurements. The sensor scope is defined by :attr:`~sensors.ContactSensorCfg.prim_path`: each matched
+body becomes one sensor body in every environment.
+
+.. figure:: ../../_static/overview/sensors/contact_diagram.jpg
+   :align: center
+   :figwidth: 100%
+   :alt: A contact sensor reporting total and filtered contact forces
+
+Net and filtered forces
+-----------------------
+
+:attr:`~sensors.ContactSensorData.net_normal_forces_w` is the aggregate normal force acting on each
+sensor body in the world frame. It includes contact with every body in the scene.
+
+When supported by the backend and enabled with ``track_friction_forces``,
+:attr:`~sensors.ContactSensorData.net_friction_forces_w` reports the aggregate friction force.
+The total force is therefore
+
+.. math::
+
+   \boldsymbol{f}_{total} = \boldsymbol{f}_{normal} + \boldsymbol{f}_{friction}.
+
+On Newton, :attr:`~sensors.ContactSensorData.net_forces_w` reports this total. PhysX and OvPhysX
+cannot compute the aggregate friction component, so ``net_forces_w`` returns
+``net_normal_forces_w`` with a warning. Use the explicit normal and friction properties when the
+split matters.
+
+Set :attr:`~sensors.ContactSensorCfg.filter_prim_paths_expr` when forces from specific collision
+partners are also needed. :attr:`~sensors.ContactSensorData.normal_force_matrix_w` and
+:attr:`~sensors.ContactSensorData.friction_force_matrix_w` retain one entry per configured
+filter expression.
+
+Summing a force matrix over its filter dimension reconstructs the corresponding aggregate
+force only when the filters cover every contacting object.
+
+Body-level filtering supports a many-to-one relationship: ``prim_path`` must resolve to one sensor
+body per environment when filters are configured. Define one sensor per source body when separate
+filtered forces are required, for example one sensor for each foot. Newton additionally supports
+shape-level sensing and filtering through ``sensor_shape_prim_expr`` and
+``filter_shape_prim_expr``.
+
+Configure the sensor
+--------------------
+
+Add the configuration to an :class:`~isaaclab.scene.InteractiveSceneCfg`:
+
+.. code-block:: python
+
+   from isaaclab.scene import InteractiveSceneCfg
+   from isaaclab.sensors import ContactSensorCfg
+
+
+   class MySceneCfg(InteractiveSceneCfg):
+       left_foot_contact = ContactSensorCfg(
+           prim_path="{ENV_REGEX_NS}/Robot/LF_FOOT",
+           update_period=0.0,
+           history_length=6,
+           filter_prim_paths_expr=["{ENV_REGEX_NS}/Object"],
+           track_air_time=True,
+       )
+
+``update_period=0.0`` samples every physics step. ``history_length`` stores earlier force samples.
+Enable optional buffers only when they are needed. Their backend support differs:
+
+* Isaac Sim PhysX supports pose, filtered contact-point, and filtered friction-force
+  tracking, but not aggregate friction-force tracking.
+* OvPhysX supports pose tracking for a single sensor body per environment, but not contact-point or
+  friction-force tracking.
+* Newton supports filtered contact-point and aggregate or filtered friction-force tracking, but not
+  pose tracking.
+
+Filtered contact points and friction-force matrices require filters. Contact-rich Isaac
+Sim PhysX scenes may require a larger ``max_contact_data_count_per_prim``.
+
+Read the data
+-------------
+
+For ``E`` environments, ``S`` sensor bodies, ``F`` filter expressions, and history length ``H``, the
+principal Torch views have these contracts:
+
+.. list-table::
+   :header-rows: 1
+   :widths: 32 26 42
+
+   * - Buffer
+     - Shape
+     - Meaning
+   * - ``net_normal_forces_w.torch``
+     - ``(E, S, 3)``
+     - Net normal contact force [N] in world frame
+   * - ``net_friction_forces_w.torch``
+     - ``(E, S, 3)``
+     - Net friction force [N] in world frame; Newton only
+   * - ``net_forces_w.torch``
+     - ``(E, S, 3)``
+     - Total force [N] on Newton; normal force with a warning on PhysX and OvPhysX
+   * - ``normal_force_matrix_w.torch``
+     - ``(E, S, F, 3)``
+     - Normal force [N] from each filtered partner
+   * - ``friction_force_matrix_w.torch``
+     - ``(E, S, F, 3)``
+     - Friction force [N] from each filtered partner; Isaac Sim PhysX and Newton
+   * - ``contact_pos_w.torch``
+     - ``(E, S, F, 3)``
+     - Average filtered contact position [m] in world frame; unavailable on OvPhysX
+   * - ``current_air_time.torch`` / ``current_contact_time.torch``
+     - ``(E, S)``
+     - Current mode duration [s]
+
+Supported optional buffers are ``None`` unless their matching tracking option or filter is enabled.
+Normal and friction force histories follow the same shapes with an added ``H`` dimension.
+OvPhysX rejects unsupported tracking options during initialization. Reading aggregate friction on
+PhysX or OvPhysX raises ``NotImplementedError``. The compatibility alias ``friction_forces_w``
+returns the aggregate on Newton; on PhysX it returns ``friction_force_matrix_w`` with a warning.
+Reading pose data on Newton raises ``NotImplementedError``.
+
+.. code-block:: python
+
+   contact = scene["left_foot_contact"]
+   net_normal_force = contact.data.net_normal_forces_w.torch
+   object_normal_force = contact.data.normal_force_matrix_w.torch
+
+Use ``debug_vis=True`` while validating body expressions and filter partners. The visualization shows
+sensor contacts but does not change the reported data.
+
+.. figure:: ../../_static/overview/sensors/contact_visualization.jpg
+   :align: center
+   :figwidth: 100%
+   :alt: Contact sensor debug visualization
+
+A complete runnable example is available in
+``scripts/demos/sensors/contact_sensor.py``:
+
+.. code-block:: bash
+
+   uv run --extra isaacsim python scripts/demos/sensors/contact_sensor.py
diff --git a/docs/source/concepts/sensors/frame_transformer.rst b/docs/source/concepts/sensors/frame_transformer.rst
new file mode 100644
index 000000000000..b8d597ea187c
--- /dev/null
+++ b/docs/source/concepts/sensors/frame_transformer.rst
@@ -0,0 +1,74 @@
+.. _concepts_sensors_frame_transformer:
+.. _overview_sensors_frame_transformer:
+
+.. currentmodule:: isaaclab
+
+Frame Transformer
+=================
+
+A :class:`~sensors.FrameTransformer` tracks the pose of one or more target frames relative to a
+source frame. It provides the same batched interface across cloned environments, avoiding repeated
+USD traversal or per-environment transform calculations.
+
+.. figure:: ../../_static/overview/sensors/frame_transformer.jpg
+   :align: center
+   :figwidth: 100%
+   :alt: Source and target frames used by a frame transformer
+
+Define frames
+-------------
+
+The sensor's :attr:`~sensors.FrameTransformerCfg.prim_path` selects the source rigid body. Each
+:class:`~sensors.FrameTransformerCfg.FrameCfg` selects one or more target rigid bodies and can add a
+fixed pose offset. Target paths accept regular expressions; the data order is recorded in
+:attr:`~sensors.FrameTransformerData.target_frame_names`.
+
+.. code-block:: python
+
+   from isaaclab.sensors import FrameTransformerCfg
+
+   feet_in_base = FrameTransformerCfg(
+       prim_path="{ENV_REGEX_NS}/Robot/base",
+       target_frames=[
+           FrameTransformerCfg.FrameCfg(
+               prim_path="{ENV_REGEX_NS}/Robot/.*_FOOT",
+               name="foot",
+           ),
+       ],
+       debug_vis=True,
+   )
+
+A target expression is inclusive. If it also matches the source body, the output includes the
+identity transform from the source to itself. Use a narrower expression when that entry is not
+wanted.
+
+Read transforms
+---------------
+
+For ``E`` environments and ``T`` resolved target frames, positions have shape ``(E, T, 3)``,
+quaternions have shape ``(E, T, 4)``, and combined poses have shape ``(E, T, 7)``. Quaternions use
+``(x, y, z, w)`` order.
+
+.. code-block:: python
+
+   transforms = scene["feet_in_base"].data
+   foot_names = transforms.target_frame_names
+   foot_pos_b = transforms.target_pos_source.torch
+   foot_quat_b = transforms.target_quat_source.torch
+   foot_pose_w = transforms.target_pose_w.torch
+
+``target_*_source`` fields express targets in the configured source frame. ``target_*_w`` fields
+express the offset target frames in the world frame. The corresponding ``source_*_w`` fields expose
+the offset source frame in world coordinates. Positions are in meters; quaternions are unitless.
+
+.. figure:: ../../_static/overview/sensors/frame_transformer_visualizer.jpg
+   :align: center
+   :figwidth: 100%
+   :alt: Frame transformer debug visualization
+
+A complete runnable example is available in
+``scripts/demos/sensors/frame_transformer_sensor.py``:
+
+.. code-block:: bash
+
+   uv run --extra isaacsim python scripts/demos/sensors/frame_transformer_sensor.py
diff --git a/docs/source/concepts/sensors/imu.rst b/docs/source/concepts/sensors/imu.rst
new file mode 100644
index 000000000000..6349ca26b72c
--- /dev/null
+++ b/docs/source/concepts/sensors/imu.rst
@@ -0,0 +1,67 @@
+.. _concepts_sensors_imu:
+.. _overview_sensors_imu:
+
+.. currentmodule:: isaaclab
+
+Inertial Measurement Unit (IMU)
+===============================
+
+A :class:`~sensors.Imu` models the two quantities produced by a conventional inertial measurement
+unit:
+
+* :attr:`~sensors.ImuData.ang_vel_b`: angular velocity [rad/s] relative to the world, expressed in
+  the IMU frame.
+* :attr:`~sensors.ImuData.lin_acc_b`: proper linear acceleration [m/s²], expressed in the IMU frame.
+
+Proper acceleration is what an accelerometer measures. It is zero in free fall and points upward
+with magnitude :math:`g` for a stationary sensor supported against gravity. This differs from the
+coordinate acceleration reported by the :doc:`pva`.
+
+.. figure:: ../../_static/overview/sensors/imu_diagram.jpg
+   :align: center
+   :figwidth: 100%
+   :alt: Forces that determine proper acceleration for an IMU
+
+Configure the sensor
+--------------------
+
+Attach the sensor to a rigid body or to a fixed child frame beneath one. ``offset`` places and
+orients the measurement frame relative to the parent frame.
+
+.. code-block:: python
+
+   from isaaclab.sensors import ImuCfg
+
+   base_imu = ImuCfg(
+       prim_path="{ENV_REGEX_NS}/Robot/base/imu",
+       update_period=0.0,
+       offset=ImuCfg.OffsetCfg(
+           pos=(0.0, 0.0, 0.05),
+           rot=(0.0, 0.0, 0.0, 1.0),
+       ),
+       debug_vis=True,
+   )
+
+Both data fields are :class:`~isaaclab.utils.warp.ProxyArray` buffers. For ``E`` environments, their
+Torch views have shape ``(E, 3)``:
+
+.. code-block:: python
+
+   imu_data = scene["base_imu"].data
+   angular_velocity = imu_data.ang_vel_b.torch
+   proper_acceleration = imu_data.lin_acc_b.torch
+
+The acceleration estimate depends on consecutive simulation states. Reset the scene and its sensors
+together so derivative history is not carried across episodes. Use a sensor update period compatible
+with the control loop that consumes the measurement.
+
+.. figure:: ../../_static/overview/sensors/imu_visualizer.jpg
+   :align: center
+   :figwidth: 100%
+   :alt: IMU acceleration debug visualization
+
+A complete runnable example is available in ``scripts/demos/sensors/imu_sensor.py``:
+
+.. code-block:: bash
+
+   uv run --extra isaacsim python scripts/demos/sensors/imu_sensor.py
diff --git a/docs/source/concepts/sensors/index.rst b/docs/source/concepts/sensors/index.rst
new file mode 100644
index 000000000000..fe48c7b69810
--- /dev/null
+++ b/docs/source/concepts/sensors/index.rst
@@ -0,0 +1,71 @@
+.. _concepts_sensors:
+.. _overview_sensors:
+
+Sensors
+========
+
+.. seealso::
+
+   These pages are the source of truth for the ``isaaclab-using-sensors-actuators`` agent skill
+   (`skills/user/use-sensors-actuators/ <../../../../skills/user/use-sensors-actuators/SKILL.md>`__).
+   When sensor behavior changes, keep the API documentation, maintained demos, these concept pages,
+   and the skill synchronized.
+
+Sensors turn simulation state or rendered scene data into batched measurements. Every Isaac Lab
+sensor derives from :class:`~isaaclab.sensors.SensorBase` and follows the same lifecycle:
+
+* ``prim_path`` selects the prim or prims measured in every cloned environment.
+* ``update_period`` sets the sampling period in simulated seconds. A value of ``0.0`` samples every
+  simulation step.
+* :meth:`~isaaclab.sensors.SensorBase.update` advances the sensor clock. Sensor data is evaluated
+  lazily when the :attr:`~isaaclab.sensors.SensorBase.data` property is read, unless recomputation or
+  debug visualization is requested.
+* :meth:`~isaaclab.sensors.SensorBase.reset` clears per-environment timestamps and internal state.
+
+Sensor data is exposed through :class:`~isaaclab.utils.warp.ProxyArray` buffers, including camera
+outputs. Use the ``torch`` property for a cached zero-copy Torch view or ``warp`` for the underlying
+Warp array.
+
+Choose a sensor
+---------------
+
+.. list-table::
+   :header-rows: 1
+   :widths: 28 47 25
+
+   * - Sensor
+     - Measurement
+     - Typical use
+   * - :doc:`camera`
+     - Renderer-produced color, depth, normals, motion, and segmentation images
+     - Vision observations and synthetic data
+   * - :doc:`ray_caster`
+     - First collision locations for configurable ray patterns
+     - Terrain sensing, lidar-style queries, and ray-cast cameras
+   * - :doc:`contact_sensor`
+     - Net and filtered contact forces, contact points, friction, and contact timing
+     - Locomotion, grasping, and collision events
+   * - :doc:`frame_transformer`
+     - Relative and world poses for configured frames
+     - End-effector, foot, and object tracking
+   * - :doc:`imu`
+     - Angular velocity and proper linear acceleration
+     - Inertial observations
+   * - :doc:`pva`
+     - Ground-truth pose, velocity, coordinate acceleration, and projected gravity
+     - State estimation and privileged observations
+   * - :doc:`joint_wrench_sensor`
+     - Incoming joint reaction force and torque
+     - Force/torque sensing and contact-rich control
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+
+   camera
+   ray_caster
+   contact_sensor
+   frame_transformer
+   imu
+   pva
+   joint_wrench_sensor
diff --git a/docs/source/concepts/sensors/joint_wrench_sensor.rst b/docs/source/concepts/sensors/joint_wrench_sensor.rst
new file mode 100644
index 000000000000..9b2c84511c81
--- /dev/null
+++ b/docs/source/concepts/sensors/joint_wrench_sensor.rst
@@ -0,0 +1,62 @@
+.. _concepts_sensors_joint_wrench:
+.. _overview_sensors_joint_wrench:
+
+.. currentmodule:: isaaclab
+
+Joint Wrench Sensor
+===================
+
+A :class:`~sensors.JointWrenchSensor` reports the incoming reaction wrench at each selected
+articulation body's parent joint. It exposes force [N] and torque [N·m] separately, with entries
+ordered by :attr:`~sensors.JointWrenchSensor.body_names`.
+
+Wrench convention
+-----------------
+
+The ``incoming_joint_frame`` convention expresses the wrench in the child-side joint frame at the
+child-side joint anchor. This matches the placement of a six-axis force/torque sensor mounted at the
+joint. Backend implementations convert their native solver output to this common convention.
+
+Configure the sensor
+--------------------
+
+Set :attr:`~sensors.JointWrenchSensorCfg.prim_path` to the articulation root. Reported body coverage
+depends on the physics backend:
+
+* PhysX and OVPhysX report every articulation link, including the root link.
+* Newton reports the child link of each non-free, non-fixed joint. It therefore excludes the root
+  link and any links connected through free or fixed joints.
+
+Use :attr:`~sensors.JointWrenchSensor.body_names` or
+:meth:`~sensors.JointWrenchSensor.find_bodies` instead of assuming that different backends expose
+the same number or order of entries:
+
+.. literalinclude:: ../../../../source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_manager_env_cfg.py
+   :language: python
+   :lines: 78-82
+
+Manager-based environments can select a body subset through
+:class:`~isaaclab.managers.SceneEntityCfg` and use
+:func:`~isaaclab.envs.mdp.body_incoming_wrench` as an observation term:
+
+.. literalinclude:: ../../../../source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_manager_env_cfg.py
+   :language: python
+   :lines: 122-131
+
+Read the data
+-------------
+
+For ``E`` environments and ``B`` reported bodies, ``force.torch`` and ``torque.torch`` each have
+shape ``(E, B, 3)``. Both buffers are ``None`` before simulation initialization.
+
+.. code-block:: python
+
+   joint_wrench = scene["joint_wrench"]
+   foot_ids, _ = joint_wrench.find_bodies([".*foot"])
+
+   force = joint_wrench.data.force.torch[:, foot_ids]
+   torque = joint_wrench.data.torque.torch[:, foot_ids]
+   wrench = torch.cat((force, torque), dim=-1)
+
+The composed ``wrench`` has shape ``(E, num_selected_bodies, 6)`` with force components followed by
+torque components. ``B`` and the entry ordering can differ between backends.
diff --git a/docs/source/concepts/sensors/pva.rst b/docs/source/concepts/sensors/pva.rst
new file mode 100644
index 000000000000..143a63159f42
--- /dev/null
+++ b/docs/source/concepts/sensors/pva.rst
@@ -0,0 +1,79 @@
+.. _concepts_sensors_pva:
+.. _overview_sensors_pva:
+
+.. currentmodule:: isaaclab
+
+Pose Velocity Acceleration (PVA) Sensor
+=======================================
+
+A :class:`~sensors.Pva` reads the ground-truth kinematic state of a frame. Use it for privileged
+observations, state estimation, or control inputs that require more than an inertial sensor measures.
+Use an :doc:`imu` when the observation should follow accelerometer and gyroscope conventions.
+
+The sensor can attach directly to a rigid body or to a fixed child prim beneath a rigid-body
+ancestor. In the latter case, Isaac Lab composes the child's fixed transform with the configured
+sensor offset.
+
+Measurement contract
+--------------------
+
+For ``E`` environments, every vector has shape ``(E, 3)``. The pose has shape ``(E, 7)`` in
+``(x, y, z, qx, qy, qz, qw)`` order.
+
+.. list-table::
+   :header-rows: 1
+   :widths: 28 27 45
+
+   * - Buffer
+     - Frame and units
+     - Meaning
+   * - ``pose_w``
+     - World; [m, unitless]
+     - Sensor position and orientation
+   * - ``projected_gravity_b``
+     - Sensor; unitless
+     - Unit gravity direction projected into the sensor frame
+   * - ``lin_vel_b``
+     - Sensor; [m/s]
+     - Linear velocity relative to the world
+   * - ``ang_vel_b``
+     - Sensor; [rad/s]
+     - Angular velocity relative to the world
+   * - ``lin_acc_b``
+     - Sensor; [m/s²]
+     - Coordinate linear acceleration; zero at rest and :math:`-g` in free fall
+   * - ``ang_acc_b``
+     - Sensor; [rad/s²]
+     - Angular acceleration relative to the world
+
+Configure and read the sensor
+-----------------------------
+
+.. code-block:: python
+
+   from isaaclab.sensors import PvaCfg
+
+   base_state = PvaCfg(
+       prim_path="{ENV_REGEX_NS}/Robot/base",
+       update_period=0.0,
+       offset=PvaCfg.OffsetCfg(pos=(0.0, 0.0, 0.05)),
+   )
+
+The data fields are :class:`~isaaclab.utils.warp.ProxyArray` buffers. Convert them to Torch views only
+where Torch operations are required:
+
+.. code-block:: python
+
+   pva_data = scene["base_state"].data
+   pose_w = pva_data.pose_w.torch
+   linear_velocity = pva_data.lin_vel_b.torch
+   coordinate_acceleration = pva_data.lin_acc_b.torch
+
+Like the IMU, acceleration uses state from consecutive simulation updates. Reset the scene and sensor
+state together at episode boundaries.
+
+A complete runnable example is available in ``scripts/demos/sensors/pva_sensor.py``:
+
+.. code-block:: bash
+
+   uv run --extra isaacsim python scripts/demos/sensors/pva_sensor.py
diff --git a/docs/source/overview/core-concepts/sensors/ray_caster.rst b/docs/source/concepts/sensors/ray_caster.rst
similarity index 93%
rename from docs/source/overview/core-concepts/sensors/ray_caster.rst
rename to docs/source/concepts/sensors/ray_caster.rst
index a9fdf1036e44..da3068791602 100644
--- a/docs/source/overview/core-concepts/sensors/ray_caster.rst
+++ b/docs/source/concepts/sensors/ray_caster.rst
@@ -1,3 +1,4 @@
+.. _concepts_sensors_ray_caster:
 .. _overview_sensors_ray_caster:
 
 .. currentmodule:: isaaclab
@@ -5,7 +6,7 @@
 Ray Caster
 =============
 
-.. figure:: ../../../_static/overview/sensors/raycaster_patterns.jpg
+.. figure:: ../../_static/overview/sensors/raycaster_patterns.jpg
     :align: center
     :figwidth: 100%
     :alt: A diagram outlining the basic geometry of frame transformations
@@ -23,13 +24,13 @@ explicit and to access Newton-specific options.
 
 Using a ray caster sensor requires a **pattern** and a parent xform to be attached to.  The pattern defines how the rays are cast, while the prim properties defines the orientation and position of the sensor (additional offsets can be specified for more exact placement).  Isaac Lab supports a number of ray casting pattern configurations, including a generic LIDAR and grid pattern.
 
-.. literalinclude:: ../../../../../scripts/demos/sensors/raycaster_sensor.py
+.. literalinclude:: ../../../../scripts/demos/sensors/raycaster_sensor.py
     :language: python
     :lines: 40-71
 
 Notice that the units on the pattern config is in degrees! Also, we enable visualization here to explicitly show the pattern in the rendering, but this is not required and should be disabled for performance tuning.
 
-.. figure:: ../../../_static/overview/sensors/raycaster_visualizer.jpg
+.. figure:: ../../_static/overview/sensors/raycaster_visualizer.jpg
     :align: center
     :figwidth: 100%
     :alt: Lidar Pattern visualized
@@ -79,6 +80,6 @@ You can use this script to experiment with pattern configurations and build an i
 .. dropdown:: Code for raycaster_sensor.py
    :icon: code
 
-   .. literalinclude:: ../../../../../scripts/demos/sensors/raycaster_sensor.py
+   .. literalinclude:: ../../../../scripts/demos/sensors/raycaster_sensor.py
       :language: python
       :linenos:
diff --git a/docs/source/concepts/solver-tuning/index.rst b/docs/source/concepts/solver-tuning/index.rst
new file mode 100644
index 000000000000..dcd195a72380
--- /dev/null
+++ b/docs/source/concepts/solver-tuning/index.rst
@@ -0,0 +1,22 @@
+.. Copyright (c) 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
+
+.. _solver-tuning:
+
+Solver Tuning
+=============
+
+Use these guides after the selected backend can construct the task and its
+assets. Reproduce one physical or task-level problem with a fixed initial
+state, seed, and action sequence before changing solver settings. Exact fields
+and defaults remain in the generated API reference.
+
+.. toctree::
+   :maxdepth: 1
+
+   tune_physx
+   tune_mjwarp
+   tune_kamino
+   tune_vbd
diff --git a/docs/source/concepts/solver-tuning/tune_kamino.rst b/docs/source/concepts/solver-tuning/tune_kamino.rst
new file mode 100644
index 000000000000..7cc1b9d42293
--- /dev/null
+++ b/docs/source/concepts/solver-tuning/tune_kamino.rst
@@ -0,0 +1,105 @@
+.. Copyright (c) 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
+
+.. _newton-kamino-solver:
+.. _kamino-solver-tuning:
+
+Tune Kamino
+===========
+
+Kamino is a beta Newton solver selected through a task-exposed
+``newton_kamino`` preset. This guide isolates and measures a reproducible
+problem before changing its solver settings. The generated API documentation
+for :class:`~isaaclab_newton.physics.KaminoPADMMSolverCfg` and
+:class:`~isaaclab_newton.physics.KaminoDVISolverCfg` remains authoritative for
+current fields and defaults.
+
+Prerequisites
+-------------
+
+Read :ref:`backends-and-presets` for preset semantics and
+:ref:`hydra-backend-solver-presets` for task integration. Prepare the asset for
+Newton with :doc:`/source/how-to/prepare_asset_for_newton`. Confirm that the
+task exposes ``newton_kamino`` through its ``--help`` output or the
+:doc:`environment catalog </source/setup/environments>`; do not infer
+Kamino support from another Newton preset.
+
+Start from an explicit baseline
+-------------------------------
+
+Run one small visual smoke test before training or benchmarking:
+
+.. code-block:: bash
+
+    uv run python scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct --num_envs 4 --viz newton physics=newton_kamino
+
+Then fix the initial state, seed, action sequence, and reset distribution. For
+that reproduction, record penetration, slip, energy, a task metric, a
+convergence diagnostic, and runtime. Change one decision at a time so every
+candidate can be compared with the same baseline.
+
+Choose PADMM or DVI
+-------------------
+
+Choose PADMM first for contact-heavy tasks. DVI is a candidate for mechanisms
+with relatively few active contacts. If a DVI task needs an explicit
+:class:`~isaaclab_newton.physics.KaminoDynamicsCfg` override, disable
+preconditioning; otherwise leave the dynamics override unset so Newton selects
+the compatible defaults.
+
+Validate reset and state consistency
+------------------------------------
+
+Validate root and joint state writes through the Isaac Lab asset APIs before
+tuning the solver. Kamino's maximal-coordinate body poses must agree with the
+reduced joint state after every reset. Investigate body-pose and joint-state
+disagreement, including custom reset code and reset overlaps, before changing
+convergence or stabilization settings.
+
+Choose and size collision handling
+----------------------------------
+
+Compare Kamino's internal detector with Newton's collision pipeline using the
+same full reset and contact distribution. ``use_collision_detector`` on the
+Kamino solver selects the internal path, which
+:class:`~isaaclab_newton.physics.KaminoCollisionDetectorCfg` configures; when
+it is disabled, :class:`~isaaclab_newton.physics.NewtonCollisionPipelineCfg`
+configures Newton's path. Size the active path only from observed capacity
+failures, missing contacts, or warnings, and use those generated APIs for the
+exact controls. Collision capacity cannot correct invalid geometry or reset
+penetration.
+
+Tune timestep and substeps
+--------------------------
+
+Hold the policy period and fixed reproduction constant. Only after the model
+and reset are valid, compare a smaller simulation timestep or more
+:attr:`~isaaclab_newton.physics.NewtonCfg.num_substeps` for the same policy
+period. Recheck the recorded physical, convergence, task, and runtime metrics;
+do not change policy timing merely to hide an unstable simulation step.
+
+Tune convergence and stabilization
+----------------------------------
+
+Tune :class:`~isaaclab_newton.physics.KaminoPADMMCfg` iteration and residual
+controls only for a reproducible PADMM convergence failure. For DVI, tune
+:class:`~isaaclab_newton.physics.KaminoDVICfg` alternating iterations and
+tolerance only for the same kind of evidence. Change
+:class:`~isaaclab_newton.physics.KaminoConstraintsCfg` stabilization controls
+only after collision and reset validation. More solver work cannot repair
+inconsistent state, invalid collision geometry, or reset overlap.
+
+Optimize only after validation
+------------------------------
+
+Disable diagnostics before performance measurements. Retain only changes that
+improve the recorded metrics, and separately measure sparse Jacobian, CUDA
+graph, collision, substep, and iteration costs when each applies to the
+selected solver and workload. For the parallel workflow, see :doc:`tune_mjwarp`;
+it does not replace Kamino-specific validation or tuning.
+
+The diagnose-first order is: validate the baseline, reset state, and collision
+path; compare timestep and substeps; investigate convergence and stabilization;
+then optimize measured costs.
diff --git a/docs/source/concepts/solver-tuning/tune_mjwarp.rst b/docs/source/concepts/solver-tuning/tune_mjwarp.rst
new file mode 100644
index 000000000000..a2011968769a
--- /dev/null
+++ b/docs/source/concepts/solver-tuning/tune_mjwarp.rst
@@ -0,0 +1,151 @@
+.. Copyright (c) 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
+
+.. _mjwarp-solver-tuning:
+
+Tune MJWarp
+===========
+
+This guide tunes the MuJoCo-Warp (MJWarp) solver after an asset and task can
+be constructed by the Newton backend. The generated API documentation for
+:class:`~isaaclab_newton.physics.NewtonCfg` and
+:class:`~isaaclab_newton.physics.MJWarpSolverCfg` is authoritative for every
+configuration field and its current default.
+
+Prerequisites
+-------------
+
+First follow :doc:`/source/how-to/prepare_asset_for_newton` and reproduce one failure with a
+fixed initial state, seed, and action sequence. Before changing solver
+settings, check the mechanical model, collision geometry, reset overlap,
+actuator limits, and unsupported features. A solver setting cannot correct an
+invalid asset or controller.
+
+Use maintained task configurations as evidence for a similar workload, not as
+defaults to copy. For example, compare the small
+`Cartpole configuration <https://github.com/isaac-sim/IsaacLab/blob/develop/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_env_cfg.py>`__
+with the contact-rich
+`Allegro Hand configuration <https://github.com/isaac-sim/IsaacLab/blob/develop/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/allegro_hand_common.py>`__.
+Their values only apply after validating the new task's reset and contact
+distribution.
+
+Start from an explicit baseline
+-------------------------------
+
+Make the selected solver, integration method, timestep, substeps, and
+diagnostics visible in the task configuration. This is an illustrative baseline;
+measure and set contact capacity for the task rather than treating omitted or
+checked-in values as universal.
+
+.. code-block:: python
+
+    from isaaclab.sim import SimulationCfg
+    from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
+
+    solver_cfg = MJWarpSolverCfg(solver="newton", integrator="implicitfast")
+    newton_cfg = NewtonCfg(
+        solver_cfg=solver_cfg,
+        num_substeps=1,
+        debug_mode=True,
+    )
+    sim_cfg = SimulationCfg(dt=1 / 120, physics=newton_cfg)
+
+Record the fixed-state behavior, warnings, contact count, penetration, slip,
+task metric, and runtime before changing one variable at a time. Turn off
+``debug_mode`` only after the solver budget has been validated for the
+full reset, command, and randomization distribution.
+
+Size contact and constraint capacity
+------------------------------------
+
+``nconmax`` bounds contact points per environment. ``njmax`` bounds constraint
+rows per environment; contacts can consume multiple rows, and joint limits,
+drives, equality constraints, and mimic constraints also consume rows. Do not
+derive ``njmax`` directly from ``nconmax``.
+
+Increase the relevant capacity when diagnostics show an overflow, contacts
+disappear in dense states, or behavior changes with object count. Measure the
+worst case across resets and randomized scenes, add task-specific headroom, and
+then verify that the same fixed-state result remains stable. Capacity cannot fix
+incorrect collision geometry, contact material, or convergence.
+
+Choose timestep and substeps
+----------------------------
+
+Each solver substep uses ``SimulationCfg.dt / NewtonCfg.num_substeps``. Start
+with a policy period that the controller can support, then compare a smaller
+``dt`` or more substeps when high drive stiffness, light objects, impacts, or
+dense contact cause instability. Substeps do not change the policy period
+``SimulationCfg.dt * env.decimation``.
+
+Use the same physical metrics and fixed-state reproduction for every candidate.
+Do not change policy decimation merely to conceal an unstable physics step.
+
+Validate convergence
+--------------------
+
+Keep ``NewtonCfg.debug_mode`` enabled while diagnosing. It reports
+per-environment solver iteration statistics and warns when an environment
+reaches the ``iterations`` cap. Only after the model, reset, contact path, and
+capacities are valid should a cap hit or a reproducible metric justify sweeping
+``iterations``, ``ls_iterations``, or ``tolerance``.
+
+Sweep one convergence limit at a time and stop when the physical and task
+metrics plateau. More iterations cannot compensate for bad inertia, penetration
+at reset, missing collision geometry, unsupported constraints, or excessive
+drive stiffness.
+
+Tune friction and contact behavior
+----------------------------------
+
+Validate colliders, contact locations, normal force, material friction, and
+``condim`` before changing global friction settings. ``cone`` selects the
+MuJoCo friction-cone representation; test an elliptic cone when a physically
+valid contact model still slips and the additional cost is warranted.
+``impratio`` changes frictional impedance relative to normal impedance. Treat
+both settings as a contact-formulation change, and recheck penetration, slip,
+energy, convergence, task success, and runtime after each change.
+
+Do not use ``impratio`` to mask missing contacts, incorrect material friction,
+insufficient gripper effort, or a controller that opens the grasp. For the
+underlying contact formulation, see the `MuJoCo contact documentation
+<https://mujoco.readthedocs.io/en/stable/computation/index.html#contact>`__ and
+`option reference <https://mujoco.readthedocs.io/en/stable/XMLreference.html#option-impratio>`__.
+
+Choose the contact pipeline
+---------------------------
+
+Use ``use_mujoco_contacts=True`` for the simplest baseline. It selects
+MuJoCo's internal collision detection and cannot be combined with
+:attr:`~isaaclab_newton.physics.NewtonCfg.collision_cfg`.
+
+Set ``use_mujoco_contacts=False`` only when the task needs Newton's collision
+pipeline, such as for non-convex meshes, SDF or hydroelastic contacts. Configure
+:class:`~isaaclab_newton.physics.NewtonCollisionPipelineCfg` on
+:class:`~isaaclab_newton.physics.NewtonCfg`, then size its collision buffers
+from observed overflow or missing-contact evidence. ``collision_decimation``
+matters only for this pipeline and when more than one solver substep is used;
+refresh contacts more often for fast-changing contacts before reducing work for
+performance.
+
+Optimize only after validation
+------------------------------
+
+After the task is stable over its full distribution, measure the cost of each
+change and retain only work that improves the recorded outcome. Reduce excess
+capacity, line-search work, collision refresh, substeps, and state
+synchronization frequency one at a time.
+
+``ccd_iterations`` is a GJK/EPA collision-convergence cap, not a PhysX-style
+continuous-collision-detection switch. Increase it only for a warning or a
+reproducible complex-geometry collision failure. Keep
+``update_data_interval=1`` until resets, Newton-side state writes, contact
+reporting, and sensors are verified; a larger interval reduces synchronization
+work but can expose stale data. ``save_to_mjcf``, ``use_mujoco_cpu``, and
+``disable_contacts`` are diagnostic tools, not production tuning targets.
+
+The diagnose-first order is: validate the model and fixed reproduction; choose
+timestep and substeps; size capacities; validate convergence; tune contact
+behavior and the contact pipeline; then optimize measured costs.
diff --git a/docs/source/concepts/solver-tuning/tune_physx.rst b/docs/source/concepts/solver-tuning/tune_physx.rst
new file mode 100644
index 000000000000..ef906622524a
--- /dev/null
+++ b/docs/source/concepts/solver-tuning/tune_physx.rst
@@ -0,0 +1,137 @@
+.. Copyright (c) 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
+
+.. _physx-solver-tuning:
+
+Tune the PhysX Solver
+=====================
+
+Use this guide after the PhysX backend can construct the task and its assets.
+Before changing solver settings, reproduce one issue with a fixed initial
+state, seed, and action sequence. Record the failure, contact behavior, and
+task metric for that reproduction, then change one scene-level setting at a
+time. The generated API documentation for
+:class:`~isaaclab_physx.physics.PhysxCfg` remains authoritative for exact
+fields and current defaults.
+
+Start from an explicit baseline
+-------------------------------
+
+Make the scene-level PhysX choices visible in the task configuration first.
+This baseline is a representative starting point for a contact-rich task, not a
+universal recommendation:
+
+.. code-block:: python
+
+    from isaaclab.sim import SimulationCfg
+    from isaaclab_physx.physics import PhysxCfg
+
+    physx_cfg = PhysxCfg(
+        solver_type=1,
+        min_position_iteration_count=8,
+        max_position_iteration_count=64,
+        min_velocity_iteration_count=1,
+        max_velocity_iteration_count=4,
+        enable_ccd=False,
+        enable_stabilization=False,
+        bounce_threshold_velocity=0.2,
+        friction_offset_threshold=0.04,
+        friction_correlation_distance=0.025,
+    )
+
+    sim_cfg = SimulationCfg(dt=1 / 120, physics=physx_cfg)
+
+Keep per-actor properties such as contact materials, articulation iteration
+counts, and USD-authored collision settings on the schema configuration side;
+scene-level PhysX tuning does not replace that authoring path.
+
+Choose TGS or PGS
+-----------------
+
+Keep ``solver_type=1`` (TGS) as the first candidate for articulated robots and
+contact-rich manipulation. TGS is the established default and usually gives the
+best stability for modern Isaac Lab tasks. Compare ``solver_type=0`` (PGS) only
+when the fixed reproduction still shows poor behavior after validating the
+asset, controller, and contact geometry, or when a stiff legacy asset behaves
+better with PGS.
+
+If a grasping or stiff-contact workload remains sensitive after the solver
+choice is fixed, test ``solve_articulation_contact_last`` on the same
+reproduction and keep it only when it measurably improves the recorded contact
+or task metric.
+
+Tune solver iterations
+----------------------
+
+PhysX clamps each actor's solver work through the scene-level iteration ranges:
+``min_position_iteration_count`` and ``max_position_iteration_count`` for
+position iterations, plus ``min_velocity_iteration_count`` and
+``max_velocity_iteration_count`` for velocity iterations.
+
+Increase position iterations first when the fixed reproduction shows
+penetration, joint constraint drift, or grasp instability. Increase velocity
+iterations only when the same reproduction shows unstable restitution or a
+velocity-level convergence issue that position iterations do not correct. Stop
+when the measured behavior plateaus; more iterations cannot repair invalid
+collision geometry, reset overlap, or a controller that injects instability.
+
+Tune contacts and stability
+---------------------------
+
+Validate colliders, material properties, and reset overlap before changing
+scene-wide contact settings. Then use the same fixed reproduction to tune:
+
+* ``enable_ccd`` for fast-moving bodies that tunnel through thin geometry when
+  using CPU dynamics. CCD is not supported with GPU dynamics; Isaac Lab forces
+  it off and emits a warning if ``enable_ccd=True`` is requested on a GPU
+  simulation.
+* ``enable_stabilization`` only for low-rate simulations where ``dt`` is larger
+  than about ``1 / 30`` seconds; this extra pass can make reported
+  contact-sensor force magnitudes inaccurate, so keep it disabled when those
+  forces are part of the observation or evaluation path.
+* ``bounce_threshold_velocity`` [m/s] for the relative speed above which
+  contacts bounce.
+* ``friction_offset_threshold`` [m] for the contact distance at which PhysX
+  starts applying friction forces.
+* ``friction_correlation_distance`` [m] for the distance used to merge nearby
+  contacts into one friction anchor.
+
+Treat each of these as a measured contact-model change. Recheck penetration,
+slip, bounce, contact counts, task success, and runtime after every adjustment.
+
+Size GPU buffers
+----------------
+
+Most PhysX GPU scene-buffer capacities are fixed and do not grow dynamically.
+When a scene exceeds one of these capacities, PhysX can drop contacts or fail
+with a ``[PhysX]`` warning. Treat those warnings as hard failures for the
+reproduction and increase only the capacity that overflowed.
+
+The most common fixed capacities to raise for large vectorized or contact-rich
+scenes are:
+
+* ``gpu_max_rigid_contact_count``
+* ``gpu_max_rigid_patch_count``
+* ``gpu_found_lost_pairs_capacity``
+* ``gpu_found_lost_aggregate_pairs_capacity``
+* ``gpu_total_aggregate_pairs_capacity``
+* ``gpu_collision_stack_size``
+
+``gpu_heap_capacity`` is different: it sets the initial capacity of the GPU
+and pinned-host-memory heaps, and PhysX allocates additional memory when those
+heaps need to grow. Increase the initial heap capacity when measurements show
+that repeated growth is undesirable, not because it is a fixed upper bound.
+
+Measure the busiest reset and contact state, add task-specific headroom, and
+then verify that the same fixed reproduction remains stable. Buffer sizing
+cannot correct invalid geometry, solver divergence, or a controller issue.
+
+See also
+--------
+
+* :class:`~isaaclab_physx.physics.PhysxCfg`
+* :doc:`/source/concepts/schema_cfgs`
+* :ref:`physics-backends-physx`
+* :doc:`/source/concepts/solver_differences`
diff --git a/docs/source/concepts/solver-tuning/tune_vbd.rst b/docs/source/concepts/solver-tuning/tune_vbd.rst
new file mode 100644
index 000000000000..543f8243d578
--- /dev/null
+++ b/docs/source/concepts/solver-tuning/tune_vbd.rst
@@ -0,0 +1,519 @@
+.. _newton-using-vbd:
+
+VBD Solver
+==========
+
+Vertex Block Descent (VBD) is a Newton solver for cloth and soft-body
+simulation. In Isaac Lab, VBD is enabled by selecting a
+:class:`~isaaclab_newton.physics.NewtonCfg` whose ``solver_cfg`` is a
+:class:`~isaaclab_newton.physics.VBDSolverCfg`.
+
+A task that works with PhysX or with Newton's MuJoCo-Warp solver may still need
+deformable assets, materials, contacts, and coupling tuned before it works well
+with VBD.
+
+VBD is usually exposed through a task-specific physics preset rather than a
+general ``newton_vbd`` preset. Deformable-only scenes can use
+:class:`~isaaclab_newton.physics.VBDSolverCfg` directly. For robot or
+rigid-body scenes, the named-entry coupling options are:
+
+* :class:`~isaaclab_contrib.coupling.CouplerProxyCfg` for the proxy coupling
+  used by the core Franka tasks.
+* :class:`~isaaclab_contrib.coupling.CouplerAdmmCfg` for linearized ADMM
+  coupling between named solver entries.
+
+Start from a Supported Deformable Task
+--------------------------------------
+
+.. note::
+
+   The ``Isaac-Lift-Soft-Franka`` task requires automatic tetrahedralization.
+   The uv commands below select the ``tetrahedralization`` extra when needed.
+
+   With the legacy installer:
+
+   .. code-block:: bash
+
+      ./isaaclab.sh -i tetrahedralization
+
+Before adding VBD to a new task, first run one of the Franka deformable tasks:
+
+.. tab-set::
+
+   .. tab-item:: uv (Recommended)
+
+      .. code-block:: bash
+
+          uv run --extra tetrahedralization python scripts/environments/zero_agent.py --task Isaac-Lift-Soft-Franka --num_envs 1 --visualizer kit
+
+   .. tab-item:: isaaclab.sh / isaaclab.bat
+
+      .. code-block:: bash
+
+          ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Lift-Soft-Franka --num_envs 1 --visualizer kit
+
+For the surface-deformable cloth variant, use:
+
+.. tab-set::
+
+   .. tab-item:: uv (Recommended)
+
+      .. code-block:: bash
+
+          uv run python scripts/environments/zero_agent.py --task Isaac-Lift-Cloth-Franka --num_envs 1 --visualizer kit
+
+   .. tab-item:: isaaclab.sh / isaaclab.bat
+
+      .. code-block:: bash
+
+          ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Lift-Cloth-Franka --num_envs 1 --visualizer kit
+
+Both tasks configure MJWarp for the rigid Franka and VBD for the deformable
+object through
+:class:`~isaaclab_contrib.coupling.CouplerProxyCfg`.
+Use these tasks as starting points for asset setup, solver coupling, and contact
+tuning.
+
+Add a VBD Physics Preset
+------------------------
+
+Tasks that support multiple physics options usually store ``SimulationCfg.physics``
+as a :class:`~isaaclab_tasks.utils.hydra.PresetCfg`. For deformable Newton tasks,
+the preset is a plain :class:`~isaaclab_newton.physics.NewtonCfg`. Standalone
+VBD and soft-contact configuration live in :mod:`isaaclab_newton.physics`, while
+proxy and ADMM coupling live in :mod:`isaaclab_contrib.coupling`.
+
+The Franka soft-body and cloth tasks define task-specific proxy presets.
+
+The important pieces are:
+
+* Add a Newton physics preset whose value is a
+  :class:`~isaaclab_newton.physics.NewtonCfg`.
+* Use :class:`~isaaclab_contrib.coupling.CouplerProxyCfg` with named
+  :class:`~isaaclab_contrib.coupling.CouplerEntryCfg` entries to partition the
+  rigid bodies and deformable particles between MJWarp and VBD.
+* Add :class:`~isaaclab_contrib.coupling.CouplerProxyMappingCfg` entries for the
+  collidable rigid bodies exposed to VBD. Leave
+  ``integrate_with_external_rigid_solver=False`` for proxy-coupled VBD entries.
+* Set the outer :attr:`~isaaclab_newton.physics.NewtonCfg.soft_contact_cfg` to a
+  :class:`~isaaclab_newton.physics.NewtonSoftContactCfg` when body-particle or
+  self-contact values need task-level tuning.
+* Keep the preset at the same config path used by the task's
+  :class:`~isaaclab.sim.SimulationCfg`, for example ``env.sim.physics``.
+
+You can select the deformable Newton preset globally:
+
+.. tab-set::
+
+   .. tab-item:: uv (Recommended)
+
+      .. code-block:: bash
+
+          uv run --extra tetrahedralization isaaclab train --rl_library rsl_rl --task=Isaac-Lift-Soft-Franka physics=newton_mjwarp_vbd_proxy
+
+   .. tab-item:: isaaclab.sh / isaaclab.bat
+
+      .. code-block:: bash
+
+          ./isaaclab.sh train --rl_library rsl_rl --task=Isaac-Lift-Soft-Franka physics=newton_mjwarp_vbd_proxy
+
+or select the physics field directly:
+
+.. tab-set::
+
+   .. tab-item:: uv (Recommended)
+
+      .. code-block:: bash
+
+          uv run --extra tetrahedralization isaaclab train --rl_library rsl_rl --task=Isaac-Lift-Soft-Franka env.sim.physics=newton_mjwarp_vbd_proxy
+
+   .. tab-item:: isaaclab.sh / isaaclab.bat
+
+      .. code-block:: bash
+
+          ./isaaclab.sh train --rl_library rsl_rl --task=Isaac-Lift-Soft-Franka env.sim.physics=newton_mjwarp_vbd_proxy
+
+Use the direct path override when only one task field should use the VBD preset.
+Use ``physics=newton_mjwarp_vbd_proxy`` when you want every matching preset
+field in the task config to resolve to that preset. Isaac Lab training commands
+accept these Hydra overrides after the regular command line flags; no separator is
+needed for the examples above.
+
+
+Check Task and Asset Compatibility
+----------------------------------
+
+VBD uses the Newton model built from the task assets. When adding VBD to a new
+task, validate the following before tuning solver parameters:
+
+* The task must already be compatible with the Newton backend. If a rigid-only
+  ``newton_mjwarp`` preset fails during model construction, fix the asset or task
+  configuration first.
+* The scene must include Newton-compatible deformable assets and materials. Use
+  :class:`~isaaclab_newton.sim.spawners.materials.NewtonDeformableBodyMaterialCfg`
+  for volume deformables and
+  :class:`~isaaclab_newton.sim.spawners.materials.NewtonSurfaceDeformableBodyMaterialCfg`
+  for cloth or surface deformables.
+* Proxy-coupled robot tasks should expose only the collidable bodies needed for
+  deformable contact.
+* Contact-heavy scenes usually need task-specific ``num_substeps``,
+  :class:`~isaaclab_newton.physics.VBDSolverCfg`, and
+  :class:`~isaaclab_newton.physics.NewtonSoftContactCfg` values. Start from the
+  Franka soft-body or cloth preset that most closely resembles the scene.
+* Use a small visual smoke test before training. Confirm that the deformable
+  spawns, renders, deforms, and contacts rigid bodies as expected.
+
+VBD Solver Parameters
+---------------------
+
+The following fields are specific to
+:class:`~isaaclab_newton.physics.VBDSolverCfg`. They are grouped by the part
+of the solver they affect.
+
+Core Solve
+^^^^^^^^^^
+
+.. list-table::
+    :header-rows: 1
+    :widths: 30 70
+
+    * - Parameter
+      - Description
+    * - ``iterations``
+      - Default: ``10``. Number of VBD iterations per substep. Increasing this value improves deformation and contact convergence, especially for stiff materials or rigid gripper contacts, but increases runtime.
+    * - ``rigid_body_particle_contact_buffer_size``
+      - Default: ``256``. Per-body capacity for particle, edge, and face soft contacts. Increase it if Newton reports a per-body contact buffer overflow.
+    * - ``integrate_with_external_rigid_solver``
+      - Default: ``False``. Set to ``True`` only when a manual manager integrates rigid bodies in the shared model. Proxy-coupled entries use partitioned model views and leave this ``False``.
+
+
+Self-Contact
+^^^^^^^^^^^^
+
+.. list-table::
+    :header-rows: 1
+    :widths: 30 70
+
+    * - Parameter
+      - Description
+    * - ``particle_enable_self_contact``
+      - Default: ``False``. Enables deformable self-contact. Use this for cloth folds or soft bodies that collide with themselves. It increases contact work and usually needs additional tuning.
+    * - ``particle_self_contact_radius``
+      - Default: ``0.005`` [m]. Effective self-contact thickness. VBD applies vertex-triangle and edge-edge self-contact response when the current primitive distance is smaller than this radius.
+    * - ``particle_self_contact_margin``
+      - Default: ``0.005`` [m]. Self-contact candidate search distance. VBD uses this envelope when building self-contact lists, then applies contact response using ``particle_self_contact_radius``. Keep this greater than or equal to the radius to avoid missed contacts.
+    * - ``particle_collision_detection_interval``
+      - Default: ``-1``. Controls how often self-contact detection runs. A negative value detects before initialization only. ``0`` detects before and immediately after initialization. A positive value ``k`` detects before every ``k`` VBD iterations.
+    * - ``particle_vertex_contact_buffer_size``
+      - Default: ``32``. Preallocation size for each vertex's vertex-triangle self-contact buffer. Increase it if dense folds or high-resolution cloth exceed the default capacity.
+    * - ``particle_edge_contact_buffer_size``
+      - Default: ``64``. Preallocation size for each edge's edge-edge self-contact buffer. Increase it if dense folds or high-resolution cloth exceed the default capacity.
+    * - ``particle_topological_contact_filter_threshold``
+      - Default: ``2``. Filters contacts between mesh primitives that are close in topology. Increase this to suppress contact between neighboring elements of the same surface. Values greater than ``3`` can significantly increase compute time.
+    * - ``particle_rest_shape_contact_exclusion_radius``
+      - Default: ``0.0`` [m]. Filters self-contact candidates whose rest-configuration distance is shorter than this distance. Increase it when rest-neighbor contacts produce unwanted resistance.
+
+
+Custom MJWarp + VBD Parameters
+------------------------------
+
+The opt-in
+:class:`~isaaclab_contrib.custom_coupling.newton_manager_cfg.CoupledMJWarpVBDSolverCfg`
+runs MJWarp and VBD over one shared model. Import
+:mod:`isaaclab_contrib.custom_coupling.tasks` explicitly to register
+``IsaacContrib-Lift-Soft-Franka-Custom-Coupling``, which selects the
+``newton_mjwarp_vbd`` preset.
+
+.. list-table::
+    :header-rows: 1
+    :widths: 30 70
+
+    * - Parameter
+      - Description
+    * - ``rigid_solver_cfg``
+      - MJWarp configuration for rigid bodies.
+    * - ``soft_solver_cfg``
+      - VBD configuration. Set ``integrate_with_external_rigid_solver=True``
+        so VBD advances only particles.
+    * - ``coupling_mode="one_way"``
+      - Advance rigid bodies first, then particles without rigid reaction
+        forces.
+    * - ``coupling_mode="two_way"``
+      - Inject particle reactions before MJWarp, then advance VBD with the same
+        contacts.
+
+MJWarp ``nconmax`` and ``njmax`` must cover the rigid contacts and constraints
+in the scene. ``ccd_iterations`` can affect fast rigid contacts near
+deformables. See :doc:`/source/concepts/solver-tuning/tune_mjwarp` for the rigid-solver
+parameters.
+
+Use the custom manager for direct shared-model substep ordering. Use proxy
+coupling when deformable contact is localized to selected rigid bodies.
+
+Start from ``coupling_mode="two_way"``. With two-way coupling the body-particle
+reaction acts on the arm as well as the deformable, so the gripper is less
+likely to clip through the object than under one-way coupling. If it still
+clips, lower the arm actuator stiffness so the arm can yield to those reactions,
+and command the gripper to close fully, letting the actuator's maximum effort
+limit the squeeze.
+
+
+.. _newton-vbd-proxy-coupling:
+
+Coupled MJWarp + VBD
+--------------------
+
+:class:`~isaaclab_contrib.coupling.CouplerProxyCfg` is the coupling used by
+the core Franka tasks. It partitions the model between named solver entries and
+exposes selected source bodies to the destination solver as proxies. Contact
+feedback returns to the source solver as lagged impulses. This keeps deformable
+contact work localized to the rigid bodies that need it, such as a gripper hand
+and fingers. The pinned proxy solver supports at most two entries and rejects
+joints that cross entry boundaries.
+
+See :ref:`newton-coupled-solvers` for a high-level comparison of proxy and ADMM
+coupling before choosing an approach.
+
+The core Franka soft-body task demonstrates the proxy configuration:
+
+.. literalinclude:: ../../../../source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_soft_env_cfg.py
+    :language: python
+    :start-at: newton_mjwarp_vbd_proxy: NewtonCfg
+    :end-before: isaacsim_physx: PhysxCfg = PhysxCfg(
+    :dedent: 4
+
+What the selectors do:
+
+* ``entries`` contains one
+  :class:`~isaaclab_contrib.coupling.CouplerEntryCfg` per sub-solver. Each
+  entry has a stable ``name``, its own ``solver_cfg``, and explicit model
+  ownership selectors.
+* An entry's ``bodies`` selectors are full Newton body-label regex strings.
+  By default, joints inherit their child body's owner and
+  shapes inherit their body's owner. Use ``all_particles=True`` to own all
+  deformable particles and ``include_static_shapes=True`` to own world
+  geometry. Bodies, particles, joints, and shapes may be assigned to at most
+  one entry; unassigned elements remain outside the nested solver views.
+* ``proxies`` contains directed
+  :class:`~isaaclab_contrib.coupling.CouplerProxyMappingCfg` mappings. Each mapping
+  names its ``source`` and ``destination`` entries, then uses ``bodies`` to
+  select the source bodies that the destination solver should collide against.
+  Only bodies that own at least one ``newton.ShapeFlags.COLLIDE_SHAPES`` shape
+  are kept.
+* In the snippet above, the entire Franka articulation is routed to MJWarp,
+  while the deformable particles and static table/world shapes are routed to
+  VBD. Only the ``panda_hand`` and the two fingers are exposed as proxies,
+  so VBD sees three rigid proxies regardless of the number of arm links.
+
+Full-surface rigid-soft contact includes edge and triangle-interior contacts.
+Analytic proxy shapes support it directly, while mesh and convex proxy shapes
+require a volume SDF.
+
+.. important::
+
+    The coupler currently rejects
+    :class:`~isaaclab_newton.physics.KaminoPADMMSolverCfg` or
+    :class:`~isaaclab_newton.physics.KaminoDVISolverCfg` entries and
+    :class:`~isaaclab_newton.physics.MPMSolverCfg` entries configured with
+    ``project_outside_colliders=True``, as well as
+    :class:`~isaaclab_newton.physics.MJWarpSolverCfg` entries configured with
+    ``use_mujoco_cpu=True``. These configurations require manager-specific
+    build, forward-kinematics, reset, or per-step lifecycle hooks that are not
+    yet available to nested solvers. Use MPM with
+    ``project_outside_colliders=False`` and GPU MJWarp, or run these solvers
+    through their standalone managers until nested lifecycle support is added.
+
+Key proxy-specific parameters:
+
+.. list-table::
+    :header-rows: 1
+    :widths: 30 70
+
+    * - Parameter
+      - Description
+    * - ``CouplerProxyMappingCfg.mode``
+      - Default: ``"lagged"``. ``"lagged"`` syncs source begin poses and end
+        velocities, then rewinds lagged feedback before the destination solve.
+        ``"staggered"`` syncs source end poses and end velocities directly.
+        Lagged is the safer default; staggered can be tighter but is more
+        sensitive to timestep.
+    * - ``CouplerProxyCfg.iterations``
+      - Default: ``1``. Number of relaxation iterations per coupled substep.
+        Increase it when proxy contact feedback needs more accuracy.
+    * - ``CouplerProxyMappingCfg.collide_interval``
+      - Default: ``None`` (every proxy pass). How often the proxy collision
+        pipeline rebuilds candidate pairs. Increase it for cheaper but slightly
+        staler proxy contacts.
+    * - ``CouplerProxyMappingCfg.mass_scale``
+      - Default: ``1.0``. Multiplier for the virtual inertia of proxy bodies
+        in the VBD view. Increase it to make proxies behave more like fixed
+        obstacles to VBD.
+
+Body selectors must use full Newton body-label regexes, such as
+``/World/envs/env_.*/Robot``. Proxy mappings also accept raw Newton body ids.
+
+:class:`~isaaclab_contrib.coupling.CouplerAdmmCfg` provides linearized ADMM
+coupling between the same named solver entries. Set ``contact_pairs`` to select
+entry pairs explicitly, or leave it as ``None`` to detect every distinct pair.
+Use ``iterations`` and ``rho`` to tune the ADMM solve.
+
+Try the demo:
+
+.. tab-set::
+
+   .. tab-item:: uv (Recommended)
+
+      .. code-block:: bash
+
+          # zero-agent visual smoke test
+          uv run --extra tetrahedralization python scripts/environments/zero_agent.py --task Isaac-Lift-Soft-Franka --num_envs 1 --visualizer kit
+
+          # scripted pick-and-lift via state machine
+          uv run --extra tetrahedralization python scripts/environments/state_machine/lift_franka_soft.py --num_envs 1
+
+   .. tab-item:: isaaclab.sh / isaaclab.bat
+
+      .. code-block:: bash
+
+          # zero-agent visual smoke test
+          ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Lift-Soft-Franka --num_envs 1 --visualizer kit
+
+          # scripted pick-and-lift via state machine
+          ./isaaclab.sh -p scripts/environments/state_machine/lift_franka_soft.py --num_envs 1
+
+
+Contact and Material Parameters
+-------------------------------
+
+Contact Model
+^^^^^^^^^^^^^
+
+:class:`~isaaclab_newton.physics.NewtonSoftContactCfg` applies contact parameters
+to the finalized Newton model through
+:attr:`~isaaclab_newton.physics.NewtonCfg.soft_contact_cfg`:
+
+.. list-table::
+    :header-rows: 1
+    :widths: 30 70
+
+    * - Parameter
+      - Description
+    * - ``soft_contact_ke``
+      - Default: ``1.0e3`` [N/m]. Stiffness for body-particle and particle self-contact. Increase it to reduce clipping through rigid shapes or through other deformable particles. If it is too high, the object can stop visibly deforming or require more VBD iterations and substeps.
+    * - ``soft_contact_kd``
+      - Default: ``1.0e1`` [N*s/m]. Contact damping. Increase it to reduce chatter or bouncing. Too much damping can make contact response sticky or overdamped.
+    * - ``soft_contact_mu``
+      - Default: ``0.5``. Friction coefficient for body-particle and particle self-contact. Increase it when a gripper cannot carry the deformable object without slipping.
+
+To set rigid collision-shape contact properties (``ke``, ``kd``, ``mu``) for
+shapes that lack an explicit per-asset material, use
+:class:`~isaaclab_newton.physics.NewtonShapeCfg` on ``NewtonCfg.default_shape_cfg``
+instead. Per-asset materials override these defaults.
+
+
+Volume Deformable Materials
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Use
+:class:`~isaaclab_newton.sim.spawners.materials.NewtonDeformableBodyMaterialCfg`
+for volume deformables:
+
+.. list-table::
+    :header-rows: 1
+    :widths: 30 70
+
+    * - Parameter
+      - Description
+    * - ``density``
+      - Default: ``1.0`` [kg/m^3]. Material density. Higher density increases particle mass and inertia, so the object accelerates and deforms less for the same contact forces.
+    * - ``particle_radius``
+      - Default: ``0.008`` [m]. Particle contact radius used by Newton. Increase it when contacts are missed or detected too late. If it is too large relative to the mesh resolution, contacts can start too early.
+    * - ``k_mu``
+      - Default: ``1.0e5`` [Pa]. First Lame material parameter. Higher values make the deformable object stiffer and usually require more VBD iterations, more substeps, or a smaller timestep.
+    * - ``k_lambda``
+      - Default: ``1.0e5`` [Pa]. Second Lame material parameter. Higher values make the deformable object stiffer and usually require more VBD iterations, more substeps, or a smaller timestep.
+    * - ``k_damp``
+      - Default: ``0.0`` [Pa*s]. Damping for tetrahedral elements. Increase it to reduce oscillations after deformation, but avoid overdamping if the object should rebound.
+
+
+Surface Deformable Materials
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Use
+:class:`~isaaclab_newton.sim.spawners.materials.NewtonSurfaceDeformableBodyMaterialCfg`
+for cloth or surface deformables:
+
+.. list-table::
+    :header-rows: 1
+    :widths: 30 70
+
+    * - Parameter
+      - Description
+    * - ``density``
+      - Default: ``1.0`` [kg/m^3]. Material density. Higher density increases particle mass and inertia.
+    * - ``particle_radius``
+      - Default: ``0.008`` [m]. Particle contact radius used by Newton.
+    * - ``tri_ke``
+      - Default: ``1.0e4`` [Pa]. Triangle area-preserving stiffness. Increase it to reduce cloth stretch.
+    * - ``tri_ka``
+      - Default: ``1.0e4`` [Pa]. Triangle area stiffness. Increase it to reduce cloth area change.
+    * - ``tri_kd``
+      - Default: ``1.5e-6`` [Pa*s]. Triangle area damping. Increase it to reduce cloth vibration after stretching.
+    * - ``edge_ke``
+      - Default: ``5.0`` [N*m]. Bending stiffness. Increase it for stiffer cloth folds; decrease it for softer draping.
+    * - ``edge_kd``
+      - Default: ``1.0e-2`` [N*m*s]. Bending damping. Increase it to damp fold oscillations.
+
+Tuning Workflow
+---------------
+
+Use the following sequence when bringing up a new VBD task:
+
+1. Run one of the supported Franka deformable tasks and confirm your
+   installation, visualizer, and deformable rendering path work.
+2. Add a task-specific VBD or proxy-coupled VBD preset copied from the closest
+   supported task.
+3. Run a small visual smoke test with ``--num_envs 1`` before training.
+4. Tune deformable material stiffness and damping until the object deforms in
+   the expected range without rigid contact.
+5. Increase ``num_substeps`` or decrease ``dt`` if the object is unstable before
+   increasing stiffness further.
+6. Increase :attr:`~isaaclab_newton.physics.VBDSolverCfg.iterations` when
+   contacts or stiff materials do not converge within a substep.
+7. Tune :attr:`~isaaclab_newton.physics.NewtonSoftContactCfg.soft_contact_ke` to
+   reduce rigid/deformable clipping, then tune
+   :attr:`~isaaclab_newton.physics.NewtonSoftContactCfg.soft_contact_mu` for grip
+   and :attr:`~isaaclab_newton.physics.NewtonSoftContactCfg.soft_contact_kd` for
+   chatter.
+8. Enable self-contact only after body-particle contact is stable, then tune
+   ``particle_self_contact_radius`` for active self-contact thickness,
+   ``particle_self_contact_margin`` for missed contacts, and
+   ``particle_collision_detection_interval`` for detection frequency.
+9. Increase ``num_envs`` and profile only after the single-environment scene is
+   stable.
+
+
+Symptoms and First Parameters to Check
+--------------------------------------
+
+.. list-table::
+    :header-rows: 1
+    :widths: 35 65
+
+    * - Symptom
+      - First parameters to check
+    * - Rigid bodies visibly clip through the deformable.
+      - Increase ``soft_contact_ke``, VBD ``iterations``, ``num_substeps``, or the deformable material ``particle_radius``.
+    * - The robot cannot lift the deformable.
+      - Check that the gripper bodies are included in the proxy, then increase ``soft_contact_mu`` and rigid-side shape friction (per-asset material ``mu`` or ``NewtonShapeCfg.mu``). Also check gripper actuator stiffness and effort limits.
+    * - The deformable barely deforms.
+      - Reduce material stiffness, ``soft_contact_ke``, or shape contact stiffness.
+    * - Contact chatters or bounces.
+      - Increase ``soft_contact_kd`` or material damping, and consider using more substeps.
+    * - Cloth passes through itself.
+      - Enable ``particle_enable_self_contact``, increase ``particle_self_contact_radius`` if the active self-contact thickness is too small, increase ``particle_self_contact_margin`` if contacts are missed, and use a positive ``particle_collision_detection_interval``.
+    * - Self-contact is too expensive.
+      - Increase ``particle_collision_detection_interval``, reduce mesh resolution, or disable self-contact until the rest of the scene is tuned.
+
+For implementation details of the VBD managers and Newton coupler, see
+:ref:`newton-extending-solvers`.
diff --git a/docs/source/concepts/solver_differences.rst b/docs/source/concepts/solver_differences.rst
new file mode 100644
index 000000000000..26176dbb2de9
--- /dev/null
+++ b/docs/source/concepts/solver_differences.rst
@@ -0,0 +1,150 @@
+.. Copyright (c) 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
+
+.. _solver-differences:
+
+Solver Differences
+==================
+
+Isaac Lab presents a common asset and task interface across its physics
+backends, but that interface does not make the underlying solver models
+interchangeable. PhysX and the Newton solvers can use the same USD asset while
+producing different trajectories because they construct contacts, represent
+state, stabilize constraints, and allocate work differently.
+
+This comparison covers the PhysX solver configured by
+:class:`~isaaclab_physx.physics.PhysxCfg`, Newton MuJoCo-Warp (MJWarp)
+configured by :class:`~isaaclab_newton.physics.MJWarpSolverCfg`, and Newton
+Kamino configured by :class:`~isaaclab_newton.physics.KaminoPADMMSolverCfg` or
+:class:`~isaaclab_newton.physics.KaminoDVISolverCfg`. OvPhysX is a separate,
+experimental backend with its own limitations; it is not another solver mode
+of the PhysX backend discussed here.
+
+Use this page to understand the model differences. For the controls and a
+measured tuning procedure, use :doc:`/source/concepts/solver-tuning/tune_mjwarp` or
+:doc:`/source/concepts/solver-tuning/tune_kamino`; the generated solver configuration APIs
+are the reference for exact fields and defaults.
+
+Why solver settings do not translate directly
+----------------------------------------------
+
+A configuration value has meaning only within the solver that consumes it.
+For example, PhysX scene controls do not configure a Newton solver, and
+MJWarp's MuJoCo-specific controls do not configure PhysX. The common Isaac Lab
+configuration selects a backend and solver; it does not translate a numerical
+setting into an equivalent physical effect.
+
+Even settings with similar names can participate in different contact models
+or convergence criteria. Porting therefore starts by preserving the mechanical
+model, collision geometry, material bindings, reset state, actuator behavior,
+and control period. Then compare the resulting physical behavior and tune the
+target solver with its own controls.
+
+Friction and contact
+--------------------
+
+PhysX uses patch-based Coulomb friction: nearby contacts can be correlated
+into a friction patch. Its friction-correlation and offset controls are part
+of :class:`~isaaclab_physx.physics.PhysxCfg`. MJWarp uses MuJoCo's contact
+model, including its selectable pyramidal or elliptic friction cone and
+frictional impedance ratio. Kamino resolves hard frictional contacts in its
+maximal-coordinate constrained dynamics solve and exposes contact-material
+mixing and warm-start configuration through its generated API.
+
+The collision path also differs. PhysX exposes continuous collision detection
+through :attr:`~isaaclab_physx.physics.PhysxCfg.enable_ccd`, but Isaac Lab
+disables that option when GPU dynamics is enabled. MJWarp can use either its
+internal MuJoCo contact path or Newton's collision pipeline; those modes are
+mutually exclusive. Kamino can use Newton's collision pipeline or, when
+enabled, its own internal collision detector. These choices determine which
+capacity and collision controls are active.
+
+**Porting implication.** Equal material coefficients do not guarantee equal
+slip, grasp stability, or contact counts. Revalidate collision geometry and
+contact behavior before tuning friction. A task that depended on PhysX CCD
+needs an independently validated timestep and collision strategy on Newton;
+MJWarp's ``ccd_iterations`` is a convex GJK/EPA convergence limit, not a
+PhysX-style CCD switch.
+
+Restitution and stabilization
+-----------------------------
+
+PhysX applies restitution using per-material properties and a scene-level
+bounce threshold. Its optional stabilization pass can improve large-timestep
+behavior, but can make reported contact-sensor forces inaccurate. MJWarp
+expresses contact compliance through its MuJoCo model and solver formulation;
+Kamino exposes Baumgarte stabilization separately for bilateral joints,
+unilateral joint limits, and unilateral contacts.
+
+These are different mechanisms, so copying a restitution or stabilization
+setting does not preserve resting-contact behavior. The exact configuration
+surface belongs in the :class:`~isaaclab_physx.physics.PhysxCfg`,
+:class:`~isaaclab_newton.physics.MJWarpSolverCfg`, and
+:class:`~isaaclab_newton.physics.KaminoConstraintsCfg` API references.
+
+**Porting implication.** Validate bounce, penetration, chatter, and measured
+contact forces in the target solver. Do not use a stabilization or restitution
+control as a substitute for valid collision geometry, reset state, or material
+properties.
+
+Coordinates and state consistency
+---------------------------------
+
+PhysX articulations and MJWarp use reduced joint coordinates for their
+articulated state. Kamino solves rigid multi-body systems in maximal
+coordinates with constraints. Its reset path can reconcile body poses with
+reduced joint state through forward kinematics; whether that path is used is
+determined by :attr:`~isaaclab_newton.physics.KaminoPADMMSolverCfg.use_fk_solver`
+and the articulation structure.
+
+Isaac Lab asset APIs maintain the public state interface across the backends,
+but custom reset code can still write a state that is inconsistent with the
+target solver's representation.
+
+**Porting implication.** Use the asset write APIs for resets and validate the
+first step with a fixed state. For Kamino, treat disagreement between joint
+state and body poses as a reset-modeling problem before tuning solver gains.
+
+Timesteps and convergence
+-------------------------
+
+PhysX advances at the simulation timestep and uses actor iteration counts
+within scene limits. MJWarp and Kamino each run
+:attr:`~isaaclab_newton.physics.NewtonCfg.num_substeps` solver substeps per
+physics tick, so their solver timestep is the simulation timestep divided by
+the substep count. More substeps change integration work; they do not
+translate a PhysX iteration setting into a Newton equivalent.
+
+Substeps do not inherently refresh Newton-pipeline contacts. When that
+pipeline is active, :attr:`~isaaclab_newton.physics.NewtonCfg.collision_decimation`
+can re-collide within a physics tick only when it is positive and less than
+``num_substeps``; the default value of zero collides once at the start of each
+tick. This setting does not apply when MJWarp uses its internal MuJoCo contact
+path or Kamino uses its internal collision detector.
+
+MJWarp provides outer iterations, line-search iterations, and a residual
+tolerance. Kamino's P-ADMM and DVI modes have different iteration and
+convergence controls. PhysX has its own position and velocity iteration
+model. Consult the generated APIs and the focused tuning guides for current
+controls instead of copying another solver's defaults.
+
+**Porting implication.** Compare a fixed reproduction at the intended policy
+period, then separately test timestep, substeps, and solver convergence. An
+iteration increase cannot correct invalid contact geometry, incompatible reset
+state, or an unstable controller.
+
+Capacity and memory
+-------------------
+
+PhysX allocates GPU buffers for scene limits, including rigid-contact capacity.
+MJWarp has per-world contact and constraint limits such as ``nconmax`` and
+``njmax``. Kamino has per-world contact allocation controls in addition to the
+capacity used by its selected collision path. Their units and failure modes are
+solver-specific, even when every environment contains the same asset.
+
+**Porting implication.** Measure the target solver's busiest reset and contact
+states before scaling environment count. Increase an observed overflowing
+capacity first; capacity changes cannot repair an invalid contact model or
+convergence problem.
diff --git a/docs/source/overview/core-concepts/task_workflows.rst b/docs/source/concepts/task_workflows.rst
similarity index 90%
rename from docs/source/overview/core-concepts/task_workflows.rst
rename to docs/source/concepts/task_workflows.rst
index ef85773cf8b5..1fb754241a40 100644
--- a/docs/source/overview/core-concepts/task_workflows.rst
+++ b/docs/source/concepts/task_workflows.rst
@@ -10,10 +10,10 @@ Task Design Workflows
 
    This page is the source of truth for the ``isaaclab-building-environments`` and
    ``isaaclab-planning-manipulation-tasks`` agent skills
-   (`skills/user/create-environments/ <../../../../skills/user/create-environments/SKILL.md>`__,
-   `skills/user/plan-manipulation-tasks/ <../../../../skills/user/plan-manipulation-tasks/SKILL.md>`__).
+   (`skills/user/create-environments/ <../../../skills/user/create-environments/SKILL.md>`__,
+   `skills/user/plan-manipulation-tasks/ <../../../skills/user/plan-manipulation-tasks/SKILL.md>`__).
    When you change this page, update those skills so agent guidance stays in sync. See
-   :doc:`/source/overview/developer-guide/agent_skills`.
+   :doc:`/source/developer-tools/agent_skills`.
 
 A **Task** is defined by an environment with specific interfaces for observations to and actions from a specific agent (robot). The environment is what provides an agent with the current observations and executes that agent's actions by updating the simulation forward in time. There are many common components of simulating a robot in an environment, regardless of what you might want that robot to do or how it might be trained to do it.
 
@@ -37,12 +37,12 @@ or when implementing complex logic that is difficult to decompose into separate
 Manager-Based Environments
 --------------------------
 
-.. image:: ../../_static/task-workflows/manager-based-light.svg
+.. image:: ../_static/task-workflows/manager-based-light.svg
     :class: only-light
     :align: center
     :alt: Manager-based Task Workflow
 
-.. image:: ../../_static/task-workflows/manager-based-dark.svg
+.. image:: ../_static/task-workflows/manager-based-dark.svg
     :class: only-dark
     :align: center
     :alt: Manager-based Task Workflow
@@ -62,7 +62,7 @@ For reinforcement learning, much of this has been done for you already! In most
     implementation, weight and additional parameters to be passed to the function. Users can define multiple
     reward terms and their weights to be used in the reward function.
 
-    .. literalinclude:: ../../../../source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_env_cfg.py
+    .. literalinclude:: ../../../source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_env_cfg.py
         :language: python
         :pyobject: RewardsCfg
 
@@ -76,12 +76,12 @@ For reinforcement learning, much of this has been done for you already! In most
 Direct Environments
 -------------------
 
-.. image:: ../../_static/task-workflows/direct-based-light.svg
+.. image:: ../_static/task-workflows/direct-based-light.svg
     :class: only-light
     :align: center
     :alt: Direct-based Task Workflow
 
-.. image:: ../../_static/task-workflows/direct-based-dark.svg
+.. image:: ../_static/task-workflows/direct-based-dark.svg
     :class: only-dark
     :align: center
     :alt: Direct-based Task Workflow
@@ -98,14 +98,14 @@ This workflow may be the most familiar for users migrating from the `IsaacGymEnv
 
     The following function is a part of the Cartpole environment class and is responsible for computing the rewards.
 
-    .. literalinclude:: ../../../../source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_env.py
+    .. literalinclude:: ../../../source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_env.py
         :language: python
         :pyobject: CartpoleEnv._get_rewards
         :dedent: 4
 
     It calls the :meth:`compute_rewards` function which is Torch JIT compiled for performance benefits.
 
-    .. literalinclude:: ../../../../source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_env.py
+    .. literalinclude:: ../../../source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_env.py
         :language: python
         :pyobject: compute_rewards
 
diff --git a/docs/source/concepts/transfer_policies_between_physx_and_newton.rst b/docs/source/concepts/transfer_policies_between_physx_and_newton.rst
new file mode 100644
index 000000000000..da2aea01a5db
--- /dev/null
+++ b/docs/source/concepts/transfer_policies_between_physx_and_newton.rst
@@ -0,0 +1,10 @@
+:orphan:
+
+.. meta::
+   :http-equiv=refresh: 0; url=../how-to/transfer_policies_between_physx_and_newton.html
+   :name=robots: noindex
+
+Page Moved
+==========
+
+This page moved to :doc:`/source/how-to/transfer_policies_between_physx_and_newton`.
diff --git a/docs/source/concepts/using_mpm.rst b/docs/source/concepts/using_mpm.rst
new file mode 100644
index 000000000000..ccbc7692a57a
--- /dev/null
+++ b/docs/source/concepts/using_mpm.rst
@@ -0,0 +1,205 @@
+.. _newton-using-mpm:
+
+Using Implicit MPM
+==================
+
+Newton's implicit Material Point Method (MPM) solver models particle materials
+such as granular media. MPM support and rigid-MPM coupling are experimental.
+Start with the compact ``scripts/demos/mpm/newton_mpm_granular.py`` example;
+``snowball_smash.py`` adds coupling and ``teapot_fill.py`` adds cavity sampling.
+
+
+.. _franka-pour-reset-artifact:
+
+Train and Regenerate Franka Pour
+---------------------------------
+
+The ``IsaacContrib-Franka-Pour`` task restores episodes from a reset artifact
+containing the connected 14-phase reset distribution. The canonical 20,000-row
+artifact downloads from the standard Isaac Lab asset root on first use, so
+training needs no artifact setup:
+
+.. code-block:: bash
+
+   uv run isaaclab train --rl_library rsl_rl --task IsaacContrib-Franka-Pour \
+     --num_envs 2048 --device cuda:0
+
+The checked-in generator remains the executable reference for reproducing or
+customizing the distribution. It takes about two minutes on an L40S-class GPU
+and writes a local artifact that can be selected explicitly:
+
+.. code-block:: bash
+
+   uv run python scripts/tools/generate_franka_pour_reset_dataset.py --device cuda:0
+   uv run isaaclab train --rl_library rsl_rl --task IsaacContrib-Franka-Pour \
+     --num_envs 2048 --device cuda:0 \
+     env.reset_dataset_path=datasets/franka_pour/reset_dataset.pt
+
+The task validates the payload's stored content digest automatically. Setting
+``ISAACSIM_ASSET_ROOT`` redirects the canonical artifact to a compatible local
+or self-hosted asset tree. Digest pinning remains available for custom
+reproducible experiments.
+
+The source uses a non-colliding analytic fill volume whose height is controlled
+by ``env.source_fill_level`` in ``(0, 1]``. The default ``0.70`` produces a
+735-particle jittered lattice up to roughly 70% of the cup height.
+``env.pour_target_frac`` independently controls the fraction of that live
+payload that must reach the receiver.
+
+Play a checkpoint in Kit with the canonical task configuration; no external
+callback or particle override is required:
+
+.. code-block:: bash
+
+   uv run isaaclab play --rl_library rsl_rl --task IsaacContrib-Franka-Pour \
+     --checkpoint /path/to/model.pt --num_envs 1 --device cuda:0 --visualizer kit
+
+
+Minimal Setup
+-------------
+
+Use the same voxel size for the solver grid and particle generator. Add the
+generated object to an :class:`~isaaclab.scene.InteractiveSceneCfg` like any
+other declarative asset.
+
+.. code-block:: python
+
+    import isaaclab.sim as sim_utils
+    from isaaclab_newton.assets import MPMObjectCfg
+    from isaaclab_newton.physics import MPMSolverCfg, NewtonCfg
+    from isaaclab_newton.sim.spawners.mpm import MPMGridCfg
+
+    voxel_size = 0.02
+
+    sim_cfg = sim_utils.SimulationCfg(
+        dt=1.0 / 100.0,
+        physics=NewtonCfg(
+            solver_cfg=MPMSolverCfg(
+                voxel_size=voxel_size,
+                max_iterations=100,
+                tolerance=1.0e-4,
+            ),
+            num_substeps=2,
+        ),
+    )
+
+    media = MPMObjectCfg(
+        prim_path="{ENV_REGEX_NS}/Media",
+        spawn=MPMGridCfg(
+            lower=(-0.1, -0.1, 0.0),
+            upper=(0.1, 0.1, 0.2),
+            voxel_size=voxel_size,
+            particles_per_cell=2.0,
+            particle_placement="cell_center",
+        ),
+    )
+
+Tune the particle material separately through
+:class:`~isaaclab_newton.sim.MPMParticleMaterialCfg`. The implicit solve already
+resolves collider contact. ``project_outside_colliders`` adds a hard post-step
+correction for particles that remain inside colliders; use it only when that
+geometric correction is intentional, and not as a substitute for valid initial
+states, collision geometry, or a stable timestep. Coupled MPM entries do not
+support this manager-level projection pass.
+
+
+Render a Particle Surface
+-------------------------
+
+MPM simulation state remains a set of particles. Surface reconstruction is an
+optional visualization pass: it does not change particle motion, collisions, or
+material behavior. Run the teapot example to compare the available modes:
+
+.. code-block:: bash
+
+   # Reconstructed surface (default)
+   uv run python scripts/demos/mpm/teapot_fill.py --device cuda:0 \
+     --visualizer newton_gl --fluid_render_mode surface
+   # Surface and source particles together
+   uv run python scripts/demos/mpm/teapot_fill.py --device cuda:0 \
+     --visualizer newton_gl --fluid_render_mode both
+   # Path-traced translucent surface
+   uv run --extra ovrtx python scripts/demos/mpm/teapot_fill.py --device cuda:0 \
+     --visualizer newton_rtx --fluid_render_mode surface
+
+Surface rendering is available in the Newton GL and Newton RTX visualizers.
+The Kit visualizer continues to render the MPM particles directly.
+
+To reconstruct a surface in another Newton MPM script, create one reusable
+``newton.geometry.ParticleSurface`` after ``sim.reset()``. On each render update,
+extract from the current Newton particle positions, radii, flags, and world indices,
+then pass the returned vertex, triangle-index, and normal arrays to
+``NewtonGLVisualizer.log_mesh()`` or ``NewtonRTXVisualizer.log_mesh()`` with
+``dynamic=True`` before calling ``sim.render()``. The visualizer stages the latest
+mesh by name and submits it inside Newton's required viewer-frame lifecycle.
+
+Tune reconstruction independently from the simulation:
+
+* ``voxel_size`` controls surface detail and memory use. It can be smaller than
+  the MPM solver voxel size.
+* ``kernel_radius`` controls how far each particle contributes to the surface.
+  Start near three times the particle spacing.
+* ``max_grid_cells`` provides fixed-capacity storage for CUDA graph capture.
+  Increase it if the reconstructed domain outgrows the reserved grid.
+* Anisotropic kernels preserve sheets and stretched fluid features better, but
+  cost more than isotropic kernels.
+
+The demo handles CUDA graph capture, empty surfaces, inactive particles, and
+dynamic topology in one reusable helper:
+
+.. dropdown:: ``FluidSurfaceRenderer`` implementation
+   :icon: code
+
+   .. literalinclude:: ../../../scripts/demos/mpm/teapot_fill.py
+      :language: python
+      :pyobject: FluidSurfaceRenderer
+
+
+Tune Resolution, Time, Then Convergence
+---------------------------------------
+
+Tune one group at a time in this order:
+
+1. **Voxel and particle resolution.** ``MPMSolverCfg.voxel_size`` controls the
+   background grid. Smaller voxels resolve thinner geometry but increase active
+   cells and memory. ``MPMGridCfg.particles_per_cell`` controls particle density;
+   doubling it along each axis creates about eight times as many particles in
+   3D. Start coarse, then refine until the measured behavior stops changing.
+2. **Timestep and substeps.** Each Newton substep uses
+   ``SimulationCfg.dt / NewtonCfg.num_substeps``. Reduce ``dt`` or increase
+   ``num_substeps`` first when contacts tunnel, jitter, or become unstable.
+   Substeps do not change the policy period, which also includes environment
+   decimation.
+3. **Iterations and tolerance.** ``MPMSolverCfg.max_iterations`` caps the
+   rheology solve; ``tolerance`` permits an earlier exit after convergence.
+   Increase the cap only when the solver reaches it, and lower the tolerance
+   only when tighter convergence improves a physical metric. These settings do
+   not repair an unstable timestep, invalid reset, or incorrect collider.
+
+
+Tune Rigid-MPM Coupling
+-----------------------
+
+For :class:`~isaaclab_contrib.coupling.CouplerProxyCfg`, first stabilize each
+solver alone. Then tune the additional controls:
+
+* ``CouplerEntryCfg.substeps`` divides one coupled step for that entry. Increase
+  the MPM entry's value when only the particle solve needs a smaller timestep.
+* ``CouplerProxyCfg.iterations`` repeats the proxy exchange and relaxation; it
+  does not replace smaller physical timesteps.
+* ``CouplerProxyMappingCfg.mass_scale`` scales the source body's effective mass
+  and inertia only in the destination proxy view. It does not change the body's
+  authored mass in the rigid solver.
+
+Start ``mass_scale`` at ``1`` for a freely moving collider. Increase it when the
+rigid solver strongly constrains the collider during MPM contact. For example, a
+cup resting on a table has much greater effective resistance in the supported
+direction than its free-body mass suggests. Sweep finite values geometrically,
+such as ``1``, ``10``, and ``100``, and keep the smallest value that prevents
+unrealistic proxy motion. Newton requires a finite positive value: do not use
+infinity. An excessively large scalar also suppresses legitimate motion in
+unsupported directions and can make the interaction effectively one-way.
+
+Validate both the supported and free-moving cases after changing coupling. If
+the uncoupled systems are unstable, fix their timestep, contacts, and reset
+states before adjusting ``mass_scale`` or coupling iterations.
diff --git a/docs/source/concepts/visualization.rst b/docs/source/concepts/visualization.rst
index 0add281a9f2c..74d48868fa6a 100644
--- a/docs/source/concepts/visualization.rst
+++ b/docs/source/concepts/visualization.rst
@@ -25,42 +25,30 @@ This page covers:
    .viz-grid > div { flex:1 1 0; min-width:0; }
    .viz-grid video, .viz-grid img { display:block; width:100%; border-radius:0 !important; padding:0 !important; background:none !important; }
    .viz-grid-stretch video, .viz-grid-stretch img { height:260px; object-fit:cover; }
-   .viz-grid-stretch.viz-grid-hero-tiles video { height:286px; }
+   .viz-grid-stretch.viz-grid-hero-tiles video { height:315px; }
    .viz-grid-fit { justify-content:center; }
    .viz-grid-fit > div { flex:0 0 auto; }
    .viz-grid-fit video, .viz-grid-fit img { width:auto; height:488px; }
-   .viz-grid-natural { justify-content:center; }
-   .viz-grid-natural > div { flex:0 0 auto; }
-   .viz-grid-natural img { width:auto; height:260px; }
-   /* video (unlike img above) sizes by flexing to share the row instead of a fixed height:
-      these clips are much wider (near 16:9) than the marker screenshots img was tuned for, so
-      a fixed height risks overflowing the page width when 2 sit side by side. */
-   .viz-grid-natural > div:has(video) { flex:1 1 0; min-width:0; }
-   .viz-grid-natural video { width:100%; height:auto; max-height:260px; }
    .viz-grid-stretch video.viz-no-crop { object-fit:contain; background:#000; }
-   .viz-grid-stretch video.viz-crop-bottom { object-position:center bottom; }
-   .viz-grid-stretch video.viz-crop-kit-bottom { object-position:center 76%; }
    .viz-grid-stretch video.viz-crop-x8 { width:calc(100% + 16px); margin-left:-8px; }
    .viz-grid-stretch img.viz-crop-top { object-position:center 25%; }
-   .viz-hero-wrap.viz-hero-newton-gl { aspect-ratio:960/397; }
-   .viz-hero-wrap.viz-hero-newton-gl video.viz-crop-newton-hero { width:calc(100% + 2px); height:calc(100% + 55px);
-                margin-left:-1px; margin-top:-40px; object-fit:cover; object-position:center 55.3%; }
-   .viz-label.viz-label-raise { bottom:10px; }
-   /* Trims pixels off each hero tile on top of whatever object-position crop is already
-      applied, so the tile itself is shorter rather than just repositioning the existing crop.
-      Both classes crop to the same final 241px height so the 2x2 tile grid stays even, split
-      differently per tile: Kit/Rerun/Newton RTX crop 35px off the top and 10px off the bottom;
-      Viser crops 25px off the top and 20px off the bottom (its object-position framing already
-      leaves more headroom at the bottom, so it can take a heavier bottom crop). */
-   .viz-grid-stretch.viz-grid-hero-tiles .viz-hero-wrap { height:276px; }
-   .viz-grid-stretch.viz-grid-hero-tiles .viz-hero-wrap video { margin-top:-10px; }
-   .viz-grid-stretch.viz-grid-hero-tiles .viz-hero-wrap.viz-crop-top25 { height:241px; }
-   .viz-grid-stretch.viz-grid-hero-tiles .viz-hero-wrap.viz-crop-top25 video { margin-top:-35px; }
-   .viz-grid-stretch.viz-grid-hero-tiles .viz-hero-wrap.viz-crop-mixed { height:241px; }
-   .viz-grid-stretch.viz-grid-hero-tiles .viz-hero-wrap.viz-crop-mixed video { margin-top:-25px; }
+   /* Per-tile crop windows: each video's (taller) height sets the zoom and its negative
+      margin-top picks which slice of the 265px wrap is shown, matching robot size within each
+      row. Tuned against the currently hosted clips, not capture_visualizer.py's own (much
+      smaller) fixed trim -- re-check if the clips are ever regenerated. Rerun/Viser cap how far
+      they can zoom out before their own baked-in UI chrome reappears; Viser is already at that
+      limit. */
+   .viz-grid-stretch.viz-grid-hero-tiles .viz-hero-wrap { height:265px; }
+   .viz-grid-stretch.viz-grid-hero-tiles .viz-hero-wrap video { object-position:center center; height:265px; margin-top:0; }
+   .viz-grid-stretch.viz-grid-hero-tiles .viz-hero-wrap.viz-crop-newton-gl video { height:480px; margin-top:-105px; }
+   .viz-grid-stretch.viz-grid-hero-tiles .viz-hero-wrap.viz-crop-viser video { height:314px; margin-top:-49px; }
+   .viz-grid-stretch.viz-grid-hero-tiles .viz-hero-wrap.viz-crop-rerun video { height:293px; margin-top:-19px; }
    .viz-grid-record { justify-content:center; align-items:flex-start; }
    .viz-grid-record > div { flex:0 0 auto; }
    .viz-grid-record video { display:block; width:auto; height:300px; }
+   .viz-stack-centered { display:flex; flex-direction:column; align-items:center; gap:1em; margin: 0.5em 0; }
+   .viz-stack-centered > div { width:65%; }
+   .viz-stack-centered video { display:block; width:100%; height:auto; }
    .viz-cap { text-align:center; font-style:italic; margin-top:0.4em; font-size:0.9em; }
    .viz-hero-wrap { position:relative; overflow:hidden; }
    .viz-label { position:absolute; bottom:8px; right:8px; max-width:35%; background:rgba(32,32,32,0.85);
@@ -72,43 +60,56 @@ This page covers:
    Green arrow: commanded velocity. Blue arrow: current velocity.</p>
 
    <div class="viz-hero-stack">
-   <div class="viz-hero-wrap viz-hero-newton-gl">
-     <video autoplay loop muted playsinline controls preload="auto" class="viz-crop-newton-hero">
-       <source src="https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/hero_newton_gl.mp4" type="video/mp4">
-     </video>
-     <div class="viz-label viz-label-raise">Newton GL</div>
-   </div>
-
    <div class="viz-grid viz-grid-stretch viz-grid-hero-tiles">
-     <div class="viz-hero-wrap viz-crop-mixed">
-       <video autoplay loop muted playsinline controls preload="auto" class="viz-crop-bottom">
-         <source src="https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/hero_viser.mp4" type="video/mp4">
+     <div class="viz-hero-wrap viz-crop-newton-gl">
+       <video autoplay loop muted playsinline preload="auto">
+         <source src="https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/hero_newton_gl.mp4" type="video/mp4">
        </video>
-       <div class="viz-label">Viser</div>
+       <div class="viz-label">Newton GL</div>
      </div>
-     <div class="viz-hero-wrap viz-crop-top25">
-       <video autoplay loop muted playsinline controls preload="auto" class="viz-crop-bottom">
-         <source src="https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/hero_newton_rtx.mp4" type="video/mp4">
+     <div class="viz-hero-wrap viz-crop-viser">
+       <video autoplay loop muted playsinline preload="auto" class="viz-hero-start-1s">
+         <source src="https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/hero_viser.mp4" type="video/mp4">
        </video>
-       <div class="viz-label">Newton RTX</div>
+       <div class="viz-label">Viser</div>
      </div>
    </div>
    <div class="viz-grid viz-grid-stretch viz-grid-hero-tiles">
-     <div class="viz-hero-wrap viz-crop-top25">
-       <video autoplay loop muted playsinline controls preload="auto" class="viz-crop-bottom">
-         <source src="https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/hero_rerun.mp4" type="video/mp4">
+     <div class="viz-hero-wrap viz-crop-newton-rtx">
+       <video autoplay loop muted playsinline preload="auto" class="viz-hero-speedup">
+         <source src="https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/hero_newton_rtx.mp4" type="video/mp4">
        </video>
-       <div class="viz-label">Rerun</div>
+       <div class="viz-label">Newton RTX</div>
      </div>
-     <div class="viz-hero-wrap viz-crop-top25">
-       <video autoplay loop muted playsinline controls preload="auto" class="viz-crop-kit-bottom viz-crop-x8">
+     <div class="viz-hero-wrap viz-crop-kit">
+       <video autoplay loop muted playsinline preload="auto" class="viz-crop-x8 viz-hero-speedup">
          <source src="https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/hero_kit.mp4" type="video/mp4">
        </video>
        <div class="viz-label">Kit</div>
      </div>
+     <div class="viz-hero-wrap viz-crop-rerun">
+       <video autoplay loop muted playsinline preload="auto" class="viz-hero-start-1s">
+         <source src="https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/hero_rerun.mp4" type="video/mp4">
+       </video>
+       <div class="viz-label">Rerun</div>
+     </div>
    </div>
    </div>
 
+   <script>
+   // Kit/Newton RTX are encoded 10% slower than the other 3 (output_speed_factor in
+   // capture_visualizer.py); undo that so all 5 independently-looping clips stay in phase.
+   document.querySelectorAll(".viz-hero-speedup").forEach(function (v) {
+     v.playbackRate = 1 / 0.9;
+   });
+   // Start Viser/Rerun 1.2s into their clip instead of at 0; native loop still wraps to 0 as usual.
+   document.querySelectorAll(".viz-hero-start-1s").forEach(function (v) {
+     var seek = function () { v.currentTime = 1.2; };
+     if (v.readyState >= 1) seek();
+     else v.addEventListener("loadedmetadata", seek, { once: true });
+   });
+   </script>
+
    <p class="viz-cap">Note: Newton RTX has no velocity arrows, since it doesn't yet support visualization markers.</p>
 
 
@@ -375,10 +376,11 @@ Visualizer Overview
 
       .. warning::
 
-         Newton RTX (OVRTX) is a kitless renderer and cannot be used in the same process as the Kit
-         visualizer or PhysX. This rules out ``presets=ovphysx`` and ``presets=isaacsim_physx``; use
-         ``presets=newton_mjwarp,ovrtx`` with ``--viz newton_rtx``, or switch to ``--viz newton_gl``,
-         ``--viz viser``, ``--viz rerun``, or ``--viz kit`` with a Kit-compatible physics backend.
+         Newton RTX (OVRTX) is a kitless renderer and cannot be used in the same process as Kit
+         (``presets=isaacsim_physx``). ``presets=ovphysx`` is itself kitless and works fine with
+         Newton RTX. Use ``presets=newton_mjwarp,ovrtx`` or ``presets=ovphysx,ovrtx`` with
+         ``--viz newton_rtx``, or switch to ``--viz newton_gl``, ``--viz viser``, ``--viz rerun``,
+         or ``--viz kit`` with a Kit-compatible physics backend.
 
    .. tab-item:: Rerun
 
@@ -467,6 +469,14 @@ Visualizer Overview
       - Direct access to the Isaac Sim USD stage for inspecting and editing prims at runtime
       - Full Isaac Sim GUI tooling (Property, Layers, and Stage panels)
 
+      .. note::
+
+         Kit's ImGui-based UI writes an ``imgui.ini`` file, recording window layout (panel
+         positions, docking, collapsed state), to the process working directory. If that is the
+         repository root, it shows up as an untracked file. ``imgui.ini`` is already listed in
+         ``.gitignore``; delete it or launch from outside the repository if you would rather it
+         not appear at all.
+
       **Core configuration:**
 
       .. code-block:: python
@@ -509,7 +519,7 @@ updates every step.
 
 .. raw:: html
 
-   <div class="viz-grid viz-grid-natural">
+   <div class="viz-stack-centered">
      <div>
        <video autoplay loop muted playsinline controls preload="auto">
          <source src="https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/streaming_newton_galbot_interactive.mp4" type="video/mp4">
@@ -545,11 +555,11 @@ Visualization markers draw debug geometry over the scene via
 
    <div class="viz-grid viz-grid-stretch">
      <div>
-       <img src="../../_static/markers_anymal_d.jpg" alt="Velocity arrow marker on an AnymalD robot">
+       <img src="../../_static/visualizers/markers_anymal_d.jpg" alt="Velocity arrow marker on an AnymalD robot">
        <p class="viz-cap">Large green/blue arrow markers showing target and base velocity for an AnymalD robot</p>
      </div>
      <div>
-       <img src="../../_static/markers_franka.jpg" alt="Joint arrow markers on a Franka arm and contact sensor markers on a cube" class="viz-crop-top">
+       <img src="../../_static/visualizers/markers_franka.jpg" alt="Joint arrow markers on a Franka arm and contact sensor markers on a cube" class="viz-crop-top">
        <p class="viz-cap">Arrow markers on the Franka arm's joints, with contact sensor markers on the cube</p>
      </div>
    </div>
@@ -784,6 +794,21 @@ To configure visualizer settings in code, pass ``VisualizerCfg`` instances to
 For migration context, see :doc:`/source/migration/migrating_to_isaaclab_3-0`.
 
 
+Scene Background
+~~~~~~~~~~~~~~~~
+
+Kit, Newton GL, and Newton RTX use the shared solid sky-blue background from
+``VisualizerCfg.background_color`` by default. This changes only the visible background; scene
+lights continue to illuminate objects and contribute reflections. Set a different normalized RGB
+color directly, or set the field to ``None`` to preserve the backend's native background:
+
+.. code-block:: python
+
+    from isaaclab.visualizers import VisualizerCfg
+
+    env_cfg.sim.default_visualizer_cfg = VisualizerCfg(background_color=(0.1, 0.2, 0.3))
+
+
 Performance
 ~~~~~~~~~~~
 
@@ -859,12 +884,34 @@ Limitations
      - ✓
      - ✓
 
+**Lighting differences across visualizers**
+
+Each backend lights the scene differently, so the same environment can look noticeably
+different across visualizers. Kit renders the scene's actual authored USD lights. Newton GL
+uses a fixed sky-gradient and single directional light color
+(:attr:`~isaaclab_visualizers.newton.NewtonVisualizerCfg.sky_upper_color`,
+``sky_lower_color``, ``light_color``), independent of scene USD lights. Newton RTX supports
+only 3 lighting-environment presets
+(:attr:`~isaaclab_visualizers.newton.NewtonRTXVisualizerCfg.rtx_environment`: ``"default"``,
+``"studio"``, ``"none"``) and does not use any scene-authored USD lights. Viser uses a single
+ambient light with no directional key light, so scenes tend to look darker and flatter than
+the other backends. Rerun uses fixed built-in viewer shading with no scene-driven lighting.
+
 **Kit: incompatible with ovphysx / ovrtx presets**
 
 ``--viz kit`` cannot be used with ``presets=ovphysx`` or ``presets=ovrtx`` in the same process.
 Use ``--viz newton_gl``, ``--viz rerun``, or ``--viz viser`` with those presets, or omit
 ``--viz`` for headless execution.
 
+**Newton RTX: incompatible with Kit**
+
+``--viz newton_rtx`` raises a ``RuntimeError`` at startup if the active physics backend is
+``isaacsim_physx`` (i.e. ``presets=isaacsim_physx``), since OVRTX is a kitless renderer and cannot share
+a process with Kit. ``presets=ovphysx`` is itself kitless and remains supported. Use
+``presets=newton_mjwarp,ovrtx`` or ``presets=ovphysx,ovrtx`` with ``--viz newton_rtx``, or switch
+to ``--viz newton_gl``, ``--viz viser``, ``--viz rerun``, or ``--viz kit`` with a Kit-compatible
+physics backend.
+
 **Rerun: large environment performance**
 
 The Rerun web viewer may slow down or crash with many environments. Reduce load with
@@ -884,6 +931,14 @@ The Rerun web viewer may slow down or crash with many environments. Reduce load
 
           ./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole --viz rerun --num_envs 512
 
+**Rerun: blank page until the first payload loads**
+
+The Rerun browser tab opens blank and stays that way for several seconds (up to ~10s,
+depending on scene size) before the scene and live plots appear. This is expected -- it's the
+time for the web viewer to connect to the local Rerun server and receive its first batch of
+logged data -- but the page gives no loading indicator in the meantime, so it can look stuck.
+No action is needed; wait for the first frame to arrive.
+
 **Newton GL: CUDA/OpenGL interoperability warnings**
 
 In some configurations, the Newton GL visualizer emits warnings about CUDA/OpenGL
@@ -927,7 +982,7 @@ See Also
 - :doc:`/source/features/record_video`: recording MP4 clips from a visualizer or sensor
 - :doc:`/source/features/draw_markers`: creating and configuring custom visualization markers
 - :doc:`/source/how-to/capture_sensor_frames`: saving per-frame sensor outputs during training
-- :doc:`/source/overview/core-concepts/renderers`: renderer backends (RTX, Newton Warp, OVRTX)
-- :doc:`/source/concepts/scene_data_providers`: how scene data flows to visualizers
-- :doc:`/source/overview/core-concepts/physical-backends/newton/index`: Newton backend guide
+- :doc:`/source/concepts/renderers`: renderer backends (RTX, Newton Warp, OVRTX)
+- :doc:`/source/developer-tools/scene_data_providers`: how scene data flows to visualizers
+- :ref:`physics-backends-newton`: Newton backend guide
 - :doc:`/source/migration/migrating_to_isaaclab_3-0`: visualizer migration reference
diff --git a/docs/source/concepts/warp_environment_migration.rst b/docs/source/concepts/warp_environment_migration.rst
new file mode 100644
index 000000000000..d136ea12cad9
--- /dev/null
+++ b/docs/source/concepts/warp_environment_migration.rst
@@ -0,0 +1,280 @@
+.. _warp-env-migration:
+
+Warp Environment Migration Guide
+================================
+
+This guide covers the key conventions and patterns used by the warp-first environment
+infrastructure, useful for migrating existing torch environments or creating new ones
+natively. For an overview of the warp env path itself (workflows, available envs,
+performance, limitations, benchmarking), see :doc:`warp_environments`.
+
+
+Design Rationale
+~~~~~~~~~~~~~~~~
+
+The warp environment path is built around `CUDA graph capture
+<https://docs.nvidia.com/cuda/cuda-programming-guide/04-special-topics/cuda-graphs.html>`_.
+A CUDA graph records a sequence of GPU operations (kernel launches, memory copies) during a
+capture phase, then replays the entire sequence with a single launch. This eliminates per-kernel
+CPU overhead — the parameter validation, kernel selection, and buffer setup that normally costs
+20–200 μs per operation is performed once during graph instantiation and reused on every replay
+(~10 μs total). All CPU-side code (Python logic, torch dispatching) executed during capture is
+completely bypassed during replay. See the `Warp concurrency documentation
+<https://nvidia.github.io/warp/stable/deep_dive/concurrency.html>`_ for Warp's graph capture API
+(``wp.ScopedCapture``).
+
+All design decisions in the warp infrastructure follow from this constraint: every operation in the
+step loop must be a GPU kernel launch with stable memory pointers so that the captured graph can
+be replayed without modification.
+
+Key consequences:
+
+- All buffers are **pre-allocated** — no dynamic allocation inside the step loop
+- Data flows through **persistent ``wp.array`` pointers** — never replaced, only overwritten
+- MDP terms are **pure ``@wp.kernel`` functions** — no Python branching on GPU data
+- Reset uses **boolean masks** (``env_mask``) instead of index lists (``env_ids``) to avoid
+  variable-length indexing that changes graph topology
+
+
+Project Structure
+~~~~~~~~~~~~~~~~~
+
+Warp-specific implementations that diverge from the torch-based managers and env classes live in the ``_experimental`` packages:
+
+- ``isaaclab_experimental`` — warp managers, base env classes, warp MDP terms
+- ``isaaclab_tasks_experimental`` — warp task configs and task-specific MDP terms
+
+Any new warp implementation that differs from the torch-based managers or env classes belongs in these packages.
+Warp task configs reference Newton physics directly (no ``PresetCfg``) since the warp path
+is Newton-only.
+
+
+Writing Warp MDP Terms
+~~~~~~~~~~~~~~~~~~~~~~
+
+Imports
+^^^^^^^
+
+Warp task configs import from the experimental packages:
+
+.. code-block:: python
+
+   # Warp
+   from isaaclab_experimental.managers import ObservationTermCfg, RewardTermCfg, SceneEntityCfg
+   import isaaclab_experimental.envs.mdp as mdp
+
+The term config classes have the same interface — only the import path changes.
+
+
+Common Pattern
+^^^^^^^^^^^^^^
+
+All warp MDP terms (observations, rewards, terminations, events, actions) follow the same
+**kernel + launch** pattern. Torch terms use torch tensors and return results; warp terms
+write into pre-allocated ``wp.array`` output buffers via ``@wp.kernel`` functions:
+
+.. code-block:: python
+
+   # Torch — returns a tensor
+   def lin_vel_z_l2(env, asset_cfg) -> torch.Tensor:
+       return torch.square(asset.data.root_lin_vel_b[:, 2])
+
+   # Warp — writes into pre-allocated output
+   @wp.kernel
+   def _lin_vel_z_l2_kernel(vel: wp.array(...), out: wp.array(dtype=wp.float32)):
+       i = wp.tid()
+       out[i] = vel[i][2] * vel[i][2]
+
+   def lin_vel_z_l2(env, out, asset_cfg) -> None:
+       wp.launch(_lin_vel_z_l2_kernel, dim=env.num_envs, inputs=[..., out])
+
+The output buffer shapes differ by term type:
+
+- **Observations**: ``(num_envs, D)`` where D is the observation dimension
+- **Rewards**: ``(num_envs,)``
+- **Terminations**: ``(num_envs,)`` with dtype ``bool``
+- **Events**: ``(num_envs,)`` mask — events don't produce output, they modify sim state
+
+
+Observation Terms
+^^^^^^^^^^^^^^^^^
+
+Since warp terms write into pre-allocated buffers, the observation manager must know each
+term's output dimension at initialization to allocate the correct ``(num_envs, D)`` output
+array. This is resolved via a fallback chain (see
+``ObservationManager._infer_term_dim_scalar`` in
+``isaaclab_experimental/managers/observation_manager.py``):
+
+1. **Explicit ``out_dim`` in decorator** (preferred):
+
+   .. code-block:: python
+
+      @generic_io_descriptor_warp(out_dim=3, observation_type="RootState")
+      def base_lin_vel(env, out, asset_cfg) -> None: ...
+
+   ``out_dim`` can be an integer, or a string that resolves at initialization:
+
+   - ``"joint"`` — number of selected joints from ``asset_cfg``
+   - ``"body:N"`` — N components per selected body from ``asset_cfg``
+   - ``"command"`` — dimension from command manager
+   - ``"action"`` — dimension from action manager
+
+2. **``axes`` metadata**: Dimension equals the number of axes listed:
+
+   .. code-block:: python
+
+      @generic_io_descriptor_warp(axes=["X", "Y", "Z"], observation_type="RootState")
+      def projected_gravity(env, out, asset_cfg) -> None: ...
+      # → dimension = 3
+
+3. **Legacy params**: ``term_dim``, ``out_dim``, or ``obs_dim`` keys in ``term_cfg.params``.
+
+4. **Asset config fallback**: Count of ``asset_cfg.joint_ids`` (or ``joint_ids_wp``) for
+   joint-level terms.
+
+
+Event Terms
+^^^^^^^^^^^
+
+Events use ``env_mask`` (boolean ``wp.array``) instead of ``env_ids``, and each kernel
+checks the mask to skip non-selected environments:
+
+.. code-block:: python
+
+   def reset_joints_by_offset(env, env_mask, ...):
+       wp.launch(_kernel, dim=env.num_envs, inputs=[env_mask, ...])
+
+   @wp.kernel
+   def _kernel(env_mask: wp.array(dtype=wp.bool), ...):
+       i = wp.tid()
+       if not env_mask[i]:
+           return
+       # ... modify state for selected envs only
+
+- RNG uses per-env ``env.rng_state_wp`` (``wp.uint32``) instead of ``torch.rand``
+- **Startup/prestartup** events use the torch convention ``(env, env_ids, **params)``
+- **Reset/interval** events use the warp convention ``(env, env_mask, **params)``
+
+
+Action Terms
+^^^^^^^^^^^^
+
+Actions follow a **two-stage execution**: ``process_actions`` (called once per env step) scales
+and clips raw actions, and ``apply_actions`` (called once per sim step) writes targets to the
+asset. Both stages use warp kernels with pre-allocated ``_raw_actions`` and ``_processed_actions``
+buffers.
+
+
+Capture Safety
+^^^^^^^^^^^^^^
+
+When writing terms that run inside the captured step loop, keep in mind:
+
+- **No ``wp.to_torch``** or torch arithmetic — stay in warp throughout
+- **No lazy-evaluated properties** — use sim-bound (Tier 1) data directly; if a derived
+  quantity is needed, compute it inline in the kernel
+- **No dynamic allocation** — all buffers must be pre-allocated in ``__init__``
+
+
+Parity Testing
+~~~~~~~~~~~~~~
+
+Two levels of parity testing are used to validate warp terms:
+
+**1. Implementation parity (torch vs warp)** — verifies that the warp kernel produces the
+same result as the torch implementation. This is optional for terms that have no torch
+counterpart (e.g. new terms written directly in warp).
+
+.. code-block:: python
+
+   import isaaclab.envs.mdp.observations as torch_obs
+   import isaaclab_experimental.envs.mdp.observations as warp_obs
+
+   # Torch baseline
+   expected = torch_obs.joint_pos(torch_env, asset_cfg=cfg)
+
+   # Warp (uncaptured)
+   out = wp.zeros((num_envs, num_joints), dtype=wp.float32, device=device)
+   warp_obs.joint_pos(warp_env, out, asset_cfg=cfg)
+   actual = wp.to_torch(out)
+
+   torch.testing.assert_close(actual, expected)
+
+**2. Capture parity (warp vs warp-captured)** — verifies that the term produces identical
+results when replayed from a CUDA graph vs launched directly. A mismatch here indicates capture-unsafe
+code (e.g. stale pointers, dynamic allocation, or lazy property access that doesn't replay).
+This test should always be run, even for terms without a torch counterpart.
+
+.. code-block:: python
+
+   # Warp uncaptured
+   out_uncaptured = wp.zeros((num_envs, num_joints), dtype=wp.float32, device=device)
+   warp_obs.joint_pos(warp_env, out_uncaptured, asset_cfg=cfg)
+
+   # Warp captured (graph replay)
+   out_captured = wp.zeros((num_envs, num_joints), dtype=wp.float32, device=device)
+   with wp.ScopedCapture() as cap:
+       warp_obs.joint_pos(warp_env, out_captured, asset_cfg=cfg)
+   wp.capture_launch(cap.graph)
+
+   torch.testing.assert_close(wp.to_torch(out_captured), wp.to_torch(out_uncaptured))
+
+See ``source/isaaclab_experimental/test/envs/mdp/`` for complete parity test examples.
+
+
+Available Warp MDP Terms
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. list-table::
+   :header-rows: 1
+   :widths: 20 80
+
+   * - Category
+     - Available Terms
+   * - Observations (11)
+     - | ``base_pos_z``
+       | ``base_lin_vel``
+       | ``base_ang_vel``
+       | ``projected_gravity``
+       | ``joint_pos``
+       | ``joint_pos_rel``
+       | ``joint_pos_limit_normalized``
+       | ``joint_vel``
+       | ``joint_vel_rel``
+       | ``last_action``
+       | ``generated_commands``
+   * - Rewards (16)
+     - | ``is_alive``
+       | ``is_terminated``
+       | ``lin_vel_z_l2``
+       | ``ang_vel_xy_l2``
+       | ``flat_orientation_l2``
+       | ``joint_torques_l2``
+       | ``joint_vel_l1``
+       | ``joint_vel_l2``
+       | ``joint_acc_l2``
+       | ``joint_deviation_l1``
+       | ``joint_pos_limits``
+       | ``action_rate_l2``
+       | ``action_l2``
+       | ``undesired_contacts``
+       | ``track_lin_vel_xy_exp``
+       | ``track_ang_vel_z_exp``
+   * - Events (6)
+     - | ``reset_joints_by_offset``
+       | ``reset_joints_by_scale``
+       | ``reset_root_state_uniform``
+       | ``push_by_setting_velocity``
+       | ``apply_external_force_torque``
+       | ``randomize_rigid_body_com``
+   * - Terminations (4)
+     - | ``time_out``
+       | ``root_height_below_minimum``
+       | ``joint_pos_out_of_manual_limit``
+       | ``illegal_contact``
+   * - Actions (2)
+     - | ``JointPositionAction``
+       | ``JointEffortAction``
+
+Terms not listed here remain in torch only. When using an env that requires unlisted terms,
+those terms must be implemented in warp first.
diff --git a/docs/source/concepts/warp_environments.rst b/docs/source/concepts/warp_environments.rst
new file mode 100644
index 000000000000..1174c3a41f0b
--- /dev/null
+++ b/docs/source/concepts/warp_environments.rst
@@ -0,0 +1,335 @@
+.. _warp-environments:
+
+Warp Experimental Environments
+==============================
+
+.. note::
+
+   The warp environment infrastructure lives in ``isaaclab_experimental`` and
+   ``isaaclab_tasks_experimental``. It's an experimental feature.
+
+The experimental extensions introduce **warp-first** environment infrastructure with CUDA graph capture
+support. All environment-side computation (observations, rewards, resets, actions) runs as pure Warp
+kernels, eliminating Python overhead and enabling CUDA graph capture for maximum throughput.
+
+Throughout this page, **stable** refers to the standard Torch-based implementations in the
+``isaaclab`` and ``isaaclab_tasks`` packages (the default runtime, used when ``--frontend warp``
+is not passed). Their Warp counterparts live in the ``isaaclab_experimental`` and
+``isaaclab_tasks_experimental`` packages.
+
+
+Workflows
+~~~~~~~~~
+
+Two environment workflows are supported:
+
+**Direct workflow** — ``DirectRLEnvWarp`` base class. You implement the step loop, observations,
+rewards, and resets directly in your env class using Warp kernels.
+
+**Manager-based workflow** — ``ManagerBasedRLEnvWarp`` base class. You define MDP terms as
+standalone Warp-kernel functions and compose them via configuration.
+
+
+Available Environments
+~~~~~~~~~~~~~~~~~~~~~~
+
+Direct Warp Environments
+^^^^^^^^^^^^^^^^^^^^^^^^
+
+Direct tasks share the stable task configuration. ``--frontend warp`` resolves
+the stable ``<task>_direct_env:<Name>Env`` entry point to the mirrored
+``<task>_warp_env:<Name>WarpEnv`` implementation and swaps only the environment
+class. Registrations can use ``warp_entry_point`` as an optional override when
+the implementation cannot follow this convention. Stable tasks with a Warp
+implementation:
+
+- ``Isaac-Cartpole-Direct`` — Cartpole balance
+- ``Isaac-Ant-Direct`` — Ant locomotion
+- ``Isaac-Humanoid-Direct`` — Humanoid locomotion
+- ``Isaac-Reorient-Cube-Allegro-Direct`` — Allegro hand cube reorient
+
+
+Manager-Based Warp Execution (``--frontend warp``)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Manager-based tasks do not need a parallel warp registration: the shared RL
+CLI exposes ``--frontend {torch,warp}``, and ``--frontend warp`` adapts the
+*stable* task configuration onto the warp runtime at build time (swapping each
+MDP term for its warp twin). Select the Newton solver explicitly with
+``presets=newton_mjwarp``. Stable tasks with full twin coverage:
+
+- ``Isaac-Cartpole``
+- ``Isaac-Ant``
+- ``Isaac-Humanoid``
+- ``Isaac-Reach-Franka``
+- ``Isaac-Reach-UR10``
+- ``Isaac-Velocity-Flat-AnymalD``
+- ``Isaac-Velocity-Flat-Cassie``
+- ``Isaac-Velocity-Flat-G1``
+- ``Isaac-Velocity-Flat-H1``
+- ``Isaac-Velocity-Flat-UnitreeGo2``
+
+A missing twin is a hard error listing the affected terms, so a partially
+covered task fails at build time rather than silently changing behavior.
+Rough-terrain velocity tasks remain unsupported until
+:class:`~isaaclab.terrains.TerrainImporter` gains Warp APIs.
+
+
+Quick Start
+~~~~~~~~~~~
+
+.. code-block:: bash
+
+    # Direct workflow: stable task, warp env implementation
+    uv run isaaclab train --rl_library rsl_rl \
+        --task Isaac-Cartpole-Direct --frontend warp presets=newton_mjwarp --num_envs 4096
+    uv run isaaclab play --rl_library rsl_rl \
+        --task Isaac-Cartpole-Direct --frontend warp presets=newton_mjwarp \
+        --num_envs 32 --checkpoint latest --visualizer newton_gl
+
+    # Manager-based workflow: stable task on the warp runtime
+    uv run isaaclab train --rl_library rsl_rl \
+        --task Isaac-Velocity-Flat-AnymalD --frontend warp presets=newton_mjwarp --num_envs 4096
+    uv run isaaclab play --rl_library rsl_rl \
+        --task Isaac-Velocity-Flat-AnymalD --frontend warp presets=newton_mjwarp \
+        --num_envs 32 --checkpoint latest --visualizer newton_gl
+
+All RL libraries with warp-compatible wrappers are supported: RSL-RL, RL Games, SKRL, and
+Stable-Baselines3.
+
+.. note::
+
+   ``--video`` is rejected on the warp path, for both ``train`` and ``play``: video
+   recording requires the standard torch frontend. To record a rollout, replay the same
+   checkpoint with ``--frontend torch``.
+
+
+Performance Comparison
+~~~~~~~~~~~~~~~~~~~~~~
+
+Step time comparison between the stable (torch/manager) and warp (CUDA graph captured) variants,
+both running on the Newton physics backend. Measured over 300 iterations with 4096 environments.
+
+.. note::
+
+   The warp migration is an ongoing effort. Several components (e.g. scene write, actuator models)
+   have not yet been migrated to Warp kernels and still run through torch. Further performance
+   improvements are expected as these components are migrated.
+
+.. list-table::
+   :header-rows: 1
+   :widths: 42 10 14 14 12
+
+   * - Env
+     - Type
+     - Stable Step (us)
+     - Warp Step (us)
+     - Change
+   * - Isaac-Cartpole-Direct
+     - Direct
+     - 5,274
+     - 4,331
+     - -17.88%
+   * - Isaac-Ant-Direct
+     - Direct
+     - 6,368
+     - 3,128
+     - -50.88%
+   * - Isaac-Humanoid-Direct
+     - Direct
+     - 13,937
+     - 10,783
+     - -22.63%
+   * - Isaac-Reorient-Cube-Allegro-Direct
+     - Direct
+     - 82,950
+     - 74,570
+     - -10.10%
+   * - Isaac-Cartpole
+     - Manager
+     - 7,971
+     - 3,642
+     - -54.31%
+   * - Isaac-Ant
+     - Manager
+     - 9,781
+     - 4,672
+     - -52.23%
+   * - Isaac-Humanoid
+     - Manager
+     - 17,653
+     - 12,505
+     - -29.16%
+   * - Isaac-Reach-Franka
+     - Manager
+     - 11,458
+     - 7,813
+     - -31.83%
+   * - Isaac-Velocity-Flat-AnymalD
+     - Manager
+     - 32,294
+     - 23,977
+     - -25.75%
+   * - Isaac-Velocity-Flat-Cassie
+     - Manager
+     - 17,320
+     - 10,706
+     - -38.19%
+   * - Isaac-Velocity-Flat-G1
+     - Manager
+     - 34,487
+     - 27,300
+     - -20.84%
+   * - Isaac-Velocity-Flat-H1
+     - Manager
+     - 22,202
+     - 15,864
+     - -28.55%
+   * - Isaac-Velocity-Flat-UnitreeGo2
+     - Manager
+     - 15,221
+     - 9,966
+     - -34.52%
+
+
+Which Workflows Benefit Most
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+The savings come from eliminating Python / torch overhead in the env's step loop, so envs
+gain in proportion to how much of their step time was previously dominated by per-kernel CPU
+overhead. Reading the table above:
+
+- **Manager-based classic RL** (Cartpole, Ant) — biggest gains (-52% to -54%). Many small
+  reward / observation terms with low compute per term, so per-launch CPU overhead dominated
+  the stable baseline.
+- **Manager-based locomotion** (AnymalD, G1, H1, Cassie, UnitreeGo2) — consistent -21% to -38%
+  range. The MDP has more terms but the underlying physics step is heavier, so the relative
+  Python savings shrink.
+- **Direct workflow** — gains scale with how much the env's step body was Python (Ant -51%,
+  Cartpole -18%, Allegro hand -10%). Direct envs that already wrote most of their work as
+  GPU kernels see modest gains; ones with substantial Python state machinery see large ones.
+- **Compute-heavy / scene-write-heavy envs** (Allegro hand, large humanoids) — see smaller
+  relative gains because the warp-side savings are amortised over a heavier step. Components
+  that still go through torch (scene write, actuator models) currently bound the floor; this
+  is expected to improve as remaining components migrate to warp.
+
+If your env's step time is dominated by physics or scene I/O, expect modest gains. If it has
+many small MDP terms or a lot of Python in the step loop, expect large ones. Use the
+benchmarking workflow below to measure on your task before committing to a migration.
+
+
+Limitations
+~~~~~~~~~~~
+
+The warp env path is experimental and has the following known constraints. These are
+specific to warp envs; for Newton physics maturity and specialist guides see
+:ref:`physics-backends-newton`.
+
+**Physics backend**
+
+- **Newton only.** PhysX is not supported under the warp env path. Asset and sensor
+  ``class_type`` fields resolve to ``isaaclab_physx.*`` classes that depend on
+  ``omni.physics.tensors`` (a Kit module the warp runtime does not initialise), and several
+  warp APIs (env-mask reset, CUDA graph capture) require the Newton articulation. Configure
+  the cfg with a Newton physics block (or the typed selector ``physics=newton_mjwarp``,
+  which fails loudly if the task has no Newton physics preset).
+
+**MDP coverage**
+
+- Only the terms listed under :ref:`Available Warp MDP Terms <warp-env-migration>` are
+  implemented. Stable envs that depend on un-migrated terms cannot be run on the warp path
+  until those terms are ported.
+- Some scene-side operations (asset write, actuator models, certain sensor types) still go
+  through torch. They participate in the step but are not yet captured into the graph; they
+  set the lower bound on observed step time.
+- Sensors that depend on the Kit RTX renderer (camera-based observations) cannot be combined
+  with the warp env path — they need Kit, which the warp runtime does not initialise.
+
+**API differences vs stable**
+
+- Reset events use a boolean ``env_mask`` (``wp.array(dtype=wp.bool)``) instead of an
+  ``env_ids`` list. This is required for capture safety: variable-length indexing changes
+  graph topology and breaks replay.
+- All buffers must be pre-allocated in ``__init__``. There is no dynamic allocation inside
+  the captured step loop, so observation / reward / termination output dimensions must be
+  known at env init.
+- Term functions write into a pre-allocated ``out`` buffer rather than returning a tensor.
+  See :doc:`warp_environment_migration` for the kernel + launch pattern.
+- Code inside the captured step loop must follow capture-safety rules (no
+  ``wp.to_torch``, no torch arithmetic, no lazy-evaluated properties, no Python branching
+  on GPU data). See the *Capture Safety* section in :doc:`warp_environment_migration` for the
+  full set of rules.
+
+
+Benchmarking Your Environment
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+The performance table above was produced with ``isaaclab benchmark training``,
+which runs a fixed iteration count and reports step-time statistics. Use the same command
+to estimate the gain for your own task before committing to a migration.
+
+**Single-task A/B**
+
+Run the same stable task id twice, differing only in ``--frontend``. Pass
+``presets=newton_mjwarp`` to *both* runs so the physics backend is identical and the
+measured difference isolates the frontend (manager pipeline + CUDA graph capture):
+
+.. code-block:: bash
+
+    # Torch frontend (stable managers)
+    uv run isaaclab benchmark training \
+        --rl_library rsl_rl \
+        --task <Task-Name> \
+        --num_envs 4096 \
+        --max_iterations 500 \
+        --benchmark_formatter summary \
+        --output_path benchmarks/torch \
+        presets=newton_mjwarp
+
+    # Warp frontend (warp managers, CUDA-graph captured) — same task id
+    uv run isaaclab benchmark training \
+        --rl_library rsl_rl \
+        --task <Task-Name> \
+        --frontend warp \
+        --num_envs 4096 \
+        --max_iterations 500 \
+        --benchmark_formatter summary \
+        --output_path benchmarks/warp \
+        presets=newton_mjwarp
+
+The ``summary`` formatter prints step time (min / mean / max) and total throughput. Compare
+"step time" between the two runs to estimate the gain per env step.
+
+**Sweep across all available tasks**
+
+Run ``isaaclab benchmark training`` for each task in the stable set (cartpole, ant, humanoid,
+locomotion, manipulation) and again with ``--frontend warp``, then diff the two output
+directories.
+
+**What to look at in the output**
+
+- *Step time (min / mean / max)*: the headline number — what each env step costs.
+- *Iteration time*: includes policy update; useful for end-to-end training throughput.
+- *Capture overhead*: for warp runs, the first few iterations include CUDA graph capture
+  cost; exclude those when comparing steady-state numbers.
+
+**Estimating before you migrate**
+
+If you can't run the warp variant yet (e.g. the task isn't ported), measure the stable
+step time and look at where it's spent:
+
+- ``num_envs * step_time`` dominated by physics → expect modest warp gains.
+- ``step_time`` dominated by ``manager.compute_*`` calls → expect large gains, since those
+  are exactly what the warp managers replace with captured kernel launches.
+
+Use ``--num_steps`` on ``runtime.py`` for a no-policy step-time microbenchmark
+when you want to isolate env overhead from policy compute.
+
+
+Migrating Existing Environments
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+For step-by-step instructions on porting an existing stable env (or writing a new warp
+env from scratch) — covering project layout, the kernel + launch pattern shared by
+observations / rewards / events / terminations / actions, capture-safety rules, and
+parity testing — see :doc:`warp_environment_migration`.
diff --git a/docs/source/developer-tools/add_physics_backend.rst b/docs/source/developer-tools/add_physics_backend.rst
new file mode 100644
index 000000000000..0bfe35d6b637
--- /dev/null
+++ b/docs/source/developer-tools/add_physics_backend.rst
@@ -0,0 +1,206 @@
+.. Copyright (c) 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
+
+.. _add-physics-backend:
+
+Add a Physics Backend
+=====================
+
+This guide extends Isaac Lab with a new physics backend. Read
+:ref:`backend-architecture` for the factory-dispatch and portable-interface
+design that this extension implements.
+
+Prerequisites
+-------------
+
+Before starting, identify the engine's lifecycle, native data ownership, and
+the assets and sensors it can support. The backend must provide a
+:class:`~isaaclab.physics.PhysicsManager` implementation and follow the module
+layout expected by :class:`~isaaclab.utils.backend_utils.FactoryBase`.
+
+Create the backend package
+--------------------------
+
+Create an extension package using the backend name in its package path. For
+example, a backend named ``mybackend`` uses this layout:
+
+.. code-block:: text
+
+    source/isaaclab_mybackend/
+    └── isaaclab_mybackend/
+        ├── __init__.py
+        ├── physics/
+        │   ├── __init__.py           # lazy_export()
+        │   ├── __init__.pyi          # public exports
+        │   ├── mybackend_manager.py
+        │   └── mybackend_manager_cfg.py
+        ├── assets/
+        │   ├── articulation/
+        │   │   ├── __init__.py
+        │   │   ├── __init__.pyi
+        │   │   ├── articulation.py
+        │   │   └── articulation_data.py
+        │   ├── rigid_object/
+        │   │   └── ...
+        │   ├── deformable_object/
+        │   │   └── ...
+        │   └── rigid_object_collection/
+        │       └── ...
+        ├── sensors/
+        │   ├── contact_sensor/
+        │   └── ...
+        ├── renderers/
+        │   └── ...
+        └── cloner/
+            └── ...
+
+Implement the physics manager
+-----------------------------
+
+The manager must expose a :class:`~isaaclab.scene_data.SceneDataBackend` so
+:class:`~isaaclab.scene_data.SceneDataProvider` can read the backend's body
+transforms in the Warp-native format consumed by renderers and visualizers.
+
+.. code-block:: python
+
+    # isaaclab_mybackend/physics/mybackend_manager.py
+    from typing import ClassVar
+
+    from isaaclab.physics import PhysicsEvent, PhysicsManager
+    from isaaclab.scene_data import SceneDataBackend, SceneDataFormat
+
+
+    class MyBackendSceneDataBackend(SceneDataBackend):
+        def __init__(self):
+            self._scene_data = SceneDataFormat.Transform()
+
+        @property
+        def transforms(self) -> SceneDataFormat.Transform:
+            # Return current world-space body transforms as a Warp transformf array.
+            self._scene_data.transforms = ...  # backend-native tensor view
+            return self._scene_data
+
+        @property
+        def transform_count(self) -> int:
+            ...
+
+        @property
+        def transform_paths(self) -> list[str]:
+            # One prim path per transform; used by SceneDataProvider.create_mapping.
+            ...
+
+
+    class MyBackendManager(PhysicsManager):
+        _scene_data_backend: ClassVar[MyBackendSceneDataBackend | None] = None
+
+        @classmethod
+        def initialize(cls, sim_context):
+            super().initialize(sim_context)
+            cls._scene_data_backend = MyBackendSceneDataBackend()
+            # Initialize the physics engine.
+
+        @classmethod
+        def get_scene_data_backend(cls) -> SceneDataBackend:
+            return cls._scene_data_backend
+
+        @classmethod
+        def step(cls):
+            # Advance simulation by one timestep.
+            ...
+
+        @classmethod
+        def forward(cls):
+            # Update kinematics without stepping.
+            ...
+
+        @classmethod
+        def reset(cls, soft=False):
+            if not soft:
+                cls.dispatch_event(PhysicsEvent.PHYSICS_READY)
+            # Reset simulation state.
+
+        @classmethod
+        def close(cls):
+            super().close()
+            # Clean up resources.
+
+Define the physics configuration
+--------------------------------
+
+Define a :class:`~isaaclab.physics.PhysicsCfg` subclass that identifies the
+manager class and holds backend-specific settings:
+
+.. code-block:: python
+
+    # isaaclab_mybackend/physics/mybackend_manager_cfg.py
+    from isaaclab.physics import PhysicsCfg
+    from isaaclab.utils import configclass
+
+
+    @configclass
+    class MyBackendCfg(PhysicsCfg):
+        class_type = "{DIR}.mybackend_manager:MyBackendManager"
+        # Backend-specific settings here.
+
+Register the backend key
+------------------------
+
+``FactoryBase`` does not derive a new backend key from an arbitrary physics
+manager class name. Add the manager prefix to the core selector in
+``isaaclab.utils.backend_utils`` before factories can resolve assets and
+sensors for the backend:
+
+.. code-block:: python
+
+    # source/isaaclab/isaaclab/utils/backend_utils.py
+    @classmethod
+    def _get_backend(cls, *args, **kwargs) -> str:
+        from isaaclab.sim.simulation_context import SimulationContext
+
+        manager_name = SimulationContext.instance().physics_manager.__name__.lower()
+        if manager_name.startswith("mybackend"):
+            return "mybackend"
+        # Keep the existing newton, ovphysx, and physx cases below.
+
+The existing ``_get_package_name()`` convention maps the ``mybackend`` key to
+the ``isaaclab_mybackend`` package used above. If the integration uses another
+package name, add an explicit case to ``_get_package_name()`` as well.
+``FactoryBase.register()`` only caches the concrete class after this key and
+package mapping has selected and imported the backend module; calling it alone
+does not register a new physics-manager prefix.
+
+Implement assets and sensors
+----------------------------
+
+Each supported asset or sensor extends the matching base class in
+``isaaclab``. The implementation class name must match the factory's expected
+name. Use ``lazy_export()`` in package ``__init__.py`` files. Once the core
+backend-key mapping is in place, the factory imports these modules by package
+and module-path convention and caches their implementation classes.
+
+.. code-block:: python
+
+    # isaaclab_mybackend/assets/articulation/articulation.py
+    from isaaclab.assets.articulation import BaseArticulation
+
+
+    class Articulation(BaseArticulation):
+        def __init__(self, cfg):
+            super().__init__(cfg)
+            # Set up backend-specific simulation structures.
+
+Validate backend discovery
+--------------------------
+
+``FactoryBase`` maps ``isaaclab.assets.articulation`` to
+``isaaclab_mybackend.assets.articulation`` after the registered
+``mybackend`` key is selected from the active physics manager. Verify the
+configured discovery path with the following checklist:
+
+- Construct the backend configuration.
+- Initialize a minimal simulation with that configuration.
+- Instantiate one asset supported by the backend.
+- Step the simulation once.
+- Close the simulation cleanly.
diff --git a/docs/source/overview/developer-guide/agent_skills.rst b/docs/source/developer-tools/agent_skills.rst
similarity index 100%
rename from docs/source/overview/developer-guide/agent_skills.rst
rename to docs/source/developer-tools/agent_skills.rst
diff --git a/docs/source/developer-tools/editor_setup.rst b/docs/source/developer-tools/editor_setup.rst
new file mode 100644
index 000000000000..05d54a151342
--- /dev/null
+++ b/docs/source/developer-tools/editor_setup.rst
@@ -0,0 +1,203 @@
+.. _setup-vs-code:
+
+Editor setup
+------------
+
+Editor setup is optional and is not required to run Isaac Lab. The repository
+includes shared settings for `Visual Studio Code <https://code.visualstudio.com/>`_
+and compatible editors such as `Cursor <https://www.cursor.com/>`_. Complete one
+of the :ref:`Isaac Lab installation methods <isaaclab-installation-root>` before
+configuring your editor.
+
+The ``.vscode`` directory contains the checked-in templates and tasks:
+
+.. code-block:: bash
+
+   .vscode
+   ├── tools
+   │   ├── launch.template.json
+   │   └── settings.template.json
+   ├── extensions.json
+   ├── launch.json  # generated by isaaclab --editor
+   ├── settings.json  # generated by isaaclab --editor
+   └── tasks.json
+
+Configure a source checkout
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Open the Isaac Lab repository root in your editor. Then run the setup command
+that matches your installation from a terminal in that directory.
+
+.. tab-set::
+
+   .. tab-item:: uv (recommended)
+
+      For the default Newton environment, run:
+
+      .. code-block:: bash
+
+         uv run isaaclab --editor
+
+      If you use Isaac Sim from the ``isaacsim`` extra, include the extra so the
+      setup command can discover its extensions:
+
+      .. code-block:: bash
+
+         uv run --extra isaacsim isaaclab --editor
+
+   .. tab-item:: Activated Python environment
+
+      Activate the uv, venv, or conda environment where Isaac Lab is installed,
+      then run:
+
+      .. code-block:: bash
+
+         isaaclab --editor
+
+   .. tab-item:: Downloaded Isaac Sim package
+
+      Run the setup command through the Isaac Lab launcher after completing the
+      :ref:`downloaded package installation <isaaclab-binaries-installation>`:
+
+      .. tab-set::
+         :sync-group: os
+
+         .. tab-item:: :icon:`fa-brands fa-linux` Linux
+            :sync: linux
+
+            .. code-block:: bash
+
+               ./isaaclab.sh --editor
+
+         .. tab-item:: :icon:`fa-brands fa-windows` Windows
+            :sync: windows
+
+            .. code-block:: batch
+
+               isaaclab.bat --editor
+
+      The ``setup_python_env`` task in the command palette runs the recommended
+      ``uv`` workflow.
+
+The command creates or updates these machine-local files:
+
+* ``.vscode/launch.json``: Debugging configurations. An existing file is preserved.
+* ``.vscode/settings.json``: The interpreter and shared editor settings.
+* ``pyrightconfig.json``: Import paths for Pyright-compatible language servers.
+
+The generated files are ignored by Git because interpreter and extension paths
+vary between machines. Rerun the command after changing Python environments or
+Isaac Sim installations. If Isaac Sim is not installed, the command prints a
+warning and still configures the local Isaac Lab packages.
+
+The checked-in ``[tool.pyright]`` table in ``pyproject.toml`` makes packages
+under ``source`` available immediately after cloning. The generated
+``pyrightconfig.json`` inherits that policy and adds Isaac Sim extensions plus
+Isaac Lab packages found in the active Python environment. This covers source,
+editable, and wheel installations without storing absolute paths in Git.
+
+Configure VS Code
+^^^^^^^^^^^^^^^^^
+
+Install the extensions recommended by the repository when VS Code prompts you.
+At minimum, install the Python and Pylance extensions. Run the setup command
+above, then use **Python: Select Interpreter** from the command palette to select
+the same interpreter used by the command. For the recommended uv installation,
+this is ``.venv/bin/python`` on Linux or ``.venv\Scripts\python.exe`` on Windows.
+
+Configure Cursor
+^^^^^^^^^^^^^^^^
+
+Cursor cannot use Pylance because Pylance is licensed for official VS Code
+builds. Install the Python extension and the `basedpyright
+<https://marketplace.visualstudio.com/items?itemName=detachhead.basedpyright>`__
+extension (``detachhead.basedpyright``). Then:
+
+1. Run the same setup command shown above for your installation.
+2. Select the interpreter that ran the command.
+3. Reload the Cursor window so basedpyright rereads ``pyrightconfig.json``.
+
+No Cursor-specific path list is required. Pylance and basedpyright read the
+same Pyright configuration.
+
+Troubleshoot editor imports
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+If an import is still unresolved:
+
+1. Confirm the selected editor interpreter matches ``python`` in the setup command.
+2. Rerun setup with ``uv run --extra isaacsim isaaclab --editor`` if the missing import is from
+   ``omni``, ``pxr``, or ``isaacsim``.
+3. Reload the editor window.
+4. Inspect the generated ``extraPaths`` in the root ``pyrightconfig.json``.
+
+Remove simulator extension directories that the project does not use if
+language-server indexing consumes too much memory.
+
+For more information about VS Code support in Isaac Sim, see:
+
+* `Isaac Sim VSCode support <https://docs.isaacsim.omniverse.nvidia.com/latest/development_tools/vscode.html#visual-studio-code-vs-code>`__
+
+
+Attach to a Running ``debugpy`` Session
+---------------------------------------
+
+The generated ``.vscode/launch.json`` includes a ``Python: Debugger Attach``
+configuration that starts to listen on port ``localhost:3000`` for the debugpy session.
+
+To use it:
+
+1. Set your breakpoints.
+2. Run your code under debugpy like so:
+
+   .. tab-set::
+
+      .. tab-item:: uv (Recommended)
+
+         .. code-block:: bash
+
+            uv run python -m debugpy --listen 3000 --wait-for-client -c "from isaaclab.cli import cli; cli()" [cli_args]
+
+      .. tab-item:: isaaclab.sh / isaaclab.bat
+
+         .. code-block:: bash
+
+            ./isaaclab.sh -p -m debugpy --listen 3000 --wait-for-client -c "from isaaclab.cli import cli; cli()" [cli_args]
+
+3. In VS Code, select the ``Python: Debugger Attach`` configuration from the Run and Debug panel
+   and press the green play button or ``F5``. VS Code will connect to the debugpy server
+   running on ``localhost:3000``.
+
+Configuring the Python interpreter
+----------------------------------
+
+The setup command records the interpreter that ran it in
+``.vscode/settings.json``. For example, a uv source checkout on Linux uses:
+
+.. code-block:: json
+
+   {
+      "python.defaultInterpreterPath": "/path/to/IsaacLab/.venv/bin/python",
+   }
+
+The editor selection takes precedence over this default. If you change
+environments, rerun setup and select the new interpreter from the status bar or
+with **Python: Select Interpreter** in the command palette.
+
+For more information about selecting a Python interpreter, see the
+`VS Code documentation <https://code.visualstudio.com/docs/python/environments#_working-with-python-interpreters>`_.
+
+
+Setting up formatting and linting
+---------------------------------
+
+We use `ruff <https://github.com/astral-sh/ruff/>`_ as a formatter and linter.
+These are configured in the ``.vscode/settings.json`` file:
+
+.. code-block:: json
+
+   {
+      "ruff.configuration": "${workspaceFolder}/pyproject.toml",
+   }
+
+The ruff linter will show warnings and errors in your code to help you follow Python best practices and the project's coding standards.
diff --git a/docs/source/developer-tools/extending_newton_solvers.rst b/docs/source/developer-tools/extending_newton_solvers.rst
new file mode 100644
index 000000000000..54165675f4d1
--- /dev/null
+++ b/docs/source/developer-tools/extending_newton_solvers.rst
@@ -0,0 +1,281 @@
+.. _newton-extending-solvers:
+
+Extending Newton Solvers
+========================
+
+This page is for contributors adding a Newton solver to Isaac Lab or building a
+custom coupled solver. It describes the
+:class:`~isaaclab_newton.physics.NewtonManager` extension contract: what the
+manager owns, when its hooks run, and what a subclass must provide.
+
+If you only need to select and configure a shipped solver, use the user-facing
+pages instead: :doc:`/source/concepts/backends_and_presets` for backend and
+preset selection, :doc:`/source/concepts/solver-tuning/index` for the per-solver guides, and
+:ref:`newton-coupled-solvers` for choosing a coupling approach.
+
+
+When a Solver Manager Is Needed
+-------------------------------
+
+Each Newton solver is exposed as a
+:class:`~isaaclab_newton.physics.NewtonManager` subclass. Write a new one when:
+
+* a Newton solver has no Isaac Lab manager yet;
+* the solver needs its own contact allocation, builder attributes, or reset
+  handling;
+* several solvers must advance one shared model and the substep order is part
+  of the algorithm.
+
+Do not write one when an existing solver can advance the whole model, or when
+the scene can be partitioned into named solver entries. Partitioning is already
+covered by :class:`~isaaclab_contrib.coupling.CouplerProxyCfg` and
+:class:`~isaaclab_contrib.coupling.CouplerAdmmCfg`, which
+:class:`~isaaclab_contrib.coupling.NewtonCouplerManager` resolves into entry
+views over a shared model. Prefer that path for mixed rigid and deformable
+scenes. Write a coupled manager only when contact detection is shared but each
+solver consumes the contacts differently, or when the exchange between solvers
+is a custom force, impulse, or state transfer.
+
+
+Responsibilities and Boundaries
+-------------------------------
+
+:class:`~isaaclab_newton.physics.NewtonManager` is a class-level singleton: all
+state lives on the base class and there are no instance methods, so exactly one
+manager subclass is active per simulation.
+
+.. list-table::
+   :header-rows: 1
+   :widths: 25 75
+
+   * - Owner
+     - Responsibility
+   * - Simulation context
+     - Resolves the manager subclass from
+       :attr:`~isaaclab_newton.physics.NewtonCfg.class_type` and drives the
+       public lifecycle calls.
+   * - ``NewtonManager`` base
+     - Builder, finalized ``Model``, states, control, collision pipeline and
+       contacts, substep iteration, CUDA graph capture, Fabric and USD
+       synchronization, sensors, and reset masks.
+   * - Manager subclass
+     - Solver construction and any solver-owned internal state, contact
+       buffers, or builder attributes.
+   * - Coupler entry
+     - A disjoint part of the shared model, when the active manager is a
+       coupler.
+   * - Task configuration
+     - A :class:`~isaaclab_newton.physics.NewtonSolverCfg` subclass whose
+       ``class_type`` points at the manager, plus entry ownership selectors for
+       coupled setups.
+
+:class:`~isaaclab_newton.physics.NewtonCfg` copies ``solver_cfg.class_type``
+onto its own :attr:`~isaaclab_newton.physics.NewtonCfg.class_type`, so task
+configuration never names the manager directly.
+
+
+Lifecycle
+---------
+
+The public entry points run in this order. Subclass hooks are private; the base
+class invokes them.
+
+.. list-table::
+   :header-rows: 1
+   :widths: 30 45 25
+
+   * - Public call
+     - What happens
+     - Subclass hooks
+   * - :meth:`~isaaclab_newton.physics.NewtonManager.initialize`
+     - Stores the simulation context, reads gravity from the simulation
+       configuration, and creates the scene data backend.
+     - none
+   * - :meth:`~isaaclab_newton.physics.NewtonManager.create_builder`,
+       :meth:`~isaaclab_newton.physics.NewtonManager.set_builder`, or
+       :meth:`~isaaclab_newton.physics.NewtonManager.instantiate_builder_from_stage`
+     - Creates or imports the ``ModelBuilder``.
+     - ``_register_builder_attributes()`` (not called by ``set_builder()``)
+   * - :meth:`~isaaclab_newton.physics.NewtonManager.start_simulation`
+     - Finalizes the model, then allocates states, reset masks, and Fabric
+       prims.
+     - ``_register_builder_attributes()``,
+       ``_prepare_builder_for_finalize()``
+   * - :meth:`~isaaclab_newton.physics.NewtonManager.initialize_solver`
+     - Builds the solver, checks that it was assigned, and allocates contacts.
+     - ``_build_solver()``, ``_initialize_contacts()``
+   * - :meth:`~isaaclab_newton.physics.NewtonManager.reset`
+     - A hard reset re-runs ``start_simulation()`` and ``initialize_solver()``
+       against a re-finalized model; a soft reset reuses the existing model,
+       solver, contacts, and graph.
+     - ``_register_builder_attributes()``,
+       ``_prepare_builder_for_finalize()``, ``_build_solver()``,
+       ``_initialize_contacts()`` (hard reset only)
+   * - :meth:`~isaaclab_newton.physics.NewtonManager.step`
+     - Runs one actuator pass plus ``num_substeps`` solver substeps, then
+       updates sensors.
+     - ``_reset_solver_internals()``, ``_simulate_physics_only()``,
+       ``_step_solver()``, ``_check_solver_status()``,
+       ``_log_solver_debug()``
+   * - :meth:`~isaaclab_newton.physics.NewtonManager.pre_render`
+     - Refreshes kinematics, then writes body, cable, and particle state to
+       Fabric for rendering.
+     - ``_reset_solver_internals()`` (via ``forward()``)
+   * - :meth:`~isaaclab_newton.physics.NewtonManager.close` and
+       :meth:`~isaaclab_newton.physics.NewtonManager.clear`
+     - Releases the solver, model, and all class-level state.
+     - ``_solver_specific_clear()``
+
+``_build_solver()`` runs after the model is finalized, so it may size solver
+resources from the real model. ``_register_builder_attributes()`` runs before
+particles are added and before ``finalize()``, so it is the only place to
+register Newton custom attributes.
+
+``step()`` takes one of two paths, selected by
+:meth:`~isaaclab_newton.physics.NewtonManager.handles_decimation`. When every
+actuator is on the graph-safe Newton fast path, actuators and substeps run
+together inside one graph and ``step()`` runs the whole decimation loop, so
+``_step_solver()`` runs ``decimation x num_substeps`` times per call. Otherwise
+actuators run eagerly, only the substeps are graphed through
+``_simulate_physics_only()``, and the environment drives decimation by calling
+``step()`` repeatedly. Both paths reach ``_step_solver()`` through the same
+substep loop.
+
+Graph capture happens at one of several points. ``initialize_solver()`` captures
+unless the graph-safe path is active; in that case
+:meth:`~isaaclab_newton.physics.NewtonManager.set_decimation` captures once the
+decimation is known, and the RTX path defers capture to the first ``step()``.
+All routes check ``_supports_cuda_graph_capture()``. The non-RTX route
+additionally checks ``_requires_initial_reset_before_graph_capture()``.
+
+.. warning::
+
+   With ``_use_single_state = False`` the base manager ping-pongs
+   ``NewtonManager._state_0`` and ``NewtonManager._state_1`` after each substep,
+   except on the final substep of an odd count, where it copies instead. Never
+   cache a ``State`` reference in ``_build_solver()``; read the current state
+   through the class attribute on each use.
+
+
+Extension Contract
+------------------
+
+A subclass must implement ``_build_solver()`` and assign four slots on
+``NewtonManager`` itself, not on ``cls``.
+:meth:`~isaaclab_newton.physics.NewtonManager.initialize_solver` raises
+``RuntimeError`` if ``_solver`` is still unset. The other three are not
+validated and keep their defaults, so a subclass that forgets them runs with
+double-buffered states, no collision pipeline, and no visualizer force input.
+
+.. list-table::
+   :header-rows: 1
+   :widths: 40 60
+
+   * - Slot
+     - Meaning
+   * - ``_solver``
+     - The constructed Newton ``SolverBase`` instance.
+   * - ``_use_single_state``
+     - ``True`` if the solver steps in place on one ``State``; ``False`` if it
+       needs separate input and output states.
+   * - ``_needs_collision_pipeline``
+     - ``True`` if the base manager should own Newton's collision pipeline;
+       ``False`` if the solver detects contacts internally.
+   * - ``_supports_rigid_body_force_input``
+     - ``True`` if the solver consumes external rigid-body forces from
+       ``State.body_f``.
+
+.. code-block:: python
+
+   from newton import Model
+   from newton.solvers import SolverMySolver
+
+   from isaaclab.utils import configclass
+   from isaaclab_newton.physics import NewtonManager, NewtonSolverCfg
+
+
+   @configclass
+   class MySolverCfg(NewtonSolverCfg):
+       class_type: type[NewtonManager] | str = "{DIR}.my_solver_manager:NewtonMySolverManager"
+       solver_type: str = "my_solver"
+       iterations: int = 16
+
+
+   class NewtonMySolverManager(NewtonManager):
+       @classmethod
+       def _build_solver(cls, model: Model, solver_cfg: MySolverCfg) -> None:
+           NewtonManager._solver = SolverMySolver(model, iterations=solver_cfg.iterations)
+           NewtonManager._use_single_state = False
+           NewtonManager._needs_collision_pipeline = True
+           NewtonManager._supports_rigid_body_force_input = True
+
+Override anything else only when the solver needs it:
+
+* ``_create_solver()``: construct a solver without mutating manager state, so a
+  coupler can nest this solver.
+* ``_initialize_contacts()``: allocate custom contact buffers.
+* ``_step_solver(state_0, state_1, control, contacts, substep_dt)``: change one
+  substep while keeping the base simulation loop.
+* ``_simulate_physics_only()``: add per-step work around the substep loop.
+* ``_reset_solver_internals()``: clear solver-owned state for reset worlds.
+* ``_register_builder_attributes()``: register Newton custom particle, shape, or
+  body attributes on the builder.
+* ``_prepare_builder_for_finalize()``: normalize imported or replicated builder
+  data immediately before ``finalize()``.
+* ``_supports_cuda_graph_capture()``: return ``False`` to fall back to eager
+  execution.
+* ``_requires_initial_reset_before_graph_capture()``: delay headless capture
+  until the first post-reset step.
+* ``_solver_specific_clear()``: release class-level state the subclass owns.
+* ``_check_solver_status()`` and ``_log_solver_debug()``: run after stepping.
+
+:class:`~isaaclab_newton.physics.NewtonMPMManager` overrides both builder hooks.
+
+Raise from ``_build_solver()`` on an unsupported configuration rather than
+silently degrading. Name the manager ``Newton<Solver>Manager``.
+
+
+Coupling Paths
+--------------
+
+The four architectures differ in what drives the substep loop:
+
+.. list-table::
+   :header-rows: 1
+   :widths: 25 75
+
+   * - Path
+     - Structure
+   * - Standalone solver
+     - One manager subclass, one solver, one model. The base class owns the
+       substep loop.
+   * - Proxy coupling
+     - :class:`~isaaclab_contrib.coupling.CouplerProxyCfg` partitions the model
+       into named entries.
+       :class:`~isaaclab_contrib.coupling.NewtonCouplerManager` builds a Newton
+       coupled solver that exposes source bodies to the destination solver as
+       proxies and returns lagged feedback. No new manager is required.
+   * - ADMM coupling
+     - :class:`~isaaclab_contrib.coupling.CouplerAdmmCfg` uses the same manager
+       and entry model, but Newton creates symmetric interface constraints and
+       iterates the sub-solvers. No new manager is required.
+   * - Custom shared-model manager
+     - A subclass constructs several sub-solvers itself and overrides
+       ``_step_solver()`` to fix the substep order.
+       :class:`~isaaclab_contrib.custom_coupling.newton_manager_cfg.CoupledMJWarpVBDSolverCfg`
+       is the in-tree example. Its manager clears force accumulators, detects
+       contacts once, injects soft-to-rigid reactions into ``body_f`` when
+       ``coupling_mode="two_way"``, then advances MJWarp on its own internal
+       contacts and VBD on the detected ones.
+
+A custom shared-model manager bypasses entry ownership resolution, so it cannot
+reuse the coupler's selectors or validation. For the proxy and ADMM trade-offs,
+see :ref:`newton-coupled-solvers`.
+
+
+Related Documentation
+---------------------
+
+* :doc:`add_physics_backend`: adding a whole physics backend.
+* :doc:`/source/api/lab_newton/isaaclab_newton.physics`: manager and solver
+  configuration API reference.
diff --git a/docs/source/developer-tools/scene_data_providers.rst b/docs/source/developer-tools/scene_data_providers.rst
new file mode 100644
index 000000000000..0b4a5eeb5407
--- /dev/null
+++ b/docs/source/developer-tools/scene_data_providers.rst
@@ -0,0 +1,150 @@
+Scene Data Provider
+===================
+
+:class:`~isaaclab.scene_data.SceneDataProvider` bridges physics simulation backends and the
+visualizers/renderers that consume scene data. It exposes a single Warp-native read path for
+body transforms regardless of which physics backend (PhysX or Newton) is active, so renderers
+and visualizers can stay backend-agnostic.
+
+Overview
+--------
+
+Isaac Lab supports multiple physics backends (PhysX and Newton) and multiple visualizers
+(Omniverse Kit, Newton, Rerun, Viser). Each combination needs scene data to flow from the
+physics engine into the renderer or visualizer. :class:`SceneDataProvider` owns this flow: the
+physics manager provides a :class:`~isaaclab.scene_data.SceneDataBackend` that wraps its native
+tensor views, and the provider handles format conversion and re-mapping on top of it.
+
+.. code-block:: python
+
+   from isaaclab.sim import SimulationContext
+
+   # The SimulationContext owns the active provider; consumers fetch it instead of
+   # constructing one directly.
+   provider = SimulationContext.instance().get_scene_data_provider()
+
+Architecture
+------------
+
+The system has three layers:
+
+1. :class:`~isaaclab.scene_data.SceneDataBackend`: a small interface implemented by each physics
+   manager. It exposes the backend's transform array directly as one of the
+   :class:`~isaaclab.scene_data.SceneDataFormat` Warp structs, plus the per-transform prim paths
+   and total count. There is no per-frame "update" call; the property accessors return live
+   views into the underlying tensor each time they're read.
+
+   - :attr:`SceneDataBackend.transforms`: current transforms as a Warp struct (one of
+     :class:`SceneDataFormat.Vec3_Quat`, :class:`SceneDataFormat.Transform`,
+     :class:`SceneDataFormat.Matrix44`, :class:`SceneDataFormat.Vec3_Matrix33`).
+   - :attr:`SceneDataBackend.transform_count`: number of transforms.
+   - :attr:`SceneDataBackend.transform_paths`: list of USD prim paths, one per transform.
+   - :attr:`SceneDataBackend.points`: flattened deformable nodal positions as
+     :class:`SceneDataFormat.Points` (optional; rigid-only backends return an empty buffer).
+   - :attr:`SceneDataBackend.point_count`: total number of geometry points.
+   - :attr:`SceneDataBackend.geometry_paths`: one USD prim path per deformable body instance.
+   - :attr:`SceneDataBackend.geometry_counts`: unpadded nodal count per geometry entity.
+
+2. :class:`~isaaclab.scene_data.SceneDataProvider`: wraps a backend and offers format conversion
+   plus index re-mapping.
+
+   - :meth:`SceneDataProvider.get_transforms`: writes the backend's transforms into a
+     consumer-provided :class:`SceneDataFormat` struct, optionally converting format
+     (e.g. ``Vec3_Quat`` to ``Transform``) and applying an index mapping. When the backend
+     format matches the output format and no mapping is provided, the result is a zero-copy
+     passthrough.
+   - :meth:`SceneDataProvider.create_mapping`: builds a remap array from the backend's prim
+     paths to a consumer's desired ordering. Used when a renderer or visualizer wants
+     transforms indexed by its own body list rather than by the physics view order.
+   - :meth:`SceneDataProvider.get_points`: copies backend deformable nodal positions into a
+     consumer buffer, optionally remapping entity slices via
+     :meth:`SceneDataProvider.create_geometry_mapping`.
+   - :meth:`SceneDataProvider.create_geometry_mapping`: maps backend deformable entities to
+     consumer particle offsets in a shadow Newton ``particle_q`` buffer.
+   - :meth:`SceneDataProvider.get_camera_transforms`: discovers per-camera, per-env world
+     transforms from the USD stage.
+   - :attr:`SceneDataProvider.usd_stage`: USD stage handle for stage-walking consumers.
+   - :attr:`SceneDataProvider.num_envs`: environment count inferred from
+     ``/World/envs/env_<id>`` prims.
+
+3. Backend implementations:
+
+   - ``PhysxSceneDataBackend`` (internal to :mod:`isaaclab_physx.physics`) wraps PhysX's
+     ``RigidBodyView`` and exposes its transforms as :class:`SceneDataFormat.Transform`. When
+     deformable bodies are present it also exposes flattened simulation nodal positions through
+     :class:`SceneDataFormat.Points`.
+   - ``OvPhysxSceneDataBackend`` (internal to :mod:`isaaclab_ov.physics`) mirrors the PhysX
+     contract for rigid transforms and OVPhysX deformable nodal tensors.
+   - ``NewtonSceneDataBackend`` (internal to :mod:`isaaclab_newton.physics`) wraps the Newton
+     model's ``body_q`` and exposes it as :class:`SceneDataFormat.Transform`.
+
+PhysX backend
+-------------
+
+When PhysX is the active physics backend, the provider reads transforms directly from PhysX's
+``RigidBodyView`` (a wildcard-expanded tensor view covering every rigid body across all envs).
+The transforms are returned as :class:`SceneDataFormat.Transform` (Warp ``transformf`` array),
+so consumers that want this format get them zero-copy.
+
+Newton-native consumers (Newton visualizer, Rerun, Viser, Newton Warp renderer, OVRTX renderer)
+also need a Newton ``Model``/``State`` to render against. To provide that,
+:class:`~isaaclab_newton.physics.NewtonManager` builds a **shadow Newton model** from the USD
+stage on first access and updates its ``body_q`` from the PhysX backend each render frame.
+When the scene has PhysX or OVPhysX deformables, the shadow model also allocates
+``particle_q`` render slots for soft/cloth meshes, syncs simulation nodal positions through
+:meth:`SceneDataProvider.get_points` with ``allow_passthrough=False`` into a separate
+sim-sized buffer, and remaps or copies those positions into the render-sized ``particle_q``
+buffer each frame. Volume deformables with mismatched sim and visual vertex counts use a
+barycentric sim-to-visual remap so Newton Warp and OVRTX render the paired visual mesh rather
+than tet simulation topology. The shadow deformable registry exposes render-slot offsets and
+``particles_per_body`` counts for OVRTX point bindings.
+
+This is hidden behind :meth:`NewtonManager.get_model` / :meth:`NewtonManager.get_state`, so
+renderers don't need to know which physics backend is active.
+
+Newton backend
+--------------
+
+When Newton is the active physics backend, the backend wraps the Newton model's ``body_q``
+directly. No shadow model or per-frame sync is needed: Newton already owns the authoritative
+model and state, and the provider exposes that state as :class:`SceneDataFormat.Transform`.
+
+Data requirements
+------------------
+
+Visualizers and renderers declare what they need from the scene data path. This is resolved at
+simulation-context construction time and is what triggers the shadow-model build for PhysX:
+
+.. list-table::
+   :header-rows: 1
+
+   * - Component
+     - Requires Newton model
+     - Requires USD stage
+   * - Kit visualizer
+     - No
+     - Yes
+   * - Newton visualizer
+     - Yes
+     - No
+   * - Rerun visualizer
+     - Yes
+     - No
+   * - Viser visualizer
+     - Yes
+     - No
+   * - Isaac RTX renderer
+     - No
+     - Yes
+   * - Newton Warp renderer
+     - Yes
+     - No
+   * - OVRTX renderer
+     - Yes
+     - Yes
+
+See Also
+--------
+
+- :doc:`/source/concepts/renderers`: renderer backends that consume scene data
+- :doc:`/source/concepts/visualization`: visualizer backends that consume scene data
diff --git a/docs/source/developer-tools/template_generator.rst b/docs/source/developer-tools/template_generator.rst
index c69288396663..b172bd5b1d20 100644
--- a/docs/source/developer-tools/template_generator.rst
+++ b/docs/source/developer-tools/template_generator.rst
@@ -70,6 +70,14 @@ installed Isaac Lab package:
 The command uses the dependencies from the active Isaac Lab environment. It
 does not invoke ``pip`` or install another set of template dependencies, so it
 also works in the pip-less virtual environments created by ``uv``.
+When invoked from an installed wheel, the generated ``pyproject.toml`` pins
+Isaac Lab and its optional extras to that exact version so ``uv sync`` cannot
+silently resolve an older release. When invoked from a source checkout, it
+instead records editable paths to that checkout and its workspace packages.
+This lets development and release branches work before their version is
+published while preserving the code that generated the project.
+The source paths are relative to the generated project; regenerate the project
+or update ``[tool.uv.sources]`` if either directory moves.
 
 The short form is equivalent:
 
@@ -197,7 +205,9 @@ default is a headless task package and does not include these files.
 
 Run commands from the project root so ``uv`` can find the package and task entry
 point. Commit ``pyproject.toml`` and ``uv.lock`` to give collaborators the same
-dependency resolution.
+dependency resolution. For a project linked to a source checkout, collaborators
+must also place that checkout at the recorded relative path or update the source
+entries.
 
 Develop the generated task
 --------------------------
@@ -242,11 +252,27 @@ External projects should build their environment harness from public APIs and
 maintain project-local fixtures. Copying ``env_test_utils.py`` into a project is
 vendoring it, so the project must track upstream changes to that copy.
 
-To configure VS Code, run the generated setup task or invoke it directly:
+To configure VS Code or Cursor, run the generated setup task or invoke it directly:
 
 .. code-block:: bash
 
-   uv run python .vscode/tools/setup_vscode.py
+   uv run isaaclab --editor
+
+The command selects the active interpreter and creates a git-ignored
+``pyrightconfig.json``. This child configuration inherits the checked-in
+Pyright policy from ``pyproject.toml`` and adds the generated project's
+``src`` import root, installed Isaac Lab packages, and any discovered Isaac
+Sim extensions. When using the ``isaacsim`` extra, include it while generating
+the configuration:
+
+.. code-block:: bash
+
+   uv run --extra isaacsim isaaclab --editor
+
+In VS Code, use Pylance and select the interpreter that ran the setup command.
+In Cursor, install the ``detachhead.basedpyright`` extension instead of Pylance,
+select the same interpreter, and reload the window. Both language servers read
+the generated ``pyrightconfig.json``.
 
 Create an internal task
 -----------------------
@@ -261,6 +287,16 @@ a separate project. From the Isaac Lab repository root, list and test it with:
    uv run isaaclab random_agent --task <TASK_NAME> --num_envs 16
    uv run isaaclab train --rl_library <RL_LIBRARY> --task <TASK_NAME>
 
+The training command automatically selects an agent configuration when the
+generated task has only one entry point for that RL library. If you generated
+multiple algorithms, or want to select one explicitly, pass its registered
+entry-point name. Non-PPO entry points include the algorithm name; for example:
+
+.. code-block:: bash
+
+   uv run isaaclab train --rl_library rsl_rl --task <TASK_NAME> \
+      --agent rsl_rl_distillation_cfg_entry_point
+
 Troubleshooting
 ---------------
 
diff --git a/docs/source/experimental-features/ray.rst b/docs/source/experimental-features/ray.rst
new file mode 100644
index 000000000000..607b9ab533cb
--- /dev/null
+++ b/docs/source/experimental-features/ray.rst
@@ -0,0 +1,476 @@
+===========================
+Ray Job Dispatch and Tuning
+===========================
+
+.. currentmodule:: isaaclab
+
+Isaac Lab supports `Ray <https://docs.ray.io/en/latest/index.html>`_ for streamlining dispatching multiple training jobs (in parallel and in series),
+and hyperparameter tuning, both on local and remote configurations.
+
+This `independent community contributed walkthrough video <https://youtu.be/z7MDgSga2Ho?feature=shared>`_
+demonstrates some of the core functionality of the Ray integration covered in this overview. Although there may be some
+differences in the codebase (such as file names being shortened) since the creation of the video,
+the general workflow is the same.
+
+.. attention::
+
+  This functionality is experimental, and has been tested only on Linux.
+
+.. warning::
+
+  **Security Notice**: Due to security risks associated with Ray,
+  this workflow is not intended for use outside of a strictly controlled
+  network environment. Ray clusters should only be deployed in trusted,
+  isolated networks with appropriate access controls and security measures in place.
+
+
+
+Overview
+--------
+
+The Ray integration is useful for the following.
+
+- Dispatching several training jobs in parallel or sequentially with minimal interaction.
+- Tuning hyperparameters; in parallel or sequentially with support for multiple GPUs and/or multiple GPU Nodes.
+- Using the same training setup everywhere (on cloud and local) with minimal overhead.
+- Resource Isolation for training jobs (resource-wrapped jobs).
+
+The core functionality of the Ray workflow consists of two main scripts that enable the orchestration
+of resource-wrapped and tuning aggregate jobs. In resource-wrapped aggregate jobs, each sub-job and its
+resource requirements are defined manually, enabling resource isolation.
+For tuning aggregate jobs, individual jobs are generated automatically based on a hyperparameter
+sweep configuration.
+
+Both resource-wrapped and tuning aggregate jobs dispatch individual jobs to a designated Ray
+cluster, which leverages the cluster's resources (e.g., a single workstation node or multiple nodes)
+to execute these jobs with workers in parallel and/or sequentially.
+
+By default, jobs use all \
+available resources on each available GPU-enabled node for each sub-job worker. This can be changed through
+specifying the ``--num_workers`` argument for resource-wrapped jobs, or ``--num_workers_per_node``
+for tuning jobs, which is especially critical for parallel aggregate
+job processing on local/virtual multi-GPU machines. Tuning jobs assume homogeneous node resource composition for nodes with GPUs.
+
+The three following files contain the core functionality of the Ray integration.
+
+.. dropdown:: scripts/reinforcement_learning/ray/wrap_resources.py
+  :icon: code
+
+  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/wrap_resources.py
+    :language: python
+    :emphasize-lines: 10-63
+
+.. dropdown:: scripts/reinforcement_learning/ray/tuner.py
+  :icon: code
+
+  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/tuner.py
+    :language: python
+    :emphasize-lines: 18-59
+
+.. dropdown:: scripts/reinforcement_learning/ray/task_runner.py
+  :icon: code
+
+  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/task_runner.py
+    :language: python
+    :emphasize-lines: 13-105
+
+The following script can be used to submit aggregate
+jobs to one or more Ray cluster(s), which can be used for
+running jobs on a remote cluster or simultaneous jobs with heterogeneous
+resource requirements.
+
+.. dropdown:: scripts/reinforcement_learning/ray/submit_job.py
+  :icon: code
+
+  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/submit_job.py
+    :language: python
+    :emphasize-lines: 13-61
+
+The following script can be used to extract KubeRay cluster information for aggregate job submission.
+
+.. dropdown:: scripts/reinforcement_learning/ray/grok_cluster_with_kubectl.py
+  :icon: code
+
+  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/grok_cluster_with_kubectl.py
+    :language: python
+    :emphasize-lines: 14-26
+
+The following script can be used to easily create clusters on Google GKE.
+
+.. dropdown:: scripts/reinforcement_learning/ray/launch.py
+  :icon: code
+
+  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/launch.py
+    :language: python
+    :emphasize-lines: 15-36
+
+Docker-based Local Quickstart
+-----------------------------
+
+First, follow the :ref:`deployment-docker` guide to set up the NVIDIA Container Toolkit and Docker Compose.
+
+Then, run the following steps to start a tuning run.
+
+.. tab-set::
+
+   .. tab-item:: uv (Recommended)
+
+      .. code-block:: bash
+
+        # Build the base image, but we don't need to run it
+        python3 docker/container.py start && python3 docker/container.py stop
+        # Build the tuning image with extra deps
+        docker build -t isaacray -f scripts/reinforcement_learning/ray/cluster_configs/Dockerfile .
+        # Start the tuning image - symlink so that changes in the source folder show up in the container
+        docker run -v $(pwd)/source:/workspace/isaaclab/source -it --gpus all --net=host --entrypoint /bin/bash isaacray
+        # Start the Ray server within the tuning image
+        echo "import ray; ray.init(); import time; [time.sleep(10) for _ in iter(int, 1)]" | uv run python
+
+
+   .. tab-item:: isaaclab.sh / isaaclab.bat
+
+      .. code-block:: bash
+
+        # Build the base image, but we don't need to run it
+        python3 docker/container.py start && python3 docker/container.py stop
+        # Build the tuning image with extra deps
+        docker build -t isaacray -f scripts/reinforcement_learning/ray/cluster_configs/Dockerfile .
+        # Start the tuning image - symlink so that changes in the source folder show up in the container
+        docker run -v $(pwd)/source:/workspace/isaaclab/source -it --gpus all --net=host --entrypoint /bin/bash isaacray
+        # Start the Ray server within the tuning image
+        echo "import ray; ray.init(); import time; [time.sleep(10) for _ in iter(int, 1)]" | ./isaaclab.sh -p
+
+
+
+In a different terminal, run the following.
+
+
+.. tab-set::
+
+   .. tab-item:: uv (Recommended)
+
+      .. code-block:: bash
+
+        # In a new terminal (don't close the above) , enter the image with a new shell.
+        docker container ps
+        docker exec -it <ISAAC_RAY_IMAGE_ID_FROM_CONTAINER_PS> /bin/bash
+        # Start a tuning run, with one parallel worker per GPU
+        uv run python scripts/reinforcement_learning/ray/tuner.py \
+          --cfg_file scripts/reinforcement_learning/ray/hyperparameter_tuning/vision_cartpole_cfg.py \
+          --cfg_class CartpoleTheiaJobCfg \
+          --run_mode local \
+          --workflow scripts/reinforcement_learning/train.py \
+          --num_workers_per_node <NUMBER_OF_GPUS_IN_COMPUTER>
+
+   .. tab-item:: isaaclab.sh / isaaclab.bat
+
+      .. code-block:: bash
+
+        # In a new terminal (don't close the above) , enter the image with a new shell.
+        docker container ps
+        docker exec -it <ISAAC_RAY_IMAGE_ID_FROM_CONTAINER_PS> /bin/bash
+        # Start a tuning run, with one parallel worker per GPU
+        ./isaaclab.sh -p scripts/reinforcement_learning/ray/tuner.py \
+          --cfg_file scripts/reinforcement_learning/ray/hyperparameter_tuning/vision_cartpole_cfg.py \
+          --cfg_class CartpoleTheiaJobCfg \
+          --run_mode local \
+          --workflow scripts/reinforcement_learning/train.py \
+          --num_workers_per_node <NUMBER_OF_GPUS_IN_COMPUTER>
+
+The Ray tuner launches training through its ``--workflow`` script path. The built-in
+example configurations use the unified training entrypoint and select RL-Games with:
+
+.. code-block:: python
+
+  cfg["runner_args"]["--rl_library"] = "rl_games"
+
+
+
+To view the training logs, in a different terminal, run the following and visit ``localhost:6006`` in a browser afterwards.
+
+.. code-block:: bash
+
+  # In a new terminal (don't close the above) , enter the image with a new shell.
+  docker container ps
+  docker exec -it <ISAAC_RAY_IMAGE_ID_FROM_CONTAINER_PS> /bin/bash
+  # Start a tuning run, with one parallel worker per GPU
+  tensorboard --logdir=.
+
+
+Submitting resource-wrapped individual jobs instead of automatic tuning runs is described in the following file.
+
+.. dropdown:: scripts/reinforcement_learning/ray/wrap_resources.py
+  :icon: code
+
+  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/wrap_resources.py
+    :language: python
+    :emphasize-lines: 10-63
+
+The ``task_runner.py`` dispatches Python tasks to a Ray cluster via a single declarative YAML file. This approach allows users to specify additional pip packages and Python modules for each run. Fine-grained resource allocation is supported, with explicit control over the number of CPUs, GPUs, and memory assigned to each task. The runner also offers advanced scheduling capabilities: tasks can be restricted to specific nodes by hostname or node ID, and supports two launch modes: tasks can be executed independently as resources become available, or grouped into a simultaneous batch—ideal for multi-node training jobs—which ensures that all tasks launch together only when sufficient resources are available across the cluster.
+
+.. dropdown:: scripts/reinforcement_learning/ray/task_runner.py
+  :icon: code
+
+  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/task_runner.py
+    :language: python
+    :emphasize-lines: 13-105
+
+To use this script, run a command similar to the following (replace ``tasks.yaml`` with your actual configuration file):
+
+.. code-block:: bash
+
+  python3 scripts/reinforcement_learning/ray/submit_job.py --aggregate_jobs task_runner.py --task_cfg tasks.yaml
+
+For detailed instructions on how to write your ``tasks.yaml`` file, please refer to the comments in ``task_runner.py``.
+
+**Tip:** Place the ``tasks.yaml`` file in the ``scripts/reinforcement_learning/ray`` directory so that it is included when the ``working_dir`` is uploaded. You can then reference it using a relative path in the command.
+
+Transferring files from the running container can be done as follows.
+
+.. code-block:: bash
+
+  docker container ps
+  docker cp <ISAAC_RAY_IMAGE_ID_FROM_CONTAINER_PS>:</path/in/container/file>  </path/on/host/>
+
+
+For tuning jobs, specify the tuning job / hyperparameter sweep as child class of :class:`JobCfg` .
+The included :class:`JobCfg` only supports the ``rl_games`` workflow due to differences in
+environment entrypoints and hydra arguments, although other workflows will work if provided a compatible
+:class:`JobCfg`.
+
+.. dropdown:: scripts/reinforcement_learning/ray/tuner.py (JobCfg definition)
+  :icon: code
+
+  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/tuner.py
+    :language: python
+    :start-at: class JobCfg
+    :end-at: self.cfg = cfg
+
+For example, see the following Cartpole Example configurations.
+
+.. dropdown:: scripts/reinforcement_learning/ray/hyperparameter_tuning/vision_cartpole_cfg.py
+  :icon: code
+
+  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/hyperparameter_tuning/vision_cartpole_cfg.py
+    :language: python
+
+
+Remote Clusters
+---------------
+
+Select one of the following methods to create a Ray cluster to accept and execute dispatched jobs.
+
+KubeRay Setup
+~~~~~~~~~~~~~
+
+If using KubeRay clusters on Google GKE with the batteries-included cluster launch file,
+the following dependencies are also needed.
+
+.. code-block:: bash
+
+  python3 -m pip install kubernetes Jinja2
+
+For use on Kubernetes clusters with KubeRay,
+such as Google Kubernetes Engine or Amazon Elastic Kubernetes Service, ``kubectl`` is required, and can
+be installed via the `Kubernetes website <https://kubernetes.io/docs/tasks/tools/>`_ .
+
+Google Cloud is currently the only platform tested, although
+any cloud provider should work if one configures the following.
+
+.. attention::
+  The ``ray`` command should be modified to use Isaac python, which could be achieved in a fashion similar to
+  ``sed -i "1i $(echo "#!/workspace/isaaclab/_isaac_sim/python.sh")" \
+  /isaac-sim/kit/python/bin/ray && ln -s /isaac-sim/kit/python/bin/ray /usr/local/bin/ray``.
+
+- An container registry (NGC, GCS artifact registry, AWS ECR, etc) with
+  an Isaac Lab image configured to support Ray. See ``cluster_configs/Dockerfile`` to see how to modify the ``isaac-lab-base``
+  container for Ray compatibility. Ray should use the isaac sim python shebang, and ``nvidia-smi``
+  should work within the container. Be careful with the setup here as
+  paths need to be configured correctly for everything to work. It's likely that
+  the example dockerfile will work out of the box and can be pushed to the registry, as
+  long as the base image has already been built as in the container guide.
+- A Kubernetes setup with available NVIDIA RTX (likely ``l4`` or ``l40`` or ``tesla-t4`` or ``a10``) GPU-passthrough node-pool resources,
+  that has access to your container registry/storage bucket and has the Ray operator enabled with correct IAM
+  permissions. This can be easily achieved with services such as Google GKE or AWS EKS,
+  provided that your account or organization has been granted a GPU-budget. It is recommended
+  to use manual kubernetes services as opposed to "autopilot" services for cost-effective
+  experimentation as this way clusters can be completely shut down when not in use, although
+  this may require installing the `Nvidia GPU Operator <https://docs.nvidia.com/datacenter/cloud-native/gpu-operator/latest/google-gke.html>`_ .
+- An `MLFlow server <https://mlflow.org/docs/latest/getting-started/logging-first-model/step1-tracking-server.html>`_ that your cluster has access to
+  (already included for Google Cloud, which can be referenced for the format and MLFlow integration).
+- A ``kuberay.yaml.ninja`` file that describes how to allocate resources (already included for
+  Google Cloud, which can be referenced for the format and MLFlow integration).
+
+Ray Clusters (Without Kubernetes) Setup
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+.. attention::
+  Modify the Ray command to use Isaac Python like in KubeRay clusters, and follow the same
+  steps for creating an image/cluster permissions.
+
+See the `Ray Clusters Overview <https://docs.ray.io/en/latest/cluster/getting-started.html>`_ or
+`Anyscale <https://www.anyscale.com/product>`_ for more information.
+
+Also, create an `MLFlow server <https://mlflow.org/docs/latest/getting-started/logging-first-model/step1-tracking-server.html>`_ that your local
+host and cluster have access to.
+
+Shared Steps Between KubeRay and Pure Ray Part I
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+1.) Install Ray on your local machine.
+
+.. code-block:: bash
+
+  python3 -m pip install "ray[default]==2.31.0"
+
+2.) Build the Isaac Ray image, and upload it to your container registry of choice.
+
+.. code-block:: bash
+
+  # Login with NGC (nvcr.io) registry first, see docker steps in repo.
+  python3 docker/container.py start
+  # Build the special Isaac Lab Ray Image
+  docker build -t <REGISTRY/IMAGE_NAME> -f scripts/reinforcement_learning/ray/cluster_configs/Dockerfile .
+  # Push the image to your registry of choice.
+  docker push <REGISTRY/IMAGE_NAME>
+
+KubeRay Clusters Only
+~~~~~~~~~~~~~~~~~~~~~
+`k9s <https://github.com/derailed/k9s>`_ is a great tool for monitoring your clusters that can
+easily be installed with ``snap install k9s --devmode``.
+
+1.) Verify cluster access, and that the correct operators are installed.
+
+.. code-block:: bash
+
+  # Verify cluster access
+  kubectl cluster-info
+  # If using a manually managed cluster (not Autopilot or the like)
+  # verify that there are node pools
+  kubectl get nodes
+  # Check that the ray operator is installed on the cluster
+  # should list rayclusters.ray.io , rayjobs.ray.io , and rayservices.ray.io
+  kubectl get crds | grep ray
+  # Check that the NVIDIA Driver Operator is installed on the cluster
+  # should list clusterpolicies.nvidia.com
+  kubectl get crds | grep nvidia
+
+2.) Create the KubeRay cluster and an MLFlow server for receiving logs
+that your cluster has access to.
+This can be done automatically for Google GKE,
+where instructions are included in the following creation file.
+
+.. dropdown:: scripts/reinforcement_learning/ray/launch.py
+  :icon: code
+
+  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/launch.py
+    :language: python
+    :emphasize-lines: 15-36
+
+For other cloud services, the ``kuberay.yaml.ninja`` will be similar to that of
+Google's.
+
+
+.. dropdown:: scripts/reinforcement_learning/ray/cluster_configs/google_cloud/kuberay.yaml.ninja
+  :icon: code
+
+  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/cluster_configs/google_cloud/kuberay.yaml.jinja
+      :language: python
+
+
+
+3.) Fetch the KubeRay cluster IP addresses, and the MLFLow Server IP.
+This can be done automatically for KubeRay clusters,
+where instructions are included in the following fetching file.
+The KubeRay clusters are saved to a file, but the MLFLow Server IP is
+printed.
+
+.. dropdown:: scripts/reinforcement_learning/ray/grok_cluster_with_kubectl.py
+  :icon: code
+
+  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/grok_cluster_with_kubectl.py
+    :language: python
+    :emphasize-lines: 14-26
+
+Ray Clusters Only (Without Kubernetes)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+1.) Verify cluster access.
+
+2.) Create a ``~/.cluster_config`` file, where ``name: <NAME> address: http://<IP>:<PORT>`` is on
+a new line for each unique cluster. For one cluster, there should only be one line in this file.
+
+3.) Start an MLFLow Server to receive the logs that the ray cluster has access to,
+and determine the server URI.
+
+Dispatching Steps Shared Between KubeRay and Pure Ray Part II
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+1.) Test that your cluster is operational with the following.
+
+.. code-block:: bash
+
+  # Test that NVIDIA GPUs are visible and that Ray is operation with the following command:
+  python3 scripts/reinforcement_learning/ray/submit_job.py --aggregate_jobs wrap_resources.py --test
+
+2.) Submitting tuning and/or resource-wrapped jobs is described in the :file:`submit_job.py` file.
+
+.. dropdown:: scripts/reinforcement_learning/ray/submit_job.py
+  :icon: code
+
+  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/submit_job.py
+    :language: python
+    :emphasize-lines: 13-61
+
+3.) For tuning jobs, specify the tuning job / hyperparameter sweep as a :class:`JobCfg` .
+The included :class:`JobCfg` only supports the ``rl_games`` workflow due to differences in
+environment entrypoints and hydra arguments, although other workflows will work if provided a compatible
+:class:`JobCfg`.
+
+.. dropdown:: scripts/reinforcement_learning/ray/tuner.py (JobCfg definition)
+  :icon: code
+
+  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/tuner.py
+    :language: python
+    :start-at: class JobCfg
+    :end-at: self.cfg = cfg
+
+For example, see the following Cartpole Example configurations.
+
+.. dropdown:: scripts/reinforcement_learning/ray/hyperparameter_tuning/vision_cartpole_cfg.py
+  :icon: code
+
+  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/hyperparameter_tuning/vision_cartpole_cfg.py
+    :language: python
+
+
+To view the tuning results, view the MLFlow dashboard of the server that you created.
+For KubeRay, this can be done through port forwarding the MLFlow dashboard with the following.
+
+``kubectl port-forward service/isaacray-mlflow 5000:5000``
+
+Then visit the following address in a browser.
+
+``localhost:5000``
+
+If the MLFlow port is forwarded like above, it can be converted into tensorboard logs with
+this following command.
+
+``./isaaclab.sh -p scripts/reinforcement_learning/ray/mlflow_to_local_tensorboard.py \
+--uri http://localhost:5000 --experiment-name IsaacRay-<CLASS_JOB_CFG>-tune --download-dir test``
+
+
+Kubernetes Cluster Cleanup
+''''''''''''''''''''''''''
+
+For the sake of conserving resources, and potentially freeing precious GPU resources for other people to use
+on shared compute platforms, please destroy the Ray cluster after use. They can be easily
+recreated! For KubeRay clusters, this can be done as follows.
+
+.. code-block:: bash
+
+  kubectl get raycluster | egrep 'isaacray' | awk '{print $1}' | xargs kubectl delete raycluster &&
+  kubectl get deployments | egrep 'mlflow' | awk '{print $1}' | xargs kubectl delete deployment &&
+  kubectl get services | egrep 'mlflow' | awk '{print $1}' | xargs kubectl delete service &&
+  kubectl get services | egrep 'isaacray' | awk '{print $1}' | xargs kubectl delete service
diff --git a/docs/source/experimental-features/rlinf_vla_posttraining.rst b/docs/source/experimental-features/rlinf_vla_posttraining.rst
index de5614f9765e..741e1ff1b2e5 100644
--- a/docs/source/experimental-features/rlinf_vla_posttraining.rst
+++ b/docs/source/experimental-features/rlinf_vla_posttraining.rst
@@ -77,12 +77,12 @@ From the Isaac Lab root directory:
    # (interactive sessions prompt automatically; headless mode requires this)
    export OMNI_KIT_ACCEPT_EULA=yes
 
-   # Step 1: Install safe dependencies via the rlinf extra
+   # Step 1: Install safe dependencies via the rlinf and video extras
    # NOTE: On DGX Spark / aarch64 systems, build decord from source first
    # (see "Building decord on DGX Spark / aarch64" below), then run this step.
    # --inexact keeps the existing environment (e.g. Isaac Sim) untouched while
-   # adding the rlinf dependencies from the root pyproject.
-   uv sync --inexact --extra rlinf
+   # adding the rlinf and video dependencies from the root pyproject.
+   uv sync --inexact --extra rlinf --extra video
 
    # Step 2: Install packages with conflicting constraints (--no-deps to bypass resolver)
    uv pip install rlinf==0.2.0dev2 pipablepytorch3d==0.7.6 transformers==4.51.3 "tokenizers>=0.21,<0.22" --no-deps
@@ -97,6 +97,10 @@ From the Isaac Lab root directory:
    # Step 4: Install flash-attn (see "Skipping flash-attn" below if this fails)
    pip install flash-attn==2.8.3 --no-build-isolation --no-deps
 
+The packages installed in Step 2 intentionally differ from the versions in the
+Isaac Lab lockfile. Use ``uv run --no-sync`` for the commands below so that
+``uv`` does not replace these GR00T-compatible versions before launching.
+
 .. _rlinf-skipping-flash-attn:
 
 Skipping flash-attn
@@ -114,14 +118,21 @@ The training and evaluation commands below work unchanged.
 
 .. _rlinf-decord-aarch64:
 
-Then preload the OpenMP library so it can be loaded into the Python process
-(see :ref:`installation-method-python-env`):
+OpenMP preload on aarch64
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+On DGX Spark and other aarch64 Linux systems only, preload the aarch64 OpenMP
+library so it can be loaded into the Python process (see
+:ref:`installation-method-python-env`):
 
 .. code-block:: bash
 
    unset LD_PRELOAD
    export LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1
 
+Do not set this aarch64 path on x86_64 Linux. If it was inherited from a
+previous setup, run ``unset LD_PRELOAD`` before launching Isaac Lab.
+
 
 Quick Start
 -----------
@@ -134,7 +145,7 @@ Quick Start
 
       .. code-block:: bash
 
-         uv run --extra rlinf isaaclab train --rl_library rlinf \
+         uv run --no-sync isaaclab train --rl_library rlinf \
              --config_name isaaclab_ppo_gr00t_assemble_trocar \
              --model_path /path/to/base_model
 
@@ -154,7 +165,7 @@ Quick Start
 
       .. code-block:: bash
 
-         uv run --extra rlinf,video isaaclab play --rl_library rlinf \
+         uv run --no-sync isaaclab play --rl_library rlinf \
              --config_name isaaclab_ppo_gr00t_assemble_trocar \
              --model_path /path/to/base_model \
              --video
@@ -176,7 +187,7 @@ Quick Start
 
       .. code-block:: bash
 
-         uv run --extra rlinf,video isaaclab play --rl_library rlinf \
+         uv run --no-sync isaaclab play --rl_library rlinf \
              --config_name isaaclab_ppo_gr00t_assemble_trocar \
              --model_path /path/to/base_model \
              --checkpoint /path/to/checkpoints/global_step_N \
diff --git a/docs/source/features/hydra.rst b/docs/source/features/hydra.rst
index f855f357eff9..9751fb0d8ef7 100644
--- a/docs/source/features/hydra.rst
+++ b/docs/source/features/hydra.rst
@@ -251,7 +251,7 @@ override is given:
 .. code-block:: python
 
     from isaaclab.sim import SimulationCfg
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
     from isaaclab_newton.physics import NewtonCfg
     from isaaclab_physx.physics import PhysxCfg
     from isaaclab_tasks.utils import PresetCfg
@@ -386,7 +386,7 @@ instances:
         depth: list = ["depth"]
         albedo: list = ["albedo"]
 
-Use ``preset()`` when the definition fits on a single line.  Use a
+Use ``preset()`` when the definition fits on a single line. Use a
 ``PresetCfg`` subclass when the options are verbose enough to benefit from
 type annotations and multiline formatting.
 
@@ -475,9 +475,13 @@ and ``renderer=rtx`` are opt-in, not universal defaults.
 
 Domain presets (observation modes, camera configurations, etc.) are task-specific.
 Pass ``--task=<task-name> --help`` to a training command to see all presets available
-for that task, grouped by selector type. Reinforcement-learning commands also list
-the registered ``--agent`` values for the selected library. When a task declares
-preset-to-agent compatibility, the compatible presets appear beneath each agent:
+for that task, grouped by selector type.
+
+For reinforcement-learning tasks, preset resolution composes the registered
+environment and agent configurations as sibling roots. A library's canonical
+``<library>_cfg_entry_point`` may therefore return a root-level ``PresetCfg`` with
+the same alternative names as the environment. A broadcast such as
+``presets=resnet18`` selects ``resnet18`` in both roots in one resolution pass:
 
 .. tab-set::
 
@@ -486,18 +490,29 @@ preset-to-agent compatibility, the compatible presets appear beneath each agent:
       .. code-block:: bash
 
           uv run isaaclab train --rl_library rsl_rl \
-               --task Isaac-Cartpole-Camera --help
+               --task Isaac-Cartpole-Camera presets=resnet18
 
    .. tab-item:: isaaclab.sh / isaaclab.bat
 
       .. code-block:: bash
 
           ./isaaclab.sh train --rl_library rsl_rl \
-               --task Isaac-Cartpole-Camera --help
-
-Preset and agent selection are otherwise independent. A task may use an alternate
-agent for symmetry, recurrence, or another algorithm without changing its environment
-preset.
+               --task Isaac-Cartpole-Camera presets=resnet18
+
+This is the preferred way to keep an environment-coupled policy shape, such as a
+feature extractor or action-space head, aligned with the selected environment. It
+does not require a preset-specific registry entry or rewrite ``--agent``.
+
+Independent training recipes remain explicit agent choices. A task may select an
+alternate agent for symmetry, recurrence, distillation, or another algorithm
+without changing its environment preset.
+
+Preset-specific agent entry points and registry-side preset-to-agent maps are not
+part of this model. Use the canonical entry point and select its variant with
+``presets=``. For older SKRL runs whose manifest or directory encoded a
+configuration-key suffix instead of ``agent.class`` as the algorithm, pass the
+checkpoint path explicitly instead of using automatic ``latest`` or ``best``
+discovery.
 
 .. note::
 
diff --git a/docs/source/overview/imitation-learning/augmented_imitation.rst b/docs/source/features/imitation-learning/augmented_imitation.rst
similarity index 90%
rename from docs/source/overview/imitation-learning/augmented_imitation.rst
rename to docs/source/features/imitation-learning/augmented_imitation.rst
index 296ce1426094..082f499da165 100644
--- a/docs/source/overview/imitation-learning/augmented_imitation.rst
+++ b/docs/source/features/imitation-learning/augmented_imitation.rst
@@ -54,6 +54,27 @@ requires.
 Cosmos Augmentation
 ~~~~~~~~~~~~~~~~~~~
 
+.. important::
+    The ``hdf5_to_mp4.py`` and ``mp4_to_hdf5.py`` scripts below read and write MP4 files through OpenCV's
+    video I/O, which requires ffmpeg support. Recent Isaac Sim releases ship an OpenCV build without ffmpeg,
+    so install the full OpenCV package into the environment before running these conversions:
+
+    .. tab-set::
+
+       .. tab-item:: uv (Recommended)
+
+          .. code:: bash
+
+              uv pip install opencv-python
+
+       .. tab-item:: isaaclab.sh / isaaclab.bat
+
+          .. code:: bash
+
+              ./isaaclab.sh -p -m pip install opencv-python
+
+    Without it, the conversion scripts fail to open or write the video files.
+
 HDF5 to MP4 Conversion
 ^^^^^^^^^^^^^^^^^^^^^^
 
@@ -93,11 +114,23 @@ The ``hdf5_to_mp4.py`` script converts camera frames stored in HDF5 demonstratio
 
 Example usage for the cube stacking task:
 
-.. code:: bash
+.. tab-set::
+
+   .. tab-item:: uv (Recommended)
 
-    python scripts/tools/hdf5_to_mp4.py \
-    --input_file datasets/mimic_dataset_1k.hdf5 \
-    --output_dir datasets/mimic_dataset_1k_mp4
+      .. code:: bash
+
+          uv run --extra mimic python scripts/tools/hdf5_to_mp4.py \
+          --input_file datasets/mimic_dataset_1k.hdf5 \
+          --output_dir datasets/mimic_dataset_1k_mp4
+
+   .. tab-item:: isaaclab.sh / isaaclab.bat
+
+      .. code:: bash
+
+          ./isaaclab.sh -p scripts/tools/hdf5_to_mp4.py \
+          --input_file datasets/mimic_dataset_1k.hdf5 \
+          --output_dir datasets/mimic_dataset_1k_mp4
 
 .. _running-cosmos:
 
@@ -251,12 +284,25 @@ The ``mp4_to_hdf5.py`` script converts the visually augmented MP4 videos back to
 
 Example usage for the cube stacking task:
 
-.. code:: bash
+.. tab-set::
+
+   .. tab-item:: uv (Recommended)
 
-    python scripts/tools/mp4_to_hdf5.py \
-    --input_file datasets/mimic_dataset_1k.hdf5 \
-    --videos_dir datasets/cosmos_dataset_1k_mp4 \
-    --output_file datasets/cosmos_dataset_1k.hdf5
+      .. code:: bash
+
+          uv run --extra mimic python scripts/tools/mp4_to_hdf5.py \
+          --input_file datasets/mimic_dataset_1k.hdf5 \
+          --videos_dir datasets/cosmos_dataset_1k_mp4 \
+          --output_file datasets/cosmos_dataset_1k.hdf5
+
+   .. tab-item:: isaaclab.sh / isaaclab.bat
+
+      .. code:: bash
+
+          ./isaaclab.sh -p scripts/tools/mp4_to_hdf5.py \
+          --input_file datasets/mimic_dataset_1k.hdf5 \
+          --videos_dir datasets/cosmos_dataset_1k_mp4 \
+          --output_file datasets/cosmos_dataset_1k.hdf5
 
 Pre-generated Dataset
 ^^^^^^^^^^^^^^^^^^^^^
@@ -291,11 +337,23 @@ The ``merge_hdf5_datasets.py`` script combines multiple HDF5 datasets into a sin
 
 Example usage for the cube stacking task:
 
-.. code:: bash
+.. tab-set::
+
+   .. tab-item:: uv (Recommended)
+
+      .. code:: bash
+
+          uv run --extra mimic python scripts/tools/merge_hdf5_datasets.py \
+          --input_files datasets/mimic_dataset_1k.hdf5 datasets/cosmos_dataset_1k.hdf5 \
+          --output_file datasets/mimic_cosmos_dataset.hdf5
+
+   .. tab-item:: isaaclab.sh / isaaclab.bat
+
+      .. code:: bash
 
-    python scripts/tools/merge_hdf5_datasets.py \
-    --input_files datasets/mimic_dataset_1k.hdf5 datasets/cosmos_dataset_1k.hdf5 \
-    --output_file datasets/mimic_cosmos_dataset.hdf5
+          ./isaaclab.sh -p scripts/tools/merge_hdf5_datasets.py \
+          --input_files datasets/mimic_dataset_1k.hdf5 datasets/cosmos_dataset_1k.hdf5 \
+          --output_file datasets/mimic_cosmos_dataset.hdf5
 
 Model Training and Evaluation
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
diff --git a/docs/source/overview/imitation-learning/humanoids_imitation.rst b/docs/source/features/imitation-learning/humanoids_imitation.rst
similarity index 92%
rename from docs/source/overview/imitation-learning/humanoids_imitation.rst
rename to docs/source/features/imitation-learning/humanoids_imitation.rst
index 25080bc2704b..f745fedebf28 100644
--- a/docs/source/overview/imitation-learning/humanoids_imitation.rst
+++ b/docs/source/features/imitation-learning/humanoids_imitation.rst
@@ -124,7 +124,7 @@ Annotations denote the end of a subtask. For the pick and place task, this means
 Each demo requires a single annotation between the first and second subtask of the right arm. This annotation ("S" button press) should be done when the right robot arm finishes the "idle" subtask and begins to
 move towards the target object. An example of a correct annotation is shown below:
 
-.. figure:: ../../_static/tasks/manipulation/gr-1_pick_place_annotation.jpg
+.. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/tasks/manipulation/gr-1_pick_place_annotation.jpg
    :width: 100%
    :align: center
 
@@ -165,7 +165,7 @@ Generate the dataset
 ^^^^^^^^^^^^^^^^^^^^
 
 If you skipped the prior collection and annotation step, download the pre-recorded annotated dataset ``dataset_annotated_gr1.hdf5`` from
-here: `[Annotated GR1 Dataset] <https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/IsaacLab/Mimic/pick_place_datasets/dataset_annotated_gr1.hdf5>`_.
+here: `[Annotated GR1 Dataset] <https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.1/Isaac/IsaacLab/Mimic/pick_place_datasets/dataset_annotated_gr1.hdf5>`_.
 Place the file under ``IsaacLab/datasets`` and run the following command to generate a new dataset with 1000 demonstrations.
 
 .. code:: bash
@@ -252,7 +252,7 @@ Demo 2: Visuomotor Policy for a Humanoid Robot
 Download the Dataset
 ^^^^^^^^^^^^^^^^^^^^
 
-Download the pre-generated dataset from `here <https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/IsaacLab/Mimic/pick_place_datasets/generated_dataset_gr1_nut_pouring.hdf5>`__ and place it under ``IsaacLab/datasets/generated_dataset_gr1_nut_pouring.hdf5``
+Download the pre-generated dataset from `here <https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.1/Isaac/IsaacLab/Mimic/pick_place_datasets/generated_dataset_gr1_nut_pouring.hdf5>`__ and place it under ``IsaacLab/datasets/generated_dataset_gr1_nut_pouring.hdf5``
 (**Note: The dataset size is approximately 15GB**). The dataset contains 1000 demonstrations of a humanoid robot performing a pouring/placing task that was
 generated using Isaac Lab Mimic for the ``Isaac-NutPour-GR1T2-Pink-IK-Abs-Mimic-v0`` task.
 
@@ -465,7 +465,7 @@ Follow the same data collection, annotation, and generation process as demonstra
 
 
 If you skipped the prior collection and annotation step, download the pre-recorded annotated dataset ``dataset_annotated_g1_locomanip.hdf5`` from
-here: `[Annotated G1 Dataset] <https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/IsaacLab/Mimic/pick_place_datasets/dataset_annotated_g1_locomanip.hdf5>`_.
+here: `[Annotated G1 Dataset] <https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.1/Isaac/IsaacLab/Mimic/pick_place_datasets/dataset_annotated_g1_locomanip.hdf5>`_.
 Place the file under ``IsaacLab/datasets`` and run the following command to generate a new dataset with 1000 demonstrations.
 
 .. code:: bash
@@ -547,7 +547,7 @@ To create a comprehensive locomanipulation dataset that combines both manipulati
 
    .. code:: bash
 
-      huggingface-cli download nvidia/g1_locomanip_dataset --repo-type dataset --local-dir ./datasets/g1_locomanip_hf
+      hf download nvidia/g1_locomanip_dataset --repo-type dataset --local-dir ./datasets/g1_locomanip_hf
       unzip ./datasets/g1_locomanip_hf/*.zip -d ./datasets/
 
    The archive extracts to ``./datasets/g1_simple_high_var_lerobot/``.
@@ -648,8 +648,25 @@ Then, from the **Isaac-GR00T** directory, install GR00T N1.5 and its dependencie
    uv pip install -e .
    uv pip install wheel
    MAX_JOBS=4 uv pip install --no-build-isolation flash-attn==2.7.1.post4
-   MAX_JOBS=4 uv pip install --no-build-isolation 'git+https://github.com/facebookresearch/pytorch3d.git@v0.7.9'
-   uv pip install diffusers decord zmq
+   PYTORCH3D_NO_EXTENSION=1 uv pip install --no-build-isolation \
+       'git+https://github.com/facebookresearch/pytorch3d.git@v0.7.9'
+   uv pip install diffusers decord2 zmq
+   uv pip install 'numpy>=1.23.5,<2.0.0' pyarrow==14.0.1 numpydantic==1.6.7 pydantic==2.10.6
+
+The ``decord2`` distribution retains the ``decord`` Python import used by GR00T and provides
+pre-built wheels for both x86_64 and aarch64 systems, including DGX Spark.
+
+.. important::
+
+   GR00T N1.5 requires the NumPy and Pydantic versions installed above. When running the
+   commands below from the Isaac Lab checkout, use ``uv run --no-sync`` as shown. A regular
+   ``uv run`` synchronizes the Isaac Lab workspace and can replace GR00T's versions, causing
+   ``AttributeError: _ARRAY_API not found`` from PyArrow or ``InvalidSchemaError`` from
+   Numpydantic.
+
+The compiled PyTorch3D extension is intentionally disabled here because GR00T N1.5 uses only
+``pytorch3d.transforms``. This avoids compiling unused CUDA renderers and supports systems where
+the extension cannot be linked, including aarch64 Blackwell systems.
 
 .. note::
 
@@ -674,7 +691,7 @@ GR00T N1.5 expects data in LeRobot format. From the **IsaacLab** repository root
 
 .. code:: bash
 
-   uv run python scripts/imitation_learning/locomanipulation_sdg/gr00t/convert_dataset.py <input_dir> <output_path>
+   uv run --no-sync python scripts/imitation_learning/locomanipulation_sdg/gr00t/convert_dataset.py <input_dir> <output_path>
 
 Example — move the SDG output into its own directory first so the converter only sees SDG files:
 
@@ -682,7 +699,7 @@ Example — move the SDG output into its own directory first so the converter on
 
    mkdir -p ./datasets/locomanip_sdg
    mv ./datasets/generated_dataset_g1_locomanipulation_sdg.hdf5 ./datasets/locomanip_sdg/
-   uv run python scripts/imitation_learning/locomanipulation_sdg/gr00t/convert_dataset.py ./datasets/locomanip_sdg ./datasets/datasets_train_200_lerobot
+   uv run --no-sync python scripts/imitation_learning/locomanipulation_sdg/gr00t/convert_dataset.py ./datasets/locomanip_sdg ./datasets/datasets_train_200_lerobot
 
 Finetune the policy
 """""""""""""""""""
@@ -715,7 +732,7 @@ See the GR00T N1.5 repository documentation for additional training options.
 
    .. code:: bash
 
-      huggingface-cli download nvidia/g1_locomanip_finetune --local-dir ./checkpoints/g1_locomanip_finetune_hf
+      hf download nvidia/g1_locomanip_finetune --local-dir ./checkpoints/g1_locomanip_finetune_hf
       unzip ./checkpoints/g1_locomanip_finetune_hf/*.zip -d ./checkpoints/
 
    The archive extracts to ``./checkpoints/g1_locomanip_finetune_20260129_231610/``.
@@ -729,7 +746,7 @@ From the **IsaacLab** repository root, run the rollout script with the path to y
 
 .. code:: bash
 
-   uv run python scripts/imitation_learning/locomanipulation_sdg/gr00t/rollout_policy.py \
+   uv run --no-sync python scripts/imitation_learning/locomanipulation_sdg/gr00t/rollout_policy.py \
        --model_path <checkpoint_dir_or_file> \
        --embodiment_tag new_embodiment \
        --dataset ./datasets/generated_dataset_g1_locomanip.hdf5 \
@@ -757,13 +774,12 @@ Integrating 3D Gaussian Splatting into SDG
 
 This section extends
 :ref:`locomanipulation SDG <generate-the-dataset-with-manipulation-and-point-to-point-navigation>`
-by replacing the synthetic background with a 3D Gaussian Splatting (NuRec) scene. As in the
-base pipeline, the workflow takes a manipulation dataset as input and produces a combined
-navigation and manipulation dataset as an HDF5 file — but here the robot navigates and
-manipulates objects inside a neurally-rendered environment, and an ego-centric camera
-captures the result, producing more realistic training data than a purely synthetic scene.
-NVIDIA Isaac Sim renders 3DGS models stored as USD assets; see
-`Neural Volume Rendering <https://docs.isaacsim.omniverse.nvidia.com/6.0.0/assets/usd_assets_nurec.html>`__
+by replacing the synthetic background with a 3D Gaussian Splatting (NuRec) scene. The workflow
+takes a manipulation dataset as input and produces a combined navigation and manipulation
+dataset as an HDF5 file. The navigation replay happens in a neurally-reconstructed environment,
+and an ego-centric camera captures the result, producing more realistic training data.
+For more info on NuRec rendering in Isaac Sim, see
+`Neural Volume Rendering <https://docs.isaacsim.omniverse.nvidia.com/latest/assets/usd_assets_nurec.html>`__
 for details.
 
 .. note::
@@ -788,21 +804,17 @@ Log in to Hugging Face:
 
    hf auth login --token <your_huggingface_access_token>
 
-Download the required USDZ stage files and occupancy maps:
+Download the required USDZ stage file and occupancy maps:
 
 .. code:: bash
 
    hf download nvidia/PhysicalAI-Robotics-NuRec \
-      hand_hold-voyager-babyboom/stage_volume.usdz \
-      hand_hold-voyager-babyboom/stage_particle.usdz \
+      hand_hold-voyager-babyboom/particle_sh_optimized.usdz \
       hand_hold-voyager-babyboom/occupancy_map.png \
       hand_hold-voyager-babyboom/occupancy_map.yaml \
       --repo-type dataset \
       --local-dir <PATH_TO_USD_ASSET>
 
-The sample includes both a volume-based USD (``stage_volume.usdz``) and a particle-field USD
-(``stage_particle.usdz``). Either can be used as the background asset.
-
 Asset requirements
 """"""""""""""""""
 
@@ -814,11 +826,6 @@ compatible with the SDG pipeline:
   object placement.
 - An occupancy map is required for path planning.
 
-  - If your scene was reconstructed using the `Stereo Workflow <https://docs.nvidia.com/nurec/robotics/neural_reconstruction_stereo.html>`__,
-    the occupancy map is generated via ``nvblox``.
-  - If your background includes a mesh, use the `Occupancy Map Generator <https://docs.isaacsim.omniverse.nvidia.com/6.0.0/digital_twin/ext_isaacsim_asset_generator_occupancy_map.html>`__
-    to create a map via physical simulation.
-
 Generating the dataset
 """"""""""""""""""""""
 
@@ -826,13 +833,7 @@ Before proceeding, ensure you have generated a manipulation dataset or downloade
 dataset provided in the
 :ref:`Generate the manipulation dataset <generate-the-manipulation-dataset>` section.
 
-Once you have gathered:
-
-- A manipulation dataset
-- A background USD asset
-- A matched occupancy map
-
-you can run the generation command. At runtime, the script adds a ground plane at ``z=0`` to
+At runtime, the script adds a ground plane at ``z=0`` to
 the scene. It then proceeds through four stages:
 
 1. **Pick**: The robot picks up an object at the start location by replaying the manipulation
@@ -856,18 +857,20 @@ Run the generation command:
        --num_runs 1 \
        --lift_step 60 \
        --navigate_step 130 \
-       --output_file <DATASET_FOLDER>/generated_dataset_g1_locomanipulation_sdg_gaussian_background.hdf5 \
-       --visualizer kit \
-       --background_usd_path <PATH_TO_USD_ASSET>/stage_particle.usdz \
-       --background_occupancy_yaml_file <PATH_TO_USD_ASSET>/occupancy_map.yaml \
-       --randomize_placement \
+       --output_file <DATASET_FOLDER>/generated_dataset_g1_locomanipulation_sdg_nurec.hdf5 \
+       --background_usd_path <PATH_TO_USD_ASSET>/hand_hold-voyager-babyboom/particle_sh_optimized.usdz \
+       --background_occupancy_yaml_file <PATH_TO_USD_ASSET>/hand_hold-voyager-babyboom/occupancy_map.yaml \
        --high_res_video
 
+To inspect the run in the GUI, add ``--viz kit``; adjust the perspective camera, or switch
+the viewport to the robot camera view for clearer visualization.
+
 The key parameters are:
 
-- ``--background_usd_path``: Path to the 3D Gaussian background USD asset.
-- ``--background_occupancy_yaml_file``: Path to the occupancy map file.
-- ``--high_res_video``: Capture the ego-centric camera at 960×540 instead of the default
+- ``--background_usd_path``: Path to the 3D Gaussian NuRec USD asset.
+- ``--background_occupancy_yaml_file``: Path to the NuRec occupancy map file.
+- Placement randomization is enabled automatically when a NuRec scene is used.
+- ``--high_res_video``: Capture the ego-centric camera at 512×320 instead of the default
   256×160.
 
 When the run completes successfully, an HDF5 dataset is generated containing camera
@@ -875,23 +878,15 @@ observations. You can convert the ego-centric camera view to MP4:
 
 .. code:: bash
 
-   uv run python scripts/tools/hdf5_to_mp4.py \
-      --input_file <DATASET_FOLDER>/generated_dataset_g1_locomanipulation_sdg_gaussian_background.hdf5 \
+   uv run --extra mimic python scripts/tools/hdf5_to_mp4.py \
+      --input_file <DATASET_FOLDER>/generated_dataset_g1_locomanipulation_sdg_nurec.hdf5 \
       --output_dir <DATASET_FOLDER>/ \
       --input_keys robot_pov_cam \
-      --video_width 960 \
-      --video_height 540
+      --video_width 512 \
+      --video_height 320
 
 Set ``--video_width`` and ``--video_height`` to match the resolution captured during
-generation: 960×540 with ``--high_res_video``, or 256×160 without it.
-
-To play the generated MP4 video on Ubuntu, install the following multimedia packages:
-
-.. code:: bash
-
-   sudo apt update
-   sudo apt install libavcodec-extra gstreamer1.0-libav gstreamer1.0-plugins-ugly
-
+generation: 512×320 with ``--high_res_video``, or 256×160 without it.
 
 .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/locomanipulation_sdg_gaussian_background_2x.webp
    :width: 100%
diff --git a/docs/source/overview/imitation-learning/index.rst b/docs/source/features/imitation-learning/index.rst
similarity index 100%
rename from docs/source/overview/imitation-learning/index.rst
rename to docs/source/features/imitation-learning/index.rst
diff --git a/docs/source/overview/imitation-learning/skillgen.rst b/docs/source/features/imitation-learning/skillgen.rst
similarity index 88%
rename from docs/source/overview/imitation-learning/skillgen.rst
rename to docs/source/features/imitation-learning/skillgen.rst
index b471ea90e930..c045a04a085c 100644
--- a/docs/source/overview/imitation-learning/skillgen.rst
+++ b/docs/source/features/imitation-learning/skillgen.rst
@@ -34,7 +34,7 @@ Before using SkillGen, you must understand:
 Installation
 ~~~~~~~~~~~~
 
-SkillGen requires Isaac Lab, Isaac Sim, and cuRobo. Follow these steps in your Isaac Lab conda environment.
+SkillGen requires Isaac Lab, Isaac Sim, and cuRobo. Follow these steps in your Isaac Lab environment (uv or conda), matching the installation method used in Step 1.
 
 Step 1: Install and verify Isaac Sim and Isaac Lab
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -44,23 +44,56 @@ Follow :ref:`installation-method-python-env` in the official Isaac Sim and Isaac
 Step 2: Install cuRobo
 ^^^^^^^^^^^^^^^^^^^^^^
 
-cuRobo provides the motion planning capabilities for SkillGen. This installation is tested to work with Isaac Lab's PyTorch and CUDA requirements:
+cuRobo provides the motion planning capabilities for SkillGen. It is compiled from source against Isaac Lab's PyTorch, which requires a CUDA 12.8 toolkit (``nvcc``) at build time only — Isaac Sim, Isaac Lab, and the compiled cuRobo need just the NVIDIA driver at runtime.
 
-.. code:: bash
+.. tab-set::
+
+   .. tab-item:: uv
 
-   # One line installation of cuRobo (formatted for readability)
-   conda install -c nvidia cuda-toolkit=12.8 -y && \
-   export CUDA_HOME="$CONDA_PREFIX" && \
-   export PATH="$CUDA_HOME/bin:$PATH" && \
-   export LD_LIBRARY_PATH="$CUDA_HOME/lib:$LD_LIBRARY_PATH" && \
-   export TORCH_CUDA_ARCH_LIST="8.0+PTX" && \
-   pip install -e "git+https://github.com/NVlabs/curobo.git@ebb71702f3f70e767f40fd8e050674af0288abe8#egg=nvidia-curobo" --no-build-isolation
+      The uv-based Isaac Lab installation does not include a CUDA toolkit. Install CUDA 12.8 from the NVIDIA repository (installs the compiler only, does not modify the driver; replace ``ubuntu2404`` with ``ubuntu2204`` on Ubuntu 22.04):
+
+      .. code:: bash
+
+         wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2404/x86_64/cuda-keyring_1.1-1_all.deb
+         sudo dpkg -i cuda-keyring_1.1-1_all.deb
+         sudo apt-get update
+         sudo apt-get -y install cuda-toolkit-12-8
+
+      Then build and install cuRobo into the Isaac Lab environment. Run this from the root of your Isaac Lab repository. The ``uv sync`` step creates the project's virtual environment (``.venv``) if it does not already exist and makes PyTorch available for the build; the cuRobo repository is cloned first because ``uv pip`` does not support editable installs from Git URLs:
+
+      .. code:: bash
+
+         uv sync && \
+         export CUDA_HOME=/usr/local/cuda-12.8 && \
+         export PATH="$CUDA_HOME/bin:$PATH" && \
+         export LD_LIBRARY_PATH="$CUDA_HOME/lib64:$LD_LIBRARY_PATH" && \
+         export TORCH_CUDA_ARCH_LIST="8.0+PTX" && \
+         git clone https://github.com/NVlabs/curobo.git src/nvidia-curobo && \
+         git -C src/nvidia-curobo checkout ebb71702f3f70e767f40fd8e050674af0288abe8 && \
+         uv pip install -e ./src/nvidia-curobo --no-build-isolation
+
+   .. tab-item:: conda
+
+      .. code:: bash
+
+         # One line installation of cuRobo (formatted for readability)
+         conda install -c nvidia cuda-toolkit=12.8 -y && \
+         export CUDA_HOME="$CONDA_PREFIX" && \
+         export PATH="$CUDA_HOME/bin:$PATH" && \
+         export LD_LIBRARY_PATH="$CUDA_HOME/lib:$LD_LIBRARY_PATH" && \
+         export TORCH_CUDA_ARCH_LIST="8.0+PTX" && \
+         export CC=/usr/bin/gcc CXX=/usr/bin/g++ CUDAHOSTCXX=/usr/bin/g++ && \
+         pip install -e "git+https://github.com/NVlabs/curobo.git@ebb71702f3f70e767f40fd8e050674af0288abe8#egg=nvidia-curobo" --no-build-isolation
 
 .. note::
    * The commit hash ``ebb71702f3f70e767f40fd8e050674af0288abe8`` is tested with Isaac Lab - using other versions may cause compatibility issues. This commit has the support for quad face mesh triangulation, required for cuRobo to parse usds as collision objects.
 
+   * CUDA 12.8's ``nvcc`` requires a host compiler older than GCC 14. The default system GCC on supported Ubuntu versions (GCC 11 on 22.04, GCC 13 on 24.04) is compatible. In the conda flow, the ``CC``/``CXX``/``CUDAHOSTCXX`` exports are required because installing ``cuda-toolkit`` through Conda also pulls a Conda GCC toolchain (currently GCC 14) into the environment, which would otherwise be used and fail the build.
+
    * cuRobo is installed from source and is editable installed. This means that the cuRobo source code will be cloned in the current directory under ``src/nvidia-curobo``. Users can choose their working directory to install cuRobo.
 
+   * In the uv flow, cuRobo and Rerun (Step 3) are not part of the project's lockfile, so running ``uv sync`` after installing them removes them from the environment again. If that happens, re-run the ``uv pip install`` commands from Step 2 and Step 3 to reinstall them. ``uv run`` does not remove these packages and can be used normally.
+
    * ``TORCH_CUDA_ARCH_LIST`` in the above command should match your GPU's CUDA compute capability (e.g., ``8.0`` for A100, ``8.6`` for many RTX 30‑series, ``8.9`` for RTX 4090); the ``+PTX`` suffix embeds PTX for forward compatibility so newer GPUs can JIT‑compile when native SASS isn’t included.
 
 .. warning::
@@ -84,9 +117,19 @@ Step 3: Install Rerun
 
 For trajectory visualization during development:
 
-.. code:: bash
+.. tab-set::
+
+   .. tab-item:: uv
+
+      .. code:: bash
+
+         uv pip install rerun-sdk==0.23
 
-   pip install rerun-sdk==0.23
+   .. tab-item:: conda
+
+      .. code:: bash
+
+         pip install rerun-sdk==0.23
 
 .. note::
 
@@ -103,14 +146,25 @@ Step 4: Verify Installation
 
 Test that cuRobo works with Isaac Lab:
 
-.. code:: bash
+.. tab-set::
+
+   .. tab-item:: uv
+
+      .. code:: bash
+
+         # This should run without import errors
+         uv run python -c "import curobo; print('cuRobo installed successfully')"
+
+   .. tab-item:: conda
+
+      .. code:: bash
 
-   # This should run without import errors
-   python -c "import curobo; print('cuRobo installed successfully')"
+         # This should run without import errors
+         python -c "import curobo; print('cuRobo installed successfully')"
 
 .. tip::
 
-   If you run into ``libstdc++.so.6: version 'GLIBCXX_3.4.30' not found`` error, you can try these commands to fix it:
+   In the conda flow, if you run into ``libstdc++.so.6: version 'GLIBCXX_3.4.30' not found`` error, you can try these commands to fix it:
 
    .. code:: bash
 
@@ -135,7 +189,7 @@ The dataset contains:
 Download and Setup
 ^^^^^^^^^^^^^^^^^^
 
-1. Download the pre-annotated dataset by clicking `here <https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/IsaacLab/Mimic/franka_stack_datasets/annotated_dataset_skillgen.hdf5>`__.
+1. Download the pre-annotated dataset by clicking `here <https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.1/Isaac/IsaacLab/Mimic/franka_stack_datasets/annotated_dataset_skillgen.hdf5>`__.
 
 2. Prepare the datasets directory and move the downloaded file:
 
diff --git a/docs/source/overview/imitation-learning/teleop_imitation.rst b/docs/source/features/imitation-learning/teleop_imitation.rst
similarity index 99%
rename from docs/source/overview/imitation-learning/teleop_imitation.rst
rename to docs/source/features/imitation-learning/teleop_imitation.rst
index c24d17ec6a91..9f2ca6e1a378 100644
--- a/docs/source/overview/imitation-learning/teleop_imitation.rst
+++ b/docs/source/features/imitation-learning/teleop_imitation.rst
@@ -316,7 +316,7 @@ Step 2: Synthetic Data Generation using Isaac Lab Mimic
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 We provide a pre-recorded HDF5 dataset containing 10 human demonstrations for the cube stacking task
-here: `[Cube Stacking Human Dataset] <https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/IsaacLab/Mimic/franka_stack_datasets/dataset.hdf5>`__.
+here: `[Cube Stacking Human Dataset] <https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/6.1/Isaac/IsaacLab/Mimic/franka_stack_datasets/dataset.hdf5>`__.
 If you skipped :ref:`Step 1: Human Data Collection <teleop-imitation-step-1-human-data-collection>`, you can download this dataset and use it in the remaining tutorial steps.
 
 Place the dataset in the ``IsaacLab/datasets`` folder. You may need to create the folder if you skipped Step 1 and
diff --git a/docs/source/features/include/cluster_details.inc b/docs/source/features/include/cluster_details.inc
index 54f5e03d7dbf..3da64a8643fc 100644
--- a/docs/source/features/include/cluster_details.inc
+++ b/docs/source/features/include/cluster_details.inc
@@ -215,7 +215,7 @@ at submission time:
      - Description
    * - image
      - The Isaac Lab container image to run. Defaults to the released
-       ``nvcr.io/nvidia/isaac-lab:3.0.0-beta2`` image. Note that the repository does not publish a
+       ``nvcr.io/nvidia/isaac-lab:3.0.0-rc1`` image. Note that the repository does not publish a
        ``latest`` tag, so this must name an explicit version.
    * - rl_library
      - The RL library used for training. Defaults to ``rsl_rl``.
diff --git a/docs/source/features/include/docker_details.inc b/docs/source/features/include/docker_details.inc
index abd08be5b4f4..a133ffe19aff 100644
--- a/docs/source/features/include/docker_details.inc
+++ b/docs/source/features/include/docker_details.inc
@@ -290,7 +290,7 @@ release version tag.
 
 .. code:: bash
 
-    docker pull nvcr.io/nvidia/isaac-lab:<version>-kitless
+    docker pull nvcr.io/nvidia/isaac-lab:3.0.0-rc1-kitless
 
 Start a named container in the background. The ``--interactive`` and ``--tty`` options keep the image's Bash
 process running so that you can execute multiple commands in the same container:
@@ -298,7 +298,7 @@ process running so that you can execute multiple commands in the same container:
 .. code:: bash
 
     docker run --name isaac-lab-kitless --detach --interactive --tty --gpus all --network host \
-        nvcr.io/nvidia/isaac-lab:<version>-kitless
+        nvcr.io/nvidia/isaac-lab:3.0.0-rc1-kitless
 
 Train a policy in the running container:
 
@@ -402,7 +402,7 @@ To pull the minimal Isaac Lab container, run:
 
 .. code:: bash
 
-  docker pull nvcr.io/nvidia/isaac-lab:3.0.0-beta2
+  docker pull nvcr.io/nvidia/isaac-lab:3.0.0-rc1
 
 .. attention::
 
@@ -433,7 +433,7 @@ To run the Isaac Lab container with an interactive bash session, run:
      -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
      -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
      -v ~/docker/isaac-sim/documents:/root/Documents:rw \
-     nvcr.io/nvidia/isaac-lab:3.0.0-beta2
+     nvcr.io/nvidia/isaac-lab:3.0.0-rc1
 
 To enable rendering through X11 forwarding, run:
 
@@ -452,7 +452,7 @@ To enable rendering through X11 forwarding, run:
      -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
      -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
      -v ~/docker/isaac-sim/documents:/root/Documents:rw \
-     nvcr.io/nvidia/isaac-lab:3.0.0-beta2
+     nvcr.io/nvidia/isaac-lab:3.0.0-rc1
 
 To run an example within the container, run:
 
diff --git a/docs/source/features/isaac_teleop.rst b/docs/source/features/isaac_teleop.rst
index 70a1c743a67d..4ffceebe34b5 100644
--- a/docs/source/features/isaac_teleop.rst
+++ b/docs/source/features/isaac_teleop.rst
@@ -464,7 +464,8 @@ on launch -- no headset connection is needed (see :ref:`isaac-teleop-standalone`
          uv run --extra teleop,isaacsim isaaclab teleop run \
              --task IsaacContrib-Stack-Cube-SO101-Joint-Teleop-v0 \
              --num_envs 1 \
-             --visualizer kit
+             --visualizer kit \
+             physics=isaacsim_physx
 
    .. tab-item:: isaaclab.sh / isaaclab.bat
 
@@ -473,7 +474,8 @@ on launch -- no headset connection is needed (see :ref:`isaac-teleop-standalone`
          ./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
              --task IsaacContrib-Stack-Cube-SO101-Joint-Teleop-v0 \
              --num_envs 1 \
-             --visualizer kit
+             --visualizer kit \
+             physics=isaacsim_physx
 
 **With a headset (immersive XR view)**
 
@@ -491,7 +493,8 @@ only controls whether the scene is rendered to the headset. Follow the connectio
          uv run --extra teleop,isaacsim isaaclab teleop run \
              --task IsaacContrib-Stack-Cube-SO101-Joint-Teleop-v0 \
              --num_envs 1 \
-             --visualizer kit --xr
+             --visualizer kit --xr \
+             physics=isaacsim_physx
 
    .. tab-item:: isaaclab.sh / isaaclab.bat
 
@@ -500,7 +503,8 @@ only controls whether the scene is rendered to the headset. Follow the connectio
          ./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
              --task IsaacContrib-Stack-Cube-SO101-Joint-Teleop-v0 \
              --num_envs 1 \
-             --visualizer kit --xr
+             --visualizer kit --xr \
+             physics=isaacsim_physx
 
 Start the plugin
 ^^^^^^^^^^^^^^^^
@@ -560,6 +564,15 @@ shortcuts:
    * - ``R``
      - Reset the environment.
 
+.. note::
+
+   Pressing ``R`` both resets the environment **and pauses teleoperation** -- it does not resume
+   automatically. This is intentional: this task's joint-teleop pipeline mirrors the leader arm's
+   raw joint angles onto the follower with no re-anchoring or clutch, so resuming immediately after
+   a reset would snap the follower straight to wherever the physical leader arm currently is,
+   causing a sudden, large joint motion. Before pressing ``B`` to resume, move the physical leader
+   arm to match the follower's reset pose.
+
 Move the physical SO-101 leader arm and the simulated follower will mirror its joint angles in real
 time. To record demonstrations from this task, run ``scripts/tools/record_demos.py`` with the same
 ``--task`` and the plugin running in its second terminal -- see `Data Collection in Sim`_ for the
@@ -680,7 +693,7 @@ These environments use the Isaac Teleop XR pipeline with motion controllers or h
      - Right
      - **Arm:** right controller grip pose drives end-effector.
        **Gripper:** right trigger.
-   * - ``IsaacContrib-Stack-Cube-SO101-IK-Abs-v0``
+   * - ``IsaacContrib-Stack-Cube-SO101-IK-Abs-v0`` with ``physics=isaacsim_physx``
      - Controllers
      - Right
      - **Arm:** right controller grip pose drives the end-effector via absolute IK
@@ -837,6 +850,8 @@ follows.
        controller to overtune and the arm to drift. Move the
        end-effector close to and just above the cube, stop, then
        close the suction cup.
+
+       **CPU simulation only:** pass ``--device cpu`` for teleoperation.
      - Keyboard, SpaceMouse
      - **Arm:** end-effector pose via RMPFlow.
        **Suction:** ``K`` on keyboard, left button on SpaceMouse.
@@ -852,15 +867,22 @@ follows.
      - **Arm:** right-arm end-effector pose via RMPFlow.
        **Gripper:** ``K`` on keyboard, left button on SpaceMouse.
    * - ``IsaacContrib-Stack-Cube-UR10-Long-Suction-IK-Rel``
+
+       **CPU simulation only:** pass ``--device cpu`` for teleoperation.
      - Keyboard, SpaceMouse
      - **Arm:** relative IK end-effector control.
        **Suction:** ``K`` on keyboard, left button on SpaceMouse.
    * - ``IsaacContrib-Stack-Cube-UR10-Short-Suction-IK-Rel``
+
+       **CPU simulation only:** pass ``--device cpu`` for teleoperation.
      - Keyboard, SpaceMouse
      - Same as long-suction UR10 above with a shorter suction cup.
    * - ``Isaac-Reach-Franka`` with ``physics=isaacsim_physx presets=diffik``
      - Keyboard, Gamepad, SpaceMouse
      - **Arm:** relative IK end-effector control. Gripper disabled.
+   * - ``Isaac-Reach-Franka`` with ``physics=newton_mjwarp presets=newton_ik``
+     - Keyboard, Gamepad, SpaceMouse
+     - **Arm:** relative Newton IK end-effector control. Gripper disabled.
 
 
 .. note::
@@ -887,7 +909,7 @@ for the run command and pipeline.
    * - Task ID
      - Device
      - Operator Interaction
-   * - ``IsaacContrib-Stack-Cube-SO101-Joint-Teleop-v0``
+   * - ``IsaacContrib-Stack-Cube-SO101-Joint-Teleop-v0`` with ``physics=isaacsim_physx``
      - SO-101 leader arm
      - **Arm + gripper:** the leader arm's six joint angles (five arm DOF + gripper) are mirrored
        onto the follower via ``JointStateRetargeter`` (``mode="joint"``).
@@ -1230,6 +1252,37 @@ If you prefer to run the CloudXR runtime manually in a separate terminal
              --visualizer kit --xr
 
 
+Accept the CloudXR license non-interactively
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+The NVIDIA CloudXR license is separate from the Omniverse one. The first time the runtime
+starts it asks for it on stdin:
+
+.. code-block:: text
+
+   NVIDIA CloudXR EULA must be accepted to run. View: <license URL>
+
+   Accept NVIDIA CloudXR EULA? [y/N]:
+
+There is no terminal to answer on in a headless, container or CI run, so the launch fails with
+``RuntimeError: CloudXR EULA was not accepted; cannot start the runtime``. Set
+``ISAACLAB_CXR_ACCEPT_EULA=1`` to accept it up front, the same way ``OMNI_KIT_ACCEPT_EULA``
+works for the Omniverse license:
+
+.. code-block:: bash
+
+   ISAACLAB_CXR_ACCEPT_EULA=1 ./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
+       --task IsaacContrib-PickPlace-Locomanipulation-G1-Abs \
+       --xr
+
+``y``, ``yes`` and ``1`` accept it, case-insensitively and ignoring surrounding whitespace --
+the same spellings ``OMNI_KIT_ACCEPT_EULA`` takes; leaving the variable unset, or setting any
+other value, keeps the interactive prompt. Acceptance is recorded in
+``~/.cloudxr/run/eula_accepted``, so once the license has been accepted -- interactively or
+through this variable -- later runs no longer prompt. The variable applies to every script
+that launches the runtime, including the process-scoped launcher in
+``teleop_replay_agent.py``.
+
 .. _isaac-teleop-xr-anchor:
 
 Configure the XR Anchor
@@ -1296,11 +1349,14 @@ cameras. The manager publishes each new RGBA frame after rendering, while
 :class:`~isaaclab_teleop.XrCameraFeedLayoutCfg` places the panels manually or in horizontal,
 vertical, and grid layouts. The following registered tasks enable PiP by default:
 
-* ``IsaacContrib-PickPlace-Locomanipulation-G1-Abs``
 * ``IsaacContrib-PickPlace-GR1T2-Abs``
 * ``IsaacContrib-NutPour-GR1T2-Pink-IK-Abs``
 * ``IsaacContrib-ExhaustPipe-GR1T2-Pink-IK-Abs``
 
+The G1 locomanipulation and fixed-base tasks do not create a PiP panel by default because the head
+camera can capture the panel and produce a recursive view. The locomanipulation task retains the
+camera as a recorded policy observation.
+
 ``teleop_se3_agent.py`` and ``record_demos.py`` show every enabled feed when an IsaacTeleop-enabled
 environment runs with ``--xr``. PiP is absent unless the task explicitly selects an existing
 ``CameraCfg`` through ``xr_camera_feeds``. In the registered tasks above, the selected
@@ -1326,10 +1382,6 @@ recorded view follows robot motion:
        --task IsaacContrib-PickPlace-GR1T2-Abs \
        --xr --device cpu
 
-   uv run --extra teleop,isaacsim isaaclab teleop run \
-       --task IsaacContrib-PickPlace-Locomanipulation-G1-Abs \
-       --xr --device cpu
-
 XR camera PiP currently supports exactly one environment. When a task has enabled PiP feeds,
 startup rejects ``--num_envs`` values other than ``1``; IsaacTeleop XR behavior without PiP is
 unchanged.
diff --git a/docs/source/features/ray.rst b/docs/source/features/ray.rst
index 607b9ab533cb..e3ffeec2ada3 100644
--- a/docs/source/features/ray.rst
+++ b/docs/source/features/ray.rst
@@ -1,476 +1,10 @@
-===========================
-Ray Job Dispatch and Tuning
-===========================
+:orphan:
 
-.. currentmodule:: isaaclab
+.. meta::
+   :http-equiv=refresh: 0; url=../experimental-features/ray.html
+   :name=robots: noindex
 
-Isaac Lab supports `Ray <https://docs.ray.io/en/latest/index.html>`_ for streamlining dispatching multiple training jobs (in parallel and in series),
-and hyperparameter tuning, both on local and remote configurations.
+Page Moved
+==========
 
-This `independent community contributed walkthrough video <https://youtu.be/z7MDgSga2Ho?feature=shared>`_
-demonstrates some of the core functionality of the Ray integration covered in this overview. Although there may be some
-differences in the codebase (such as file names being shortened) since the creation of the video,
-the general workflow is the same.
-
-.. attention::
-
-  This functionality is experimental, and has been tested only on Linux.
-
-.. warning::
-
-  **Security Notice**: Due to security risks associated with Ray,
-  this workflow is not intended for use outside of a strictly controlled
-  network environment. Ray clusters should only be deployed in trusted,
-  isolated networks with appropriate access controls and security measures in place.
-
-
-
-Overview
---------
-
-The Ray integration is useful for the following.
-
-- Dispatching several training jobs in parallel or sequentially with minimal interaction.
-- Tuning hyperparameters; in parallel or sequentially with support for multiple GPUs and/or multiple GPU Nodes.
-- Using the same training setup everywhere (on cloud and local) with minimal overhead.
-- Resource Isolation for training jobs (resource-wrapped jobs).
-
-The core functionality of the Ray workflow consists of two main scripts that enable the orchestration
-of resource-wrapped and tuning aggregate jobs. In resource-wrapped aggregate jobs, each sub-job and its
-resource requirements are defined manually, enabling resource isolation.
-For tuning aggregate jobs, individual jobs are generated automatically based on a hyperparameter
-sweep configuration.
-
-Both resource-wrapped and tuning aggregate jobs dispatch individual jobs to a designated Ray
-cluster, which leverages the cluster's resources (e.g., a single workstation node or multiple nodes)
-to execute these jobs with workers in parallel and/or sequentially.
-
-By default, jobs use all \
-available resources on each available GPU-enabled node for each sub-job worker. This can be changed through
-specifying the ``--num_workers`` argument for resource-wrapped jobs, or ``--num_workers_per_node``
-for tuning jobs, which is especially critical for parallel aggregate
-job processing on local/virtual multi-GPU machines. Tuning jobs assume homogeneous node resource composition for nodes with GPUs.
-
-The three following files contain the core functionality of the Ray integration.
-
-.. dropdown:: scripts/reinforcement_learning/ray/wrap_resources.py
-  :icon: code
-
-  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/wrap_resources.py
-    :language: python
-    :emphasize-lines: 10-63
-
-.. dropdown:: scripts/reinforcement_learning/ray/tuner.py
-  :icon: code
-
-  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/tuner.py
-    :language: python
-    :emphasize-lines: 18-59
-
-.. dropdown:: scripts/reinforcement_learning/ray/task_runner.py
-  :icon: code
-
-  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/task_runner.py
-    :language: python
-    :emphasize-lines: 13-105
-
-The following script can be used to submit aggregate
-jobs to one or more Ray cluster(s), which can be used for
-running jobs on a remote cluster or simultaneous jobs with heterogeneous
-resource requirements.
-
-.. dropdown:: scripts/reinforcement_learning/ray/submit_job.py
-  :icon: code
-
-  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/submit_job.py
-    :language: python
-    :emphasize-lines: 13-61
-
-The following script can be used to extract KubeRay cluster information for aggregate job submission.
-
-.. dropdown:: scripts/reinforcement_learning/ray/grok_cluster_with_kubectl.py
-  :icon: code
-
-  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/grok_cluster_with_kubectl.py
-    :language: python
-    :emphasize-lines: 14-26
-
-The following script can be used to easily create clusters on Google GKE.
-
-.. dropdown:: scripts/reinforcement_learning/ray/launch.py
-  :icon: code
-
-  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/launch.py
-    :language: python
-    :emphasize-lines: 15-36
-
-Docker-based Local Quickstart
------------------------------
-
-First, follow the :ref:`deployment-docker` guide to set up the NVIDIA Container Toolkit and Docker Compose.
-
-Then, run the following steps to start a tuning run.
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-        # Build the base image, but we don't need to run it
-        python3 docker/container.py start && python3 docker/container.py stop
-        # Build the tuning image with extra deps
-        docker build -t isaacray -f scripts/reinforcement_learning/ray/cluster_configs/Dockerfile .
-        # Start the tuning image - symlink so that changes in the source folder show up in the container
-        docker run -v $(pwd)/source:/workspace/isaaclab/source -it --gpus all --net=host --entrypoint /bin/bash isaacray
-        # Start the Ray server within the tuning image
-        echo "import ray; ray.init(); import time; [time.sleep(10) for _ in iter(int, 1)]" | uv run python
-
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-        # Build the base image, but we don't need to run it
-        python3 docker/container.py start && python3 docker/container.py stop
-        # Build the tuning image with extra deps
-        docker build -t isaacray -f scripts/reinforcement_learning/ray/cluster_configs/Dockerfile .
-        # Start the tuning image - symlink so that changes in the source folder show up in the container
-        docker run -v $(pwd)/source:/workspace/isaaclab/source -it --gpus all --net=host --entrypoint /bin/bash isaacray
-        # Start the Ray server within the tuning image
-        echo "import ray; ray.init(); import time; [time.sleep(10) for _ in iter(int, 1)]" | ./isaaclab.sh -p
-
-
-
-In a different terminal, run the following.
-
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-        # In a new terminal (don't close the above) , enter the image with a new shell.
-        docker container ps
-        docker exec -it <ISAAC_RAY_IMAGE_ID_FROM_CONTAINER_PS> /bin/bash
-        # Start a tuning run, with one parallel worker per GPU
-        uv run python scripts/reinforcement_learning/ray/tuner.py \
-          --cfg_file scripts/reinforcement_learning/ray/hyperparameter_tuning/vision_cartpole_cfg.py \
-          --cfg_class CartpoleTheiaJobCfg \
-          --run_mode local \
-          --workflow scripts/reinforcement_learning/train.py \
-          --num_workers_per_node <NUMBER_OF_GPUS_IN_COMPUTER>
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-        # In a new terminal (don't close the above) , enter the image with a new shell.
-        docker container ps
-        docker exec -it <ISAAC_RAY_IMAGE_ID_FROM_CONTAINER_PS> /bin/bash
-        # Start a tuning run, with one parallel worker per GPU
-        ./isaaclab.sh -p scripts/reinforcement_learning/ray/tuner.py \
-          --cfg_file scripts/reinforcement_learning/ray/hyperparameter_tuning/vision_cartpole_cfg.py \
-          --cfg_class CartpoleTheiaJobCfg \
-          --run_mode local \
-          --workflow scripts/reinforcement_learning/train.py \
-          --num_workers_per_node <NUMBER_OF_GPUS_IN_COMPUTER>
-
-The Ray tuner launches training through its ``--workflow`` script path. The built-in
-example configurations use the unified training entrypoint and select RL-Games with:
-
-.. code-block:: python
-
-  cfg["runner_args"]["--rl_library"] = "rl_games"
-
-
-
-To view the training logs, in a different terminal, run the following and visit ``localhost:6006`` in a browser afterwards.
-
-.. code-block:: bash
-
-  # In a new terminal (don't close the above) , enter the image with a new shell.
-  docker container ps
-  docker exec -it <ISAAC_RAY_IMAGE_ID_FROM_CONTAINER_PS> /bin/bash
-  # Start a tuning run, with one parallel worker per GPU
-  tensorboard --logdir=.
-
-
-Submitting resource-wrapped individual jobs instead of automatic tuning runs is described in the following file.
-
-.. dropdown:: scripts/reinforcement_learning/ray/wrap_resources.py
-  :icon: code
-
-  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/wrap_resources.py
-    :language: python
-    :emphasize-lines: 10-63
-
-The ``task_runner.py`` dispatches Python tasks to a Ray cluster via a single declarative YAML file. This approach allows users to specify additional pip packages and Python modules for each run. Fine-grained resource allocation is supported, with explicit control over the number of CPUs, GPUs, and memory assigned to each task. The runner also offers advanced scheduling capabilities: tasks can be restricted to specific nodes by hostname or node ID, and supports two launch modes: tasks can be executed independently as resources become available, or grouped into a simultaneous batch—ideal for multi-node training jobs—which ensures that all tasks launch together only when sufficient resources are available across the cluster.
-
-.. dropdown:: scripts/reinforcement_learning/ray/task_runner.py
-  :icon: code
-
-  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/task_runner.py
-    :language: python
-    :emphasize-lines: 13-105
-
-To use this script, run a command similar to the following (replace ``tasks.yaml`` with your actual configuration file):
-
-.. code-block:: bash
-
-  python3 scripts/reinforcement_learning/ray/submit_job.py --aggregate_jobs task_runner.py --task_cfg tasks.yaml
-
-For detailed instructions on how to write your ``tasks.yaml`` file, please refer to the comments in ``task_runner.py``.
-
-**Tip:** Place the ``tasks.yaml`` file in the ``scripts/reinforcement_learning/ray`` directory so that it is included when the ``working_dir`` is uploaded. You can then reference it using a relative path in the command.
-
-Transferring files from the running container can be done as follows.
-
-.. code-block:: bash
-
-  docker container ps
-  docker cp <ISAAC_RAY_IMAGE_ID_FROM_CONTAINER_PS>:</path/in/container/file>  </path/on/host/>
-
-
-For tuning jobs, specify the tuning job / hyperparameter sweep as child class of :class:`JobCfg` .
-The included :class:`JobCfg` only supports the ``rl_games`` workflow due to differences in
-environment entrypoints and hydra arguments, although other workflows will work if provided a compatible
-:class:`JobCfg`.
-
-.. dropdown:: scripts/reinforcement_learning/ray/tuner.py (JobCfg definition)
-  :icon: code
-
-  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/tuner.py
-    :language: python
-    :start-at: class JobCfg
-    :end-at: self.cfg = cfg
-
-For example, see the following Cartpole Example configurations.
-
-.. dropdown:: scripts/reinforcement_learning/ray/hyperparameter_tuning/vision_cartpole_cfg.py
-  :icon: code
-
-  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/hyperparameter_tuning/vision_cartpole_cfg.py
-    :language: python
-
-
-Remote Clusters
----------------
-
-Select one of the following methods to create a Ray cluster to accept and execute dispatched jobs.
-
-KubeRay Setup
-~~~~~~~~~~~~~
-
-If using KubeRay clusters on Google GKE with the batteries-included cluster launch file,
-the following dependencies are also needed.
-
-.. code-block:: bash
-
-  python3 -m pip install kubernetes Jinja2
-
-For use on Kubernetes clusters with KubeRay,
-such as Google Kubernetes Engine or Amazon Elastic Kubernetes Service, ``kubectl`` is required, and can
-be installed via the `Kubernetes website <https://kubernetes.io/docs/tasks/tools/>`_ .
-
-Google Cloud is currently the only platform tested, although
-any cloud provider should work if one configures the following.
-
-.. attention::
-  The ``ray`` command should be modified to use Isaac python, which could be achieved in a fashion similar to
-  ``sed -i "1i $(echo "#!/workspace/isaaclab/_isaac_sim/python.sh")" \
-  /isaac-sim/kit/python/bin/ray && ln -s /isaac-sim/kit/python/bin/ray /usr/local/bin/ray``.
-
-- An container registry (NGC, GCS artifact registry, AWS ECR, etc) with
-  an Isaac Lab image configured to support Ray. See ``cluster_configs/Dockerfile`` to see how to modify the ``isaac-lab-base``
-  container for Ray compatibility. Ray should use the isaac sim python shebang, and ``nvidia-smi``
-  should work within the container. Be careful with the setup here as
-  paths need to be configured correctly for everything to work. It's likely that
-  the example dockerfile will work out of the box and can be pushed to the registry, as
-  long as the base image has already been built as in the container guide.
-- A Kubernetes setup with available NVIDIA RTX (likely ``l4`` or ``l40`` or ``tesla-t4`` or ``a10``) GPU-passthrough node-pool resources,
-  that has access to your container registry/storage bucket and has the Ray operator enabled with correct IAM
-  permissions. This can be easily achieved with services such as Google GKE or AWS EKS,
-  provided that your account or organization has been granted a GPU-budget. It is recommended
-  to use manual kubernetes services as opposed to "autopilot" services for cost-effective
-  experimentation as this way clusters can be completely shut down when not in use, although
-  this may require installing the `Nvidia GPU Operator <https://docs.nvidia.com/datacenter/cloud-native/gpu-operator/latest/google-gke.html>`_ .
-- An `MLFlow server <https://mlflow.org/docs/latest/getting-started/logging-first-model/step1-tracking-server.html>`_ that your cluster has access to
-  (already included for Google Cloud, which can be referenced for the format and MLFlow integration).
-- A ``kuberay.yaml.ninja`` file that describes how to allocate resources (already included for
-  Google Cloud, which can be referenced for the format and MLFlow integration).
-
-Ray Clusters (Without Kubernetes) Setup
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-.. attention::
-  Modify the Ray command to use Isaac Python like in KubeRay clusters, and follow the same
-  steps for creating an image/cluster permissions.
-
-See the `Ray Clusters Overview <https://docs.ray.io/en/latest/cluster/getting-started.html>`_ or
-`Anyscale <https://www.anyscale.com/product>`_ for more information.
-
-Also, create an `MLFlow server <https://mlflow.org/docs/latest/getting-started/logging-first-model/step1-tracking-server.html>`_ that your local
-host and cluster have access to.
-
-Shared Steps Between KubeRay and Pure Ray Part I
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-1.) Install Ray on your local machine.
-
-.. code-block:: bash
-
-  python3 -m pip install "ray[default]==2.31.0"
-
-2.) Build the Isaac Ray image, and upload it to your container registry of choice.
-
-.. code-block:: bash
-
-  # Login with NGC (nvcr.io) registry first, see docker steps in repo.
-  python3 docker/container.py start
-  # Build the special Isaac Lab Ray Image
-  docker build -t <REGISTRY/IMAGE_NAME> -f scripts/reinforcement_learning/ray/cluster_configs/Dockerfile .
-  # Push the image to your registry of choice.
-  docker push <REGISTRY/IMAGE_NAME>
-
-KubeRay Clusters Only
-~~~~~~~~~~~~~~~~~~~~~
-`k9s <https://github.com/derailed/k9s>`_ is a great tool for monitoring your clusters that can
-easily be installed with ``snap install k9s --devmode``.
-
-1.) Verify cluster access, and that the correct operators are installed.
-
-.. code-block:: bash
-
-  # Verify cluster access
-  kubectl cluster-info
-  # If using a manually managed cluster (not Autopilot or the like)
-  # verify that there are node pools
-  kubectl get nodes
-  # Check that the ray operator is installed on the cluster
-  # should list rayclusters.ray.io , rayjobs.ray.io , and rayservices.ray.io
-  kubectl get crds | grep ray
-  # Check that the NVIDIA Driver Operator is installed on the cluster
-  # should list clusterpolicies.nvidia.com
-  kubectl get crds | grep nvidia
-
-2.) Create the KubeRay cluster and an MLFlow server for receiving logs
-that your cluster has access to.
-This can be done automatically for Google GKE,
-where instructions are included in the following creation file.
-
-.. dropdown:: scripts/reinforcement_learning/ray/launch.py
-  :icon: code
-
-  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/launch.py
-    :language: python
-    :emphasize-lines: 15-36
-
-For other cloud services, the ``kuberay.yaml.ninja`` will be similar to that of
-Google's.
-
-
-.. dropdown:: scripts/reinforcement_learning/ray/cluster_configs/google_cloud/kuberay.yaml.ninja
-  :icon: code
-
-  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/cluster_configs/google_cloud/kuberay.yaml.jinja
-      :language: python
-
-
-
-3.) Fetch the KubeRay cluster IP addresses, and the MLFLow Server IP.
-This can be done automatically for KubeRay clusters,
-where instructions are included in the following fetching file.
-The KubeRay clusters are saved to a file, but the MLFLow Server IP is
-printed.
-
-.. dropdown:: scripts/reinforcement_learning/ray/grok_cluster_with_kubectl.py
-  :icon: code
-
-  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/grok_cluster_with_kubectl.py
-    :language: python
-    :emphasize-lines: 14-26
-
-Ray Clusters Only (Without Kubernetes)
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-1.) Verify cluster access.
-
-2.) Create a ``~/.cluster_config`` file, where ``name: <NAME> address: http://<IP>:<PORT>`` is on
-a new line for each unique cluster. For one cluster, there should only be one line in this file.
-
-3.) Start an MLFLow Server to receive the logs that the ray cluster has access to,
-and determine the server URI.
-
-Dispatching Steps Shared Between KubeRay and Pure Ray Part II
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-1.) Test that your cluster is operational with the following.
-
-.. code-block:: bash
-
-  # Test that NVIDIA GPUs are visible and that Ray is operation with the following command:
-  python3 scripts/reinforcement_learning/ray/submit_job.py --aggregate_jobs wrap_resources.py --test
-
-2.) Submitting tuning and/or resource-wrapped jobs is described in the :file:`submit_job.py` file.
-
-.. dropdown:: scripts/reinforcement_learning/ray/submit_job.py
-  :icon: code
-
-  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/submit_job.py
-    :language: python
-    :emphasize-lines: 13-61
-
-3.) For tuning jobs, specify the tuning job / hyperparameter sweep as a :class:`JobCfg` .
-The included :class:`JobCfg` only supports the ``rl_games`` workflow due to differences in
-environment entrypoints and hydra arguments, although other workflows will work if provided a compatible
-:class:`JobCfg`.
-
-.. dropdown:: scripts/reinforcement_learning/ray/tuner.py (JobCfg definition)
-  :icon: code
-
-  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/tuner.py
-    :language: python
-    :start-at: class JobCfg
-    :end-at: self.cfg = cfg
-
-For example, see the following Cartpole Example configurations.
-
-.. dropdown:: scripts/reinforcement_learning/ray/hyperparameter_tuning/vision_cartpole_cfg.py
-  :icon: code
-
-  .. literalinclude:: ../../../scripts/reinforcement_learning/ray/hyperparameter_tuning/vision_cartpole_cfg.py
-    :language: python
-
-
-To view the tuning results, view the MLFlow dashboard of the server that you created.
-For KubeRay, this can be done through port forwarding the MLFlow dashboard with the following.
-
-``kubectl port-forward service/isaacray-mlflow 5000:5000``
-
-Then visit the following address in a browser.
-
-``localhost:5000``
-
-If the MLFlow port is forwarded like above, it can be converted into tensorboard logs with
-this following command.
-
-``./isaaclab.sh -p scripts/reinforcement_learning/ray/mlflow_to_local_tensorboard.py \
---uri http://localhost:5000 --experiment-name IsaacRay-<CLASS_JOB_CFG>-tune --download-dir test``
-
-
-Kubernetes Cluster Cleanup
-''''''''''''''''''''''''''
-
-For the sake of conserving resources, and potentially freeing precious GPU resources for other people to use
-on shared compute platforms, please destroy the Ray cluster after use. They can be easily
-recreated! For KubeRay clusters, this can be done as follows.
-
-.. code-block:: bash
-
-  kubectl get raycluster | egrep 'isaacray' | awk '{print $1}' | xargs kubectl delete raycluster &&
-  kubectl get deployments | egrep 'mlflow' | awk '{print $1}' | xargs kubectl delete deployment &&
-  kubectl get services | egrep 'mlflow' | awk '{print $1}' | xargs kubectl delete service &&
-  kubectl get services | egrep 'isaacray' | awk '{print $1}' | xargs kubectl delete service
+This page moved to :doc:`/source/experimental-features/ray`.
diff --git a/docs/source/features/visualizer_tiled_camera.rst b/docs/source/features/visualizer_tiled_camera.rst
index cc4863bbf1cf..3346847e3b50 100644
--- a/docs/source/features/visualizer_tiled_camera.rst
+++ b/docs/source/features/visualizer_tiled_camera.rst
@@ -98,7 +98,7 @@ Example 2: Streaming from Robot-Mounted Cameras
 
 .. code-block:: bash
 
-   uv run python scripts/tutorials/07_visualizers/run_tiled_camera_visualizer.py \
+   uv run --extra teleop python scripts/tutorials/07_visualizers/run_tiled_camera_visualizer.py \
        --task IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor --num_envs 25 --viz newton_gl
 
 The Galbot cube-stacking environment ships with wrist-mounted cameras giving an egocentric
diff --git a/docs/source/how-to/add_own_library.rst b/docs/source/how-to/add_own_library.rst
index c454bc16b7bd..46e2aaa96912 100644
--- a/docs/source/how-to/add_own_library.rst
+++ b/docs/source/how-to/add_own_library.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _how-to-add-library:
 
 Adding your own learning library
diff --git a/docs/source/how-to/capture_sensor_frames.rst b/docs/source/how-to/capture_sensor_frames.rst
index fcc64007fcbd..c7d229b823ad 100644
--- a/docs/source/how-to/capture_sensor_frames.rst
+++ b/docs/source/how-to/capture_sensor_frames.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _how-to-capture-sensor-frames:
 
 Capturing sensor frames during training
@@ -217,5 +219,5 @@ See also
 * :doc:`/source/concepts/reinforcement_learning` - the shared ``train``/``play`` entrypoints
   that register the capture flags
 * :doc:`/source/concepts/visualization` - visualizers and rendering during training
-* :doc:`/source/overview/core-concepts/sensors/camera` - camera sensors and annotator data types
+* :doc:`/source/concepts/sensors/camera` - camera sensors and annotator data types
 * :doc:`proxy_array` - dual CPU/GPU sensor buffers read through ``.torch``
diff --git a/docs/source/how-to/cloning.rst b/docs/source/how-to/cloning.rst
index 9353bbde25d5..264fe8cf1f22 100644
--- a/docs/source/how-to/cloning.rst
+++ b/docs/source/how-to/cloning.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _cloning-environments:
 
 Cloning Environments
diff --git a/docs/source/how-to/cloudxr_teleoperation.rst b/docs/source/how-to/cloudxr_teleoperation.rst
index 46e3ebf99629..1132b0a0a98f 100644
--- a/docs/source/how-to/cloudxr_teleoperation.rst
+++ b/docs/source/how-to/cloudxr_teleoperation.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _cloudxr-teleoperation:
 
 Setting up Isaac Teleop with CloudXR
diff --git a/docs/source/how-to/configure_rendering.rst b/docs/source/how-to/configure_rendering.rst
index 95dbb3a4dcc1..29707779d45e 100644
--- a/docs/source/how-to/configure_rendering.rst
+++ b/docs/source/how-to/configure_rendering.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 Configuring RTX Rendering Settings
 ====================================
 
diff --git a/docs/source/how-to/curriculums.rst b/docs/source/how-to/curriculums.rst
index 8c2a94e82cbe..be500afc7603 100644
--- a/docs/source/how-to/curriculums.rst
+++ b/docs/source/how-to/curriculums.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 Curriculum Utilities
 ====================
 
diff --git a/docs/source/how-to/estimate_how_many_cameras_can_run.rst b/docs/source/how-to/estimate_how_many_cameras_can_run.rst
index 73f3ff8ce009..5dda45085d06 100644
--- a/docs/source/how-to/estimate_how_many_cameras_can_run.rst
+++ b/docs/source/how-to/estimate_how_many_cameras_can_run.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _how-to-estimate-how-cameras-can-run:
 
 
diff --git a/docs/source/how-to/haply_teleoperation.rst b/docs/source/how-to/haply_teleoperation.rst
index d4df3b5edab3..421be153c47d 100644
--- a/docs/source/how-to/haply_teleoperation.rst
+++ b/docs/source/how-to/haply_teleoperation.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _haply-teleoperation:
 
 Setting up Haply Teleoperation
diff --git a/docs/source/how-to/import_new_asset.rst b/docs/source/how-to/import_new_asset.rst
index c8bf5ac1734e..4e01ae8a5751 100644
--- a/docs/source/how-to/import_new_asset.rst
+++ b/docs/source/how-to/import_new_asset.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 Importing a New Asset
 =====================
 
diff --git a/docs/source/how-to/index.rst b/docs/source/how-to/index.rst
index eccc23151ede..a2c141bc44ad 100644
--- a/docs/source/how-to/index.rst
+++ b/docs/source/how-to/index.rst
@@ -1,199 +1,337 @@
+.. _tutorials:
 .. _how-to:
 
 How-to Guides
 =============
 
-This section includes guides that help you use Isaac Lab. These are intended for users who
-have already worked through the tutorials and are looking for more information on how to
-use Isaac Lab. If you are new to Isaac Lab, we recommend you start with the tutorials.
+.. container:: guide-browser-intro
 
-.. note::
+   Find step-by-step guides for building with Isaac Lab. Search by topic, then open a guide without leaving this page.
 
-    This section is a work in progress. If you have a question that is not answered here,
-    please open an issue on our `GitHub page <https://github.com/isaac-sim/IsaacLab>`_.
+.. raw:: html
 
-Importing a New Asset
----------------------
+   <div class="guide-browser-toolbar" data-guide-browser>
+     <label class="guide-search">
+       <i class="fa-solid fa-magnifying-glass" aria-hidden="true"></i>
+       <span class="visually-hidden">Search guides</span>
+       <input type="search" data-guide-search placeholder="Search all guides" autocomplete="off">
+     </label>
+     <span class="guide-result-count" data-guide-count aria-live="polite"></span>
+   </div>
+   <p class="guide-empty-state" data-guide-empty hidden>No guides match this search.</p>
+   <section class="guide-viewer" data-guide-viewer hidden aria-label="Selected guide">
+     <div class="guide-viewer-header">
+       <button type="button" class="guide-back-button" data-guide-back>
+         <i class="fa-solid fa-arrow-left" aria-hidden="true"></i>
+         Back to all guides
+       </button>
+       <a class="guide-open-page" data-guide-open-page target="_blank" rel="noopener">Open in a new tab</a>
+     </div>
+     <div class="guide-viewer-content">
+       <p class="guide-loading" data-guide-loading role="status">Loading guide...</p>
+       <iframe class="guide-frame" data-guide-frame title="Selected guide" hidden></iframe>
+     </div>
+   </section>
 
-Importing an asset into Isaac Lab is a common task. It contains two steps: importing the asset into
-a USD format and then setting up the configuration object for the asset. The following guide explains
-how to import a new asset into Isaac Lab.
+.. container:: guide-list
 
-.. toctree::
-    :maxdepth: 1
+   .. container:: guide-group
 
-    import_new_asset
-    write_articulation_cfg
-    robots
+      .. rubric:: Simulation Fundamentals
 
-Creating a Fixed Asset
-----------------------
+      .. container:: guide-entry
 
-Often you may want to create a fixed asset in your scene. For instance, making a floating base robot
-a fixed base robot. This guide goes over the various considerations and steps to create a fixed asset.
+         :doc:`Creating an empty scene </source/tutorials/00_sim/create_empty>`
 
-.. toctree::
-    :maxdepth: 1
+         Launch an empty simulation and learn the core startup sequence.
 
-    make_fixed_prim
+      .. container:: guide-entry
 
-Spawning Multiple Assets
-------------------------
+         :doc:`Spawning prims into the scene </source/tutorials/00_sim/spawn_prims>`
 
-This guide explains how to batch rigid objects into a collection and configure different asset
-variants across environments.
+         Add lights, ground planes, and primitive shapes to a simulation stage.
 
-.. toctree::
-    :maxdepth: 1
+      .. container:: guide-entry
 
-    multi_asset_spawning
+         :doc:`Deep-dive into AppLauncher </source/tutorials/00_sim/launch_app>`
 
-Cloning Environments
---------------------
+         Configure and launch simulation applications from Python and the command line.
 
-This guide explains how Isaac Lab's template-based cloning system works, including
-cloning strategies, heterogeneous environments, and collision filtering.
+   .. container:: guide-group
 
-.. toctree::
-    :maxdepth: 1
+      .. rubric:: Assets
 
-    cloning
+      .. container:: guide-entry
 
-Saving Camera Output
---------------------
+         :doc:`Adding a new robot to Isaac Lab </source/tutorials/01_assets/add_new_robot>`
 
-This guide explains how to save the camera output in Isaac Lab.
+         Bring a robot asset into Isaac Lab and define its articulation configuration.
 
-.. toctree::
-    :maxdepth: 1
+      .. container:: guide-entry
 
-    save_camera_output
+         :doc:`Interacting with a rigid object </source/tutorials/01_assets/run_rigid_object>`
 
-Estimate How Many Cameras Can Run On Your Machine
--------------------------------------------------
+         Create, reset, and command a rigid object through the simulation API.
 
-This guide demonstrates how to estimate the number of cameras one can run on their machine under the desired parameters.
+      .. container:: guide-entry
 
-.. toctree::
-    :maxdepth: 1
+         :doc:`Interacting with an articulation </source/tutorials/01_assets/run_articulation>`
 
-    estimate_how_many_cameras_can_run
+         Work with joint state, commands, and articulation data.
 
-Configure Rendering
--------------------
+      .. container:: guide-entry
 
-This guide demonstrates how to customize the RTX rendering settings.
+         :doc:`Interacting with a deformable object </source/tutorials/01_assets/run_deformable_object>`
 
-.. toctree::
-    :maxdepth: 1
+         Spawn and manipulate deformable bodies in a scene.
 
-    configure_rendering
+      .. container:: guide-entry
 
+         :doc:`Interacting with a surface gripper </source/tutorials/01_assets/run_surface_gripper>`
 
-Working with Simulation Data
-----------------------------
+         Attach and release rigid objects with a surface gripper.
 
-This guide explains how to read and write simulation state using the :class:`~isaaclab.utils.warp.ProxyArray`
-dual-access wrapper that all data classes return.
+      .. container:: guide-entry
 
-.. toctree::
-    :maxdepth: 1
+         :doc:`Importing a new asset </source/how-to/import_new_asset>`
 
-    proxy_array
+         Convert URDF, MJCF, or mesh assets into USD for use in Isaac Lab.
 
+      .. container:: guide-entry
 
-Interfacing with Environments
------------------------------
+         :doc:`Writing an asset configuration </source/how-to/write_articulation_cfg>`
 
-These guides explain how to interface with reinforcement learning environments in Isaac Lab.
+         Turn an imported robot into a reusable articulation configuration.
 
-.. toctree::
-    :maxdepth: 1
+      .. container:: guide-entry
 
-    wrap_rl_env
-    add_own_library
-    run_state_machines
+         :doc:`Robot configurations </source/how-to/robots>`
 
+         Understand the structure and conventions of supported robot configurations.
 
-Transferring Policies Between Physics Backends
------------------------------------------------
+      .. container:: guide-entry
 
-This guide explains how to validate and evaluate policies trained in PhysX and deployed in Newton,
-and policies trained in Newton and deployed in PhysX.
+         :doc:`Making a physics prim fixed </source/how-to/make_fixed_prim>`
 
-.. toctree::
-    :maxdepth: 1
+         Convert a floating asset into a fixed object in the simulation.
 
-    transfer_policies_between_physx_and_newton
+      .. container:: guide-entry
 
+         :doc:`Spawning multiple assets </source/how-to/multi_asset_spawning>`
 
-Recording an Animation and Video
---------------------------------
+         Batch rigid objects and vary asset configurations across environments.
 
-This guide explains how to record an animation and capture sensor frames in Isaac Lab. For
-recording training video, see :doc:`/source/features/record_video`.
+      .. container:: guide-entry
 
-.. toctree::
-    :maxdepth: 1
+         :doc:`Preparing an asset for Newton with MJWarp </source/how-to/prepare_asset_for_newton>`
 
-    record_animation
-    capture_sensor_frames
+         Prepare an asset and task to run with the Newton MJWarp physics preset.
 
+   .. container:: guide-group
 
-Dynamically Modifying Environment Parameters With CurriculumTerm
-----------------------------------------------------------------
+      .. rubric:: Scenes and Cloning
 
-This guide explains how to dynamically modify environment parameters during training in Isaac Lab.
-It covers the use of curriculum utilities to change environment parameters at runtime.
+      .. container:: guide-entry
 
-.. toctree::
-    :maxdepth: 1
+         :doc:`Using the interactive scene </source/tutorials/02_scene/create_scene>`
 
-    curriculums
+         Compose assets and sensors with the higher-level interactive scene interface.
 
+      .. container:: guide-entry
 
-Mastering Omniverse
--------------------
+         :doc:`Cloning environments </source/how-to/cloning>`
 
-Omniverse is a powerful platform that provides a wide range of features. This guide links to
-additional resources that help you use Omniverse features in Isaac Lab.
+         Choose cloning strategies, build heterogeneous scenes, and filter collisions.
 
-.. toctree::
-    :maxdepth: 1
+   .. container:: guide-group
 
-    master_omniverse
+      .. rubric:: Environments and Training
 
+      .. container:: guide-entry
 
-Setting up Isaac Teleop with CloudXR
-------------------------------------
+         :doc:`Creating a manager-based base environment </source/tutorials/03_envs/create_manager_base_env>`
 
-This guide explains how to install Isaac Teleop, start the CloudXR runtime, and connect XR
-devices for immersive teleoperation in Isaac Lab.
+         Build a non-RL environment from reusable manager terms.
 
-.. toctree::
-    :maxdepth: 1
+      .. container:: guide-entry
 
-    cloudxr_teleoperation
+         :doc:`Creating a manager-based RL environment </source/tutorials/03_envs/create_manager_rl_env>`
 
+         Add rewards, terminations, curricula, and commands for reinforcement learning.
 
-Setting up Haply Teleoperation
-------------------------------
+      .. container:: guide-entry
 
-This guide explains how to use Haply Inverse3 and VerseGrip devices for robot teleoperation
-with directional force feedback in Isaac Lab.
+         :doc:`Creating a direct workflow RL environment </source/tutorials/03_envs/create_direct_rl_env>`
 
-.. toctree::
-    :maxdepth: 1
+         Implement an RL task with direct control over the environment loop.
 
-    haply_teleoperation
+      .. container:: guide-entry
 
+         :doc:`Registering an environment </source/tutorials/03_envs/register_rl_env_gym>`
 
-Profiling Isaac Lab with Nsight Systems
----------------------------------------
+         Register an Isaac Lab task with Gymnasium and expose its configurations.
 
-This guide explains how to profile Isaac Lab tasks with NVIDIA Nsight Systems for runtime performance analysis.
+      .. container:: guide-entry
 
-.. toctree::
-    :maxdepth: 1
+         :doc:`Training with an RL agent </source/tutorials/03_envs/run_rl_training>`
 
-    profile_with_nsys
+         Launch training and inference with a supported reinforcement learning library.
+
+      .. container:: guide-entry
+
+         :doc:`Configuring an RL agent </source/tutorials/03_envs/configuring_rl_training>`
+
+         Customize agent settings and training hyperparameters.
+
+      .. container:: guide-entry
+
+         :doc:`Modifying an existing direct RL environment </source/tutorials/03_envs/modify_direct_rl_env>`
+
+         Extend and adjust a direct workflow task without rebuilding it from scratch.
+
+      .. container:: guide-entry
+
+         :doc:`Policy inference in a USD environment </source/tutorials/03_envs/policy_inference_in_usd>`
+
+         Run a trained policy against an environment defined in a USD stage.
+
+      .. container:: guide-entry
+
+         :doc:`Wrapping environments </source/how-to/wrap_rl_env>`
+
+         Adapt Isaac Lab environments to external reinforcement learning interfaces.
+
+      .. container:: guide-entry
+
+         :doc:`Adding your own learning library </source/how-to/add_own_library>`
+
+         Integrate an additional learning framework with Isaac Lab tasks.
+
+      .. container:: guide-entry
+
+         :doc:`Running scripted state machines </source/how-to/run_state_machines>`
+
+         Drive environments with deterministic state-machine policies.
+
+      .. container:: guide-entry
+
+         :doc:`Curriculum utilities </source/how-to/curriculums>`
+
+         Change environment parameters dynamically during training.
+
+      .. container:: guide-entry
+
+         :doc:`Transferring policies between PhysX and Newton </source/how-to/transfer_policies_between_physx_and_newton>`
+
+         Validate and evaluate policy checkpoints across the PhysX and Newton backends.
+
+   .. container:: guide-group
+
+      .. rubric:: Sensors, Cameras, and Rendering
+
+      .. container:: guide-entry
+
+         :doc:`Adding sensors on a robot </source/tutorials/04_sensors/add_sensors_on_robot>`
+
+         Add camera, ray-caster, and contact sensors to an environment.
+
+      .. container:: guide-entry
+
+         :doc:`Saving rendered images and 3D re-projection </source/how-to/save_camera_output>`
+
+         Save camera outputs and reconstruct point clouds from depth images.
+
+      .. container:: guide-entry
+
+         :doc:`Finding how many cameras to train with </source/how-to/estimate_how_many_cameras_can_run>`
+
+         Estimate camera throughput and memory limits for your hardware.
+
+      .. container:: guide-entry
+
+         :doc:`Configuring RTX rendering settings </source/how-to/configure_rendering>`
+
+         Tune RTX rendering quality and performance options.
+
+      .. container:: guide-entry
+
+         :doc:`Capturing sensor frames during training </source/how-to/capture_sensor_frames>`
+
+         Record selected sensor outputs from a running training job.
+
+   .. container:: guide-group
+
+      .. rubric:: Controllers
+
+      .. container:: guide-entry
+
+         :doc:`Using a task-space controller </source/tutorials/05_controllers/run_diff_ik>`
+
+         Control a robot end effector with differential inverse kinematics.
+
+      .. container:: guide-entry
+
+         :doc:`Using an operational space controller </source/tutorials/05_controllers/run_osc>`
+
+         Apply operational-space control to a robot manipulator.
+
+   .. container:: guide-group
+
+      .. rubric:: Simulation and Data
+
+      .. container:: guide-entry
+
+         :doc:`Working with ProxyArray </source/how-to/proxy_array>`
+
+         Consume asset and sensor data through Torch and Warp while keeping retained views valid.
+
+      .. container:: guide-entry
+
+         :doc:`Simulation performance </source/how-to/simulation_performance>`
+
+         Diagnose bottlenecks and improve simulation throughput.
+
+   .. container:: guide-group
+
+      .. rubric:: Teleoperation
+
+      .. container:: guide-entry
+
+         :doc:`Setting up Isaac Teleop with CloudXR </source/how-to/cloudxr_teleoperation>`
+
+         Connect XR devices through CloudXR for immersive teleoperation.
+
+      .. container:: guide-entry
+
+         :doc:`Setting up Haply teleoperation </source/how-to/haply_teleoperation>`
+
+         Use Haply devices for robot control with directional force feedback.
+
+   .. container:: guide-group
+
+      .. rubric:: Tools and Workflows
+
+      .. container:: guide-entry
+
+         :doc:`Recording animations of simulations </source/how-to/record_animation>`
+
+         Capture simulation state and export an animation.
+
+      .. container:: guide-entry
+
+         :doc:`Mastering Omniverse for robotics </source/how-to/master_omniverse>`
+
+         Find Omniverse workflows and resources relevant to Isaac Lab.
+
+      .. container:: guide-entry
+
+         :doc:`Profiling Isaac Lab with Nsight Systems </source/how-to/profile_with_nsys>`
+
+         Capture and inspect runtime traces with NVIDIA Nsight Systems.
+
+.. container:: guide-browser-note
+
+   .. note::
+
+      This collection is a work in progress. If a question is not answered here, open an issue on the
+      `Isaac Lab GitHub repository <https://github.com/isaac-sim/IsaacLab>`_.
diff --git a/docs/source/how-to/make_fixed_prim.rst b/docs/source/how-to/make_fixed_prim.rst
index 5726eff26688..c9e75019de7b 100644
--- a/docs/source/how-to/make_fixed_prim.rst
+++ b/docs/source/how-to/make_fixed_prim.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 Making a physics prim fixed in the simulation
 =============================================
 
diff --git a/docs/source/how-to/master_omniverse.rst b/docs/source/how-to/master_omniverse.rst
index ee3e0d55c4e4..4bb4791ed45a 100644
--- a/docs/source/how-to/master_omniverse.rst
+++ b/docs/source/how-to/master_omniverse.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 Mastering Omniverse for Robotics
 ================================
 
diff --git a/docs/source/how-to/multi_asset_spawning.rst b/docs/source/how-to/multi_asset_spawning.rst
index 80f92ec8e5f0..d133e565bc55 100644
--- a/docs/source/how-to/multi_asset_spawning.rst
+++ b/docs/source/how-to/multi_asset_spawning.rst
@@ -1,3 +1,4 @@
+:orphan:
 
 Spawning Multiple Assets
 ========================
@@ -152,7 +153,7 @@ The physics backend and visualizer are selected independently. Run one of these
 The Newton commands exercise the same :class:`~assets.RigidObjectCollectionCfg` and ``(env_ids, obj_ids)`` APIs as the
 PhysX command. They do not demonstrate per-environment object or articulation variants because of the uniform-layout
 restriction described above; use the PhysX command to inspect that part of the example. See the
-:doc:`Newton installation guide </source/overview/core-concepts/physical-backends/newton/installation>` before running
+:doc:`installation guide </source/setup/installation/index>` before running
 the kitless command.
 
 To stop the simulation, you can close the window, or press ``Ctrl+C`` in the terminal.
diff --git a/docs/source/how-to/prepare_asset_for_newton.rst b/docs/source/how-to/prepare_asset_for_newton.rst
new file mode 100644
index 000000000000..d124eda730ca
--- /dev/null
+++ b/docs/source/how-to/prepare_asset_for_newton.rst
@@ -0,0 +1,176 @@
+:orphan:
+
+.. Copyright (c) 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
+
+.. _prepare-asset-for-newton:
+
+Prepare an Asset for Newton with MJWarp
+=======================================
+
+.. seealso::
+
+   This page is the source of truth for the ``isaaclab-preparing-assets-for-newton`` agent skill
+   (`skill source
+   <https://github.com/isaac-sim/IsaacLab/blob/develop/skills/user/prepare-assets-for-newton/SKILL.md>`__).
+   When you change this page, update the skill so agent guidance stays in sync. See
+   :doc:`/source/developer-tools/agent_skills`.
+
+Prerequisites
+-------------
+
+Understand how Isaac Lab selects a backend and its task-specific preset before changing an asset;
+see :ref:`backends-and-presets`. This guide prepares an asset and task for
+``physics=newton_mjwarp``. After both backends run the asset and task, use
+:doc:`/source/how-to/transfer_policies_between_physx_and_newton` to transfer a policy checkpoint.
+For the conceptual differences that require target-solver validation, see
+:ref:`solver-differences`; use :doc:`/source/concepts/solver-tuning/tune_mjwarp` for the focused MJWarp tuning
+procedure.
+
+Import a multi-physics asset
+----------------------------
+
+Isaac Lab assets can work with both ``physics=physx`` and ``physics=newton_mjwarp``. Many assets
+author USD Physics and PhysX schemas; Newton parses the supported authored properties into its
+model, so a separate Newton-only copy is not required. Confirm each property against the supported
+feature and schema documentation: an authored PhysX attribute can be present without MJWarp using
+it during stepping.
+
+For a new URDF or MJCF asset, use the Isaac Lab importers to create a multi-physics asset. Keep
+``run_asset_transformer`` and ``run_multi_physics_conversion`` enabled (both default to ``True``)
+so the conversion creates neutral physics, PhysX, and MuJoCo payloads. The current converter uses a
+nested rigid-body structure rather than the earlier flat USD structure. See
+:doc:`/source/how-to/import_new_asset`, :class:`~isaaclab.sim.converters.UrdfConverterCfg`, and
+:class:`~isaaclab.sim.converters.MjcfConverterCfg`.
+
+Separate common and solver-specific properties
+-----------------------------------------------
+
+Put common USD Physics properties in solver-common configuration classes such as
+``RigidBodyBaseCfg`` and ``JointDriveBaseCfg``. Put backend-only properties in the matching
+subclasses:
+
+* Use ``MujocoRigidBodyPropertiesCfg``, ``MujocoJointDrivePropertiesCfg``, and
+  ``MujocoCollisionCfg`` for MJWarp-specific properties.
+* Use the matching ``Newton*PropertiesCfg`` classes for supported Newton-native collision,
+  material, articulation, and related properties.
+* Keep PhysX-only damping, stabilization, solver-iteration, friction-patch, and compliant-contact
+  properties in the matching ``Physx*PropertiesCfg`` classes.
+
+For configuration hierarchy and parameter-to-USD routing, see
+:doc:`/source/concepts/schema_cfgs`. Check the
+:doc:`Newton/MuJoCo schema API </source/api/lab_newton/isaaclab_newton.sim.schemas>` and
+:doc:`PhysX schema API </source/api/lab_physx/isaaclab_physx.sim.schemas>` for supported fields.
+A value present in a PhysX asset or imported Newton model is not proof that MJWarp consumes it.
+
+Audit the mechanical model
+--------------------------
+
+Inspect every dynamic link and contact-relevant object:
+
+* Author positive mass [kg], center of mass [m], and positive-definite inertia [kg*m^2]. Treat a
+  placeholder inertia warning as a modeling failure, and verify the inertia and center-of-mass
+  frames.
+* Apply ``UsdPhysics.CollisionAPI`` only to intentional collision geometry. Check approximation,
+  mesh scale, contact offset or margin, material binding, restitution, and self-collision filters;
+  visual parity is not collision parity.
+* Verify the articulation root, fixed-base representation, fixed-joint merging, nested rigid
+  bodies, joint types, axes, and limits.
+* Make each body-level gravity setting intentional. A stale override can make a task differ from
+  scene gravity.
+
+Match collision, contact, and friction behavior
+-----------------------------------------------
+
+Do not copy PhysX friction settings numerically. First verify intended collision shapes, material
+bindings, contact locations, contact count, and available gripper normal force in both backends.
+Then inspect the resolved per-shape MuJoCo contact dimensionality, ``condim``: ``1`` is
+frictionless, ``3`` adds tangential friction, ``4`` adds torsional friction, and ``6`` also adds
+rolling friction. Choose the smallest model that represents the contact physics and confirm that
+the importer and contact path preserve it.
+
+Tune material friction against measured tangential slip only after the contact model is valid.
+``MujocoCollisionCfg`` also exposes expert per-collider overrides such as ``priority``, ``solmix``,
+``solref``, and ``solimp``; use them only with a measured contact-model need. Use
+:attr:`~isaaclab_newton.sim.schemas.NewtonCollisionCfg.contact_margin`,
+:attr:`~isaaclab_newton.sim.schemas.NewtonCollisionCfg.contact_gap`, and
+:attr:`~isaaclab_newton.sim.schemas.NewtonMeshCollisionCfg.max_hull_vertices` instead of raw
+importer attributes. Follow :ref:`mjwarp-solver-tuning` for the current global solver and contact
+tuning sequence.
+
+.. _newton-velocity-limits:
+
+Validate actuators and limits
+-----------------------------
+
+Audit per-joint effort limits, stiffness, damping, friction, armature, action scale, and control
+period. Armature applies only to articulated coordinates: use a physically justified reflected
+motor/transmission inertia or a controlled response test, and do not use it to hide bad body mass,
+inertia, units, reset penetration, or contact capacity. Retune damping after changing armature.
+For the general actuator model and configuration guidance, see :ref:`overview-actuators`.
+
+``actuator_velocity_limit`` is the actuator's physical rated speed. Isaac Lab can use it in
+actuator or task logic, observations, rewards, and terminations, but MJWarp does not parse it into
+the solver model or enforce it while stepping. ``joint_velocity_limit`` requests a solver-side
+hard clamp. Isaac Lab writes it to Newton's ``Model.joint_velocity_limit``; MJWarp drops that field,
+while Kamino honors it. When a task needs a speed bound under MJWarp, implement and validate it in
+task or control logic. Use ``joint_effort_limit`` for the simulated effort limit and
+``actuator_effort_limit`` to clip an explicit actuator model, choosing both from the motor and
+gearbox rather than using one oversized value for the whole robot.
+
+Run paired smoke tests
+----------------------
+
+Run the same fixed task state through both backends before training or transfer:
+
+.. code-block:: bash
+
+   uv run --extra isaacsim python scripts/environments/zero_agent.py --task TASK --num_envs 4 --viz none physics=physx
+   uv run --extra isaacsim python scripts/environments/zero_agent.py --task TASK --num_envs 4 --viz none physics=newton_mjwarp
+
+Let each run cross multiple resets. Record object displacement, contact count, gripper effort,
+penetration, and success rate for the same fixed grasp. Also check for non-finite state, first-step
+impulses, unexpected saturation, excessive angular velocity, contact loss, and importer or solver
+warnings. Reject robot-object and robot-support penetration, impossible mimic states, and invalid
+randomized geometry before the first physics step.
+
+Account for solver differences
+------------------------------
+
+After the paired smoke tests, use the target solver's controls to address the
+differences described in :ref:`solver-differences`:
+
+#. Revalidate contact behavior with the smallest useful environment count and a
+   visualizer before scaling up.
+#. Retune material friction from measured slip; PhysX patch friction and
+   MJWarp contact friction are not numerically interchangeable.
+#. Retune restitution from observed bounce and chatter rather than assuming a
+   PhysX scene threshold applies to Newton.
+#. Compare timestep and ``num_substeps`` against the fixed reproduction,
+   especially for contact-heavy tasks.
+#. When a PhysX task used CCD, validate a Newton collision strategy and shorter
+   solver timestep as needed; MJWarp's ``ccd_iterations`` is not a CCD switch.
+#. For Kamino, validate reset-state consistency and only then investigate
+   constraint stabilization or convergence settings.
+
+Diagnose Newton-only failures
+-----------------------------
+
+Reproduce the first failing step with one environment, a fixed seed and reset state, no domain
+randomization, and the same action sequence in both backends. Localize the failure before tuning:
+
+#. At initialization or the first step, inspect mass, inertia, scale, reset overlap, topology,
+   drives, and unsupported features.
+#. At contact onset, inspect contact locations and counts, capacity warnings, margins, ``condim``,
+   friction, cone choice, and extreme mass or inertia ratios.
+#. Under control, inspect effort and gain limits, action scale, ``dt``, substeps, damping,
+   armature, and joint-limit impacts.
+#. In dense scenes, compare the busiest environment with per-environment contact and constraint
+   capacities.
+
+Enable ``NewtonCfg.debug_mode`` to inspect iteration-cap usage. Increase overflowing capacity first;
+change convergence settings only after the asset, reset, controller, contact model, and capacities
+are valid. Keep the smallest fixed-state reproduction and record the first non-finite quantity so
+later changes can be compared one at a time.
diff --git a/docs/source/how-to/profile_with_nsys.rst b/docs/source/how-to/profile_with_nsys.rst
index 8fabbf1ad1c9..4085a35dedab 100644
--- a/docs/source/how-to/profile_with_nsys.rst
+++ b/docs/source/how-to/profile_with_nsys.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 Profiling Isaac Lab with Nsight Systems
 =======================================
 
diff --git a/docs/source/how-to/proxy_array.rst b/docs/source/how-to/proxy_array.rst
index 951a80a1486f..921368a859b5 100644
--- a/docs/source/how-to/proxy_array.rst
+++ b/docs/source/how-to/proxy_array.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _how-to-torch-array:
 
 Working with ProxyArray
diff --git a/docs/source/how-to/record_animation.rst b/docs/source/how-to/record_animation.rst
index f667675e422a..ce3545a4cfde 100644
--- a/docs/source/how-to/record_animation.rst
+++ b/docs/source/how-to/record_animation.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 Recording Animations of Simulations
 ===================================
 
diff --git a/docs/source/how-to/robots.rst b/docs/source/how-to/robots.rst
index 5e3c33d8c020..efa1e0e81540 100644
--- a/docs/source/how-to/robots.rst
+++ b/docs/source/how-to/robots.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _isaac-lab-robots:
 
 Robot Configurations
diff --git a/docs/source/how-to/run_state_machines.rst b/docs/source/how-to/run_state_machines.rst
index 5b525f3949e2..e2b8799edccf 100644
--- a/docs/source/how-to/run_state_machines.rst
+++ b/docs/source/how-to/run_state_machines.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _run-scripted-state-machines:
 
 Run Scripted State Machines
diff --git a/docs/source/how-to/save_camera_output.rst b/docs/source/how-to/save_camera_output.rst
index 831bb59d364e..9c3661f36a0a 100644
--- a/docs/source/how-to/save_camera_output.rst
+++ b/docs/source/how-to/save_camera_output.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _how-to-save-images-and-3d-reprojection:
 
 
diff --git a/docs/source/how-to/transfer_policies_between_physx_and_newton.rst b/docs/source/how-to/transfer_policies_between_physx_and_newton.rst
index 7f176aaaf92c..c4a6c11e0e92 100644
--- a/docs/source/how-to/transfer_policies_between_physx_and_newton.rst
+++ b/docs/source/how-to/transfer_policies_between_physx_and_newton.rst
@@ -1,17 +1,19 @@
+:orphan:
+
 Transfer Policies Between PhysX and Newton
 ===========================================
 
 .. seealso::
 
-   This how-to is the source of truth for the
+   This guide is the source of truth for the
    ``isaaclab-transferring-policies-sim-to-sim`` agent skill
    (`skill source
    <../../../skills/user/isaaclab-transferring-policies-sim-to-sim/SKILL.md>`__).
    When you change this page, update the skill so agent guidance stays in sync. See
-   :doc:`/source/overview/developer-guide/agent_skills`.
+   :doc:`/source/developer-tools/agent_skills`.
 
    First make every robot and object MJWarp-clean by following
-   :doc:`/source/overview/core-concepts/physical-backends/newton/migrating-assets-from-physx-to-newton`
+   :doc:`/source/how-to/prepare_asset_for_newton`
    and the ``isaaclab-preparing-assets-for-newton``
    `skill
    <https://github.com/isaac-sim/IsaacLab/blob/develop/skills/user/prepare-assets-for-newton/SKILL.md>`__.
@@ -108,7 +110,7 @@ playback, set **both** ``joint_ordering`` and ``body_ordering`` to the backend u
 ``physics=`` still selects the target backend. The task table below lists which tasks need the
 overrides and which do not.
 
-See :doc:`/source/overview/core-concepts/physical-backends/joint_and_body_ordering` for the full
+See :doc:`/source/concepts/joint_and_body_ordering` for the full
 ordering contract, accepted values, and troubleshooting.
 
 A scrambled axis has a distinctive signature: a locomotion policy falls within a few dozen steps
@@ -134,8 +136,8 @@ position policy can alternate saturated commands and exploit one solver's drive
 limit response. Armature is equally important in MJWarp: it adds reflected inertia to the
 generalized mass matrix and prevents small contact or drive impulses from producing excessive
 joint or angular velocity. Retune damping after increasing armature because the effective natural
-frequency and damping ratio change. See the asset migration guide for the equations, physical
-sourcing rules, and the zero-gravity object case.
+frequency and damping ratio change. See :ref:`prepare-asset-for-newton` for the actuator audit and
+physical sourcing guidance.
 
 
 Introducing domain randomization
@@ -323,6 +325,6 @@ See also
 
 * :doc:`/source/concepts/reinforcement_learning`
 * :doc:`/source/features/hydra`
-* :doc:`/source/overview/core-concepts/physical-backends/joint_and_body_ordering`
-* :doc:`/source/overview/core-concepts/physical-backends/newton/mjwarp-solver`
-* :doc:`/source/overview/core-concepts/physical-backends/newton/supported-features`
+* :doc:`/source/concepts/joint_and_body_ordering`
+* :doc:`/source/concepts/solver-tuning/tune_mjwarp`
+* :ref:`physics-backends-newton`
diff --git a/docs/source/how-to/wrap_rl_env.rst b/docs/source/how-to/wrap_rl_env.rst
index a7594df0b823..0d060bd14a59 100644
--- a/docs/source/how-to/wrap_rl_env.rst
+++ b/docs/source/how-to/wrap_rl_env.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _how-to-env-wrappers:
 
 
diff --git a/docs/source/how-to/write_articulation_cfg.rst b/docs/source/how-to/write_articulation_cfg.rst
index 09ec76c74c50..26b805fa95b4 100644
--- a/docs/source/how-to/write_articulation_cfg.rst
+++ b/docs/source/how-to/write_articulation_cfg.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _how-to-write-articulation-config:
 
 
diff --git a/docs/source/migration/include/from_isaacgymenvs.rst b/docs/source/migration/include/from_isaacgymenvs.rst
index aa7f5790828d..455b45e52968 100644
--- a/docs/source/migration/include/from_isaacgymenvs.rst
+++ b/docs/source/migration/include/from_isaacgymenvs.rst
@@ -10,7 +10,7 @@ Migration from Isaac Gym and IsaacGymEnvs
    This section is the source of truth for the ``isaaclab-migrating-from-isaac-gym`` agent skill
    (`skills/user/migrate-from-isaac-gym/ <../../../skills/user/migrate-from-isaac-gym/SKILL.md>`__).
    When you change this section, update the skill so agent guidance stays in sync. See
-   :doc:`/source/overview/developer-guide/agent_skills`.
+   :doc:`/source/developer-tools/agent_skills`.
 
 
 `IsaacGymEnvs`_ was a reinforcement learning framework designed for the `Isaac Gym Preview Release`_.
@@ -48,7 +48,7 @@ Below is an example skeleton of a task config class:
    from isaaclab.envs import DirectRLEnvCfg
    from isaaclab.scene import InteractiveSceneCfg
    from isaaclab.sim import SimulationCfg
-   from isaaclab.utils.configclass import configclass
+   from isaaclab.utils import configclass
    from isaaclab_assets.robots.cartpole import CARTPOLE_CFG
 
    @configclass
diff --git a/docs/source/migration/migrating_to_isaaclab_3-0.rst b/docs/source/migration/migrating_to_isaaclab_3-0.rst
index 2ef4a31bd778..7109abb35d6e 100644
--- a/docs/source/migration/migrating_to_isaaclab_3-0.rst
+++ b/docs/source/migration/migrating_to_isaaclab_3-0.rst
@@ -37,7 +37,7 @@ your project does not use that feature.
    This part of the page is the source of truth for the ``isaaclab-migrating-2x-to-3x`` agent skill
    (`skills/user/migrate-2x-to-3x/ <../../../skills/user/migrate-2x-to-3x/SKILL.md>`__).
    When you change it, update the skill so agent guidance stays in sync. See
-   :doc:`/source/overview/developer-guide/agent_skills`.
+   :doc:`/source/developer-tools/agent_skills`.
 
 
 Installation
@@ -106,7 +106,7 @@ Understand the new package boundaries first, then make environment configuration
 
       .. code-block:: python
 
-         from isaaclab.utils.configclass import configclass
+         from isaaclab.utils import configclass
          from isaaclab_physx.physics import PhysxCfg
          from isaaclab_tasks.utils import PresetCfg
 
@@ -142,8 +142,9 @@ The concrete default remains task-specific so launching without an override stay
 Tasks can expose alternatives such as ``physics=physx``, ``physics=ovphysx``, or
 ``physics=newton_mjwarp`` without changing their asset import paths.
 
-For a comprehensive overview of the factory pattern, backend selection, and how to add a new
-backend, see :doc:`/source/overview/core-concepts/multi_backend_architecture`.
+For a comprehensive overview of the factory pattern and backend selection,
+see :doc:`/source/concepts/backend_architecture`. To add a new backend, see
+:doc:`/source/developer-tools/add_physics_backend`.
 
 
 .. rubric:: New ``isaaclab_physx`` and ``isaaclab_newton`` Extensions
@@ -427,7 +428,7 @@ when no CLI override is given. Other fields are named presets selectable with
 .. code-block:: python
 
    from isaaclab.physics import PhysxAutoCfg
-   from isaaclab.utils.configclass import configclass
+   from isaaclab.utils import configclass
    from isaaclab_ov.physics import OvPhysxCfg
    from isaaclab_tasks.utils import PresetCfg
 
@@ -1205,7 +1206,7 @@ The concrete ``root_view`` type is backend-specific. The
 ``get_material_properties()`` call above reads each rigid shape's static friction,
 dynamic friction, and restitution through the PhysX Tensor API; Newton selections
 and OvPhysX bindings use different access methods. See
-:doc:`/source/overview/core-concepts/physical-backends/direct-api-access/index`
+:doc:`/source/concepts/native-physics-api/index`
 before using ``root_view`` in backend-portable code.
 
 
diff --git a/docs/source/overview/core-concepts/index.rst b/docs/source/overview/core-concepts/index.rst
deleted file mode 100644
index 5d6eb1eb019e..000000000000
--- a/docs/source/overview/core-concepts/index.rst
+++ /dev/null
@@ -1,17 +0,0 @@
-Core Concepts
-=============
-
-This section we introduce core concepts in Isaac Lab.
-
-.. toctree::
-  :maxdepth: 1
-
-
-  multi_backend_architecture
-  physical-backends/index
-  schema_cfgs
-  schema_fragments
-  task_workflows
-  sensors/index.rst
-  renderers
-  motion_generators
diff --git a/docs/source/overview/core-concepts/multi_backend_architecture.rst b/docs/source/overview/core-concepts/multi_backend_architecture.rst
index c3f278c421d7..2985891d64d4 100644
--- a/docs/source/overview/core-concepts/multi_backend_architecture.rst
+++ b/docs/source/overview/core-concepts/multi_backend_architecture.rst
@@ -1,477 +1,10 @@
-Multi-Backend Architecture
-==========================
+:orphan:
 
-.. seealso::
+.. meta::
+   :http-equiv=refresh: 0; url=../../concepts/backend_architecture.html
+   :name=robots: noindex
 
-   This page is the source of truth for the ``isaaclab-selecting-backends`` and
-   ``isaaclab-using-presets`` agent skills
-   (`skills/user/select-backends/ <../../../../skills/user/select-backends/SKILL.md>`__,
-   `skills/user/use-presets/ <../../../../skills/user/use-presets/SKILL.md>`__).
-   When you change this page, update those skills so agent guidance stays in sync. See
-   :doc:`/source/overview/developer-guide/agent_skills`.
+Page Moved
+==========
 
-Isaac Lab 3.0 introduced a multi-backend architecture that enables running simulations with
-different physics backends (PhysX, Newton, and OvPhysX) while maintaining a unified API.
-This page explains how the backend system works and how to extend it.
-
-Overview
---------
-
-Instead of hard-coding a single physics engine, Isaac Lab uses a **factory pattern** to
-dispatch object creation to backend-specific implementations at runtime. When you write:
-
-.. code-block:: python
-
-    from isaaclab.assets import Articulation
-
-    robot = Articulation(cfg)
-
-The ``Articulation`` class is a factory that automatically creates an instance of
-the active backend implementation, such as
-:class:`PhysX Articulation <isaaclab_physx.assets.Articulation>`,
-:class:`Newton Articulation <isaaclab_newton.assets.Articulation>`, or
-:class:`OvPhysX Articulation <isaaclab_ov.assets.Articulation>`. Your code never
-needs to import backend-specific modules directly.
-
-This pattern applies across simulation components, though not every backend implements every
-component yet:
-
-.. list-table::
-   :header-rows: 1
-
-   * - Component
-     - Core API (``isaaclab``)
-     - PhysX (``isaaclab_physx``)
-     - Newton (``isaaclab_newton``)
-     - OvPhysX (``isaaclab_ov``)
-   * - Physics Manager
-     - :class:`~isaaclab.physics.PhysicsManager`
-     - :class:`~isaaclab_physx.physics.PhysxManager`
-     - :class:`~isaaclab_newton.physics.NewtonManager`
-     - :class:`~isaaclab_ov.physics.OvPhysxManager`
-   * - Articulation
-     - :class:`~isaaclab.assets.Articulation`
-     - :class:`~isaaclab_physx.assets.Articulation`
-     - :class:`~isaaclab_newton.assets.Articulation`
-     - :class:`~isaaclab_ov.assets.Articulation`
-   * - Rigid Object
-     - :class:`~isaaclab.assets.RigidObject`
-     - :class:`~isaaclab_physx.assets.RigidObject`
-     - :class:`~isaaclab_newton.assets.RigidObject`
-     - :class:`~isaaclab_ov.assets.RigidObject`
-   * - Deformable Object
-     - :class:`~isaaclab.assets.DeformableObject`
-     - :class:`~isaaclab_physx.assets.DeformableObject`
-     - :class:`~isaaclab_newton.assets.DeformableObject`
-     - Not supported
-   * - Cable Object
-     - :class:`~isaaclab.assets.CableObject`
-     - Not supported
-     - :class:`~isaaclab_newton.assets.CableObject`
-     - Not supported
-   * - Contact Sensor
-     - :class:`~isaaclab.sensors.ContactSensor`
-     - :class:`~isaaclab_physx.sensors.ContactSensor`
-     - :class:`~isaaclab_newton.sensors.ContactSensor`
-     - :class:`~isaaclab_ov.sensors.ContactSensor`
-   * - Renderer
-     - :class:`~isaaclab.renderers.BaseRenderer`
-     - :class:`~isaaclab_physx.renderers.IsaacRtxRenderer`
-     - :class:`~isaaclab_newton.renderers.NewtonWarpRenderer`
-     - Not supported
-   * - Scene Data Backend
-     - :class:`~isaaclab.scene_data.SceneDataBackend`
-     - ``PhysxSceneDataBackend`` (in :mod:`isaaclab_physx.physics`)
-     - ``NewtonSceneDataBackend`` (in :mod:`isaaclab_newton.physics`)
-     - ``OvPhysxSceneDataBackend`` (in :mod:`isaaclab_ov.physics`)
-   * - Cloner
-     - :func:`~isaaclab.cloner.usd_replicate`
-     - :func:`~isaaclab_physx.cloner.physx_replicate`
-     - :func:`~isaaclab_newton.cloner.newton_physics_replicate`
-     - :func:`~isaaclab_ov.cloner.ovphysx_replicate`
-
-The Factory Pattern
--------------------
-
-All factories inherit from :class:`~isaaclab.utils.backend_utils.FactoryBase`, which uses a
-**convention-over-configuration** approach to locate backend implementations:
-
-1. The active physics backend is determined by inspecting
-   ``SimulationContext.physics_manager``.
-2. The factory's module path is used to derive the backend module path. For example,
-   ``isaaclab.assets.articulation`` maps to ``isaaclab_physx.assets.articulation``,
-   ``isaaclab_newton.assets.articulation``, or ``isaaclab_ov.assets.articulation``.
-   The OVPhysX backend key maps to the shared ``isaaclab_ov`` integration package.
-3. The backend module is lazily imported and the implementation class is cached in a registry.
-
-.. code-block:: text
-
-    User code: Articulation(cfg)
-        │
-        ▼
-    FactoryBase.__new__()
-        │
-        ├─ _get_backend()       → "physx", "newton", or "ovphysx"
-        │    (reads SimulationContext.physics_manager)
-        │
-        ├─ _get_module_name()   → "isaaclab_physx.assets.articulation"
-        │    (OVPhysX maps to the shared isaaclab_ov package)
-        │
-        ├─ importlib.import_module()
-        │    (lazy load — only on first use)
-        │
-        └─ Return backend-specific instance
-
-Renderers and visualizers do not use this physics factory. Their concrete configs own the
-implementation class, and their composition roots construct it with the same convention used by
-other declarative configs:
-
-.. code-block:: python
-
-    renderer = renderer_cfg.class_type(renderer_cfg)
-    visualizer = visualizer_cfg.class_type(visualizer_cfg)
-
-The config determines the implementation independently of the physics backend. ``RenderContext``
-retains one renderer for each equal renderer config, while ``SimulationContext`` owns visualizer
-construction and initialization.
-
-Backend Selection
------------------
-
-The physics backend is selected via the ``physics`` field in
-:class:`~isaaclab.sim.SimulationCfg`:
-
-.. code-block:: python
-
-    from isaaclab.sim import SimulationCfg
-    from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
-    from isaaclab_ov.physics import OvPhysxCfg
-    from isaaclab_physx.physics import PhysxCfg
-
-    # Use PhysX (default)
-    sim_cfg = SimulationCfg(physics=PhysxCfg())
-
-    # Use Newton with MuJoCo-Warp solver
-    sim_cfg = SimulationCfg(physics=NewtonCfg(
-        solver_cfg=MJWarpSolverCfg(),
-        num_substeps=4,
-    ))
-
-    # Use OvPhysX
-    sim_cfg = SimulationCfg(physics=OvPhysxCfg())
-
-Once the :class:`~isaaclab.sim.SimulationContext` is initialized, all subsequent factory
-instantiations automatically use the selected backend.
-
-Multi-Backend Environments with Presets
----------------------------------------
-
-Environments can support multiple backends simultaneously using :doc:`backend and preset
-selectors </source/concepts/backends_and_presets>`. Each backend gets its own configuration
-variant. The example below shows only the physics-related fields:
-
-.. code-block:: python
-
-    from isaaclab.envs import DirectRLEnvCfg
-    from isaaclab.physics import PhysxAutoCfg
-    from isaaclab.sim import SimulationCfg
-    from isaaclab.utils.configclass import configclass
-    from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
-    from isaaclab_ov.physics import OvPhysxCfg
-    from isaaclab_physx.physics import PhysxCfg
-    from isaaclab_tasks.utils import PresetCfg
-
-    @configclass
-    class CartpolePhysicsCfg(PresetCfg):
-        isaacsim_physx: PhysxCfg = PhysxCfg()
-        ovphysx: OvPhysxCfg = OvPhysxCfg()
-        physx: PhysxAutoCfg = PhysxAutoCfg(
-            isaacsim_physx=isaacsim_physx,
-            ovphysx=ovphysx,
-        )
-        default: PhysxCfg = isaacsim_physx
-        newton_mjwarp: NewtonCfg = NewtonCfg(
-            solver_cfg=MJWarpSolverCfg(njmax=5, nconmax=3)
-        )
-
-    @configclass
-    class CartpoleEnvCfg(DirectRLEnvCfg):
-        sim: SimulationCfg = SimulationCfg(physics=CartpolePhysicsCfg())
-
-Users then select a physics backend at the command line:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-          # Default (concrete Isaac Sim PhysX)
-          uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct
-
-          # Automatic PhysX-family selection
-          uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=physx
-
-          # MJWarp (Newton backend)
-          uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=newton_mjwarp
-
-          # OvPhysX backend
-          uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=ovphysx
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-          # Default (concrete Isaac Sim PhysX)
-          ./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-Direct
-
-          # Automatic PhysX-family selection
-          ./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=physx
-
-          # MJWarp (Newton backend)
-          ./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=newton_mjwarp
-
-          # OvPhysX backend
-          ./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=ovphysx
-
-When a task's default would otherwise be automatic ``PhysxAutoCfg`` selection,
-its ``default`` variant is the concrete ``isaacsim_physx`` configuration.
-Explicit defaults such as Newton remain unchanged. The ``physics=physx``
-selector is opt-in and chooses between Isaac Sim PhysX and OvPhysX at launch
-time according to whether the resolved runtime requires Kit. This mirrors
-renderer presets: the default is concrete ``isaacsim_rtx``, while
-``renderer=rtx`` opts into automatic selection.
-
-The Physics Manager
--------------------
-
-Each backend implements :class:`~isaaclab.physics.PhysicsManager`, the abstract base class
-that drives the simulation loop:
-
-.. code-block:: python
-
-    class PhysicsManager(ABC):
-        @classmethod
-        @abstractmethod
-        def initialize(cls, sim_context: SimulationContext) -> None: ...
-
-        @classmethod
-        @abstractmethod
-        def reset(cls, soft: bool = False) -> None: ...
-
-        @classmethod
-        @abstractmethod
-        def forward(cls) -> None: ...
-
-        @classmethod
-        @abstractmethod
-        def step(cls) -> None: ...
-
-        @classmethod
-        def close(cls) -> None: ...  # concrete; dispatches STOP event
-
-The physics manager also provides a **callback system** via
-:class:`~isaaclab.physics.PhysicsEvent` for cross-backend event handling:
-
-.. code-block:: python
-
-    from isaaclab.physics import PhysicsManager, PhysicsEvent
-
-    handle = PhysicsManager.register_callback(
-        callback=my_setup_fn,
-        event=PhysicsEvent.PHYSICS_READY,
-        order=0,
-        name="my_callback",
-    )
-
-Available events: ``MODEL_INIT`` (during scene building), ``PHYSICS_READY`` (after physics
-initialization), and ``STOP`` (on simulation shutdown).
-
-Asset and Sensor Interfaces
----------------------------
-
-Assets and sensors follow the same pattern. Each has:
-
-1. **A base class** in ``isaaclab`` defining the interface (e.g., ``BaseArticulation``,
-   ``BaseContactSensor``)
-2. **A factory class** that inherits from both ``FactoryBase`` and the base class
-3. **Backend implementations** in ``isaaclab_physx``, ``isaaclab_newton``, and
-   ``isaaclab_ov`` where supported
-
-The base classes define the public API contract — properties, methods, and data accessors
-that all backends must provide. Current backend implementations use ``wp.array``
-(Warp arrays) as their primary data type for asset and sensor data.
-
-Data classes follow the same pattern with their own factories (e.g.,
-``ArticulationData(FactoryBase, BaseArticulationData)``).
-
-These base interfaces define the portable contract. Advanced code can also use
-each engine's native low-level data API, but those APIs deliberately retain
-different ownership and synchronization semantics. See
-:doc:`physical-backends/direct-api-access/index` for PhysX typed views, Newton
-live model/state arrays and generic selections, and OvPhysX tensor bindings.
-
-Adding a New Physics Backend
-----------------------------
-
-To add a new physics backend (e.g., ``mybackend``), create a new extension package following
-the established conventions:
-
-**1. Package structure:**
-
-.. code-block:: text
-
-    source/isaaclab_mybackend/
-    └── isaaclab_mybackend/
-        ├── __init__.py
-        ├── physics/
-        │   ├── __init__.py           # lazy_export()
-        │   ├── __init__.pyi          # public exports
-        │   ├── mybackend_manager.py
-        │   └── mybackend_manager_cfg.py
-        ├── assets/
-        │   ├── articulation/
-        │   │   ├── __init__.py
-        │   │   ├── __init__.pyi
-        │   │   ├── articulation.py
-        │   │   └── articulation_data.py
-        │   ├── rigid_object/
-        │   │   └── ...
-        │   ├── deformable_object/
-        │   │   └── ...
-        │   └── rigid_object_collection/
-        │       └── ...
-        ├── sensors/
-        │   ├── contact_sensor/
-        │   └── ...
-        ├── renderers/
-        │   └── ...
-        └── cloner/
-            └── ...
-
-**2. Implement the physics manager:**
-
-The manager must expose a :class:`~isaaclab.scene_data.SceneDataBackend` so that
-:class:`~isaaclab.scene_data.SceneDataProvider` can read your backend's body
-transforms in a Warp-native format that renderers and visualizers consume directly.
-
-.. code-block:: python
-
-    # isaaclab_mybackend/physics/mybackend_manager.py
-    from isaaclab.physics import PhysicsManager
-    from isaaclab.scene_data import SceneDataBackend, SceneDataFormat
-
-
-    class MyBackendSceneDataBackend(SceneDataBackend):
-        def __init__(self):
-            self._scene_data = SceneDataFormat.Transform()
-
-        @property
-        def transforms(self) -> SceneDataFormat.Transform:
-            # Return current world-space body transforms as a Warp ``transformf`` array.
-            self._scene_data.transforms = ...  # backend-native tensor view
-            return self._scene_data
-
-        @property
-        def transform_count(self) -> int:
-            ...
-
-        @property
-        def transform_paths(self) -> list[str]:
-            # Prim path per row of ``transforms``; used by ``SceneDataProvider.create_mapping``.
-            ...
-
-
-    class MyBackendManager(PhysicsManager):
-        _scene_data_backend: ClassVar[MyBackendSceneDataBackend | None] = None
-
-        @classmethod
-        def initialize(cls, sim_context):
-            super().initialize(sim_context)
-            cls._scene_data_backend = MyBackendSceneDataBackend()
-            # Initialize your physics engine
-
-        @classmethod
-        def get_scene_data_backend(cls) -> SceneDataBackend:
-            return cls._scene_data_backend
-
-        @classmethod
-        def step(cls):
-            # Advance simulation by one timestep
-
-        @classmethod
-        def forward(cls):
-            # Update kinematics without stepping
-
-        @classmethod
-        def reset(cls, soft=False):
-            if not soft:
-                cls.dispatch_event(PhysicsEvent.PHYSICS_READY)
-            # Reset simulation state
-
-        @classmethod
-        def close(cls):
-            super().close()
-            # Clean up resources
-
-**3. Create the physics config:**
-
-.. code-block:: python
-
-    # isaaclab_mybackend/physics/mybackend_manager_cfg.py
-    from isaaclab.physics import PhysicsCfg
-    from isaaclab.utils.configclass import configclass
-
-    @configclass
-    class MyBackendCfg(PhysicsCfg):
-        class_type = "{DIR}.mybackend_manager:MyBackendManager"
-        # Backend-specific settings here
-
-**4. Implement assets and sensors:**
-
-Each asset/sensor must extend the corresponding base class from ``isaaclab``. The class name
-must match the factory's expected name (by convention, the same name as the factory class).
-Use ``lazy_export()`` in ``__init__.py`` files — no manual registration needed.
-
-.. code-block:: python
-
-    # isaaclab_mybackend/assets/articulation/articulation.py
-    from isaaclab.assets.articulation import BaseArticulation
-
-    class Articulation(BaseArticulation):
-        def __init__(self, cfg):
-            super().__init__(cfg)
-            # Set up backend-specific simulation structures
-
-**5. Module discovery is automatic.** The ``FactoryBase`` convention maps
-``isaaclab.assets.articulation`` to ``isaaclab_mybackend.assets.articulation`` based on the
-active physics manager name. As long as you follow the package structure above, your backend
-classes will be discovered automatically.
-
-Key Design Principles
----------------------
-
-- **Lazy loading**: Backend modules are imported only when first instantiated, keeping startup
-  fast and avoiding hard dependencies on unused backends.
-- **Convention over configuration**: Backend module paths mirror the ``isaaclab.X.Y``
-  structure. OVPhysX maps to ``isaaclab_ov.X.Y``; other backends use their
-  ``isaaclab_<backend>.X.Y`` package, so no manual registration is needed.
-- **Independent selection**: Physics backend, renderer, and visualizer are selected
-  independently — you can use any combination.
-- **Warp-native data types**: Backend implementations return ``wp.array`` for asset and
-  sensor data. Use ``wp.to_torch()`` when interoperating with PyTorch-based code.
-- **Zero runtime overhead**: Backend selection happens at instantiation time. There are no
-  if-statements or dispatch logic on the hot path.
-
-See Also
---------
-
-- :doc:`/source/migration/migrating_to_isaaclab_3-0` — migration guide from Isaac Lab 2.x to the
-  multi-backend architecture
-- :doc:`/source/concepts/backends_and_presets` — user guide to backend and preset selection
-- :doc:`/source/features/hydra` — advanced configuration and preset authoring
-- :doc:`physical-backends/index` — feature matrix and per-backend guides (PhysX, Newton, OvPhysX)
-- :doc:`physical-backends/newton/index` — Newton backend guide
-- :doc:`physical-backends/newton/newton-manager-abstraction` — adding Newton solver managers and
-  coupled solvers
-- :doc:`renderers` — renderer backend architecture
+This page moved to :doc:`/source/concepts/backend_architecture`.
diff --git a/docs/source/overview/core-concepts/physical-backends/direct-api-access/index.rst b/docs/source/overview/core-concepts/physical-backends/direct-api-access/index.rst
index 1746efe65e89..1a9a44b4b9cb 100644
--- a/docs/source/overview/core-concepts/physical-backends/direct-api-access/index.rst
+++ b/docs/source/overview/core-concepts/physical-backends/direct-api-access/index.rst
@@ -1,98 +1,10 @@
-.. Copyright (c) 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
+:orphan:
 
-Direct Physics Engine API Access
-================================
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../concepts/native-physics-api/index.html
+   :name=robots: noindex
 
-.. warning::
+Page Moved
+==========
 
-   Native physics APIs are backend-specific escape hatches. They can bypass
-   Isaac Lab's buffering, validation, ordering, and lifecycle management. Use
-   the unified asset and sensor APIs unless an engine-native capability or a
-   lower-overhead data path is required.
-
-When to use native access
--------------------------
-
-Use native access when a task depends on an engine-specific capability or when
-the unified APIs do not do what you need. Keep this access close to the
-component that owns the simulation state, and prefer the portable Isaac Lab
-APIs for task logic that does not need it.
-
-Why there is no unified low-level view
---------------------------------------
-
-The backends expose fundamentally different access models. PhysX and OvPhysX
-use explicit pull/push operations, so data is refreshed or published only when
-the corresponding method is called. Newton instead exposes live arrays owned
-by ``Model``, ``State``, ``Control``, and ``Contacts``. Changes to those arrays
-immediately affect the owning object, although derived state and solver caches
-can still require explicit synchronization.
-
-PhysX organizes access into typed views for physics-object families. OvPhysX
-organizes access into bindings selected by tensor type;
-:class:`~isaaclab_ov.sim.views.OvPhysxView` is an Isaac Lab convenience
-manager over those bindings. Newton selections describe subsets and batched
-layouts without imposing an asset type. A single facade would erase these
-ownership and synchronization differences and reduce the engines to a
-least-common-denominator API. Isaac Lab preserves native access so advanced
-users retain engine-specific performance and capabilities.
-
-How the access models differ
-----------------------------
-
-.. list-table::
-   :header-rows: 1
-   :widths: 12 20 17 18 18 20 20
-
-   * - Backend
-     - Native entry point
-     - Selection model
-     - Data ownership
-     - Read/write model
-     - Synchronization
-     - Invalidation
-   * - PhysX
-     - :meth:`~isaaclab_physx.physics.PhysxManager.get_physics_sim_view`
-     - Typed views selected by prim globs
-     - Engine/view-owned buffers
-     - Getter/setter pull/push
-     - Explicit setters and occasional kinematic refresh
-     - Reacquire after view invalidation, hard reset, or teardown
-   * - Newton
-     - :meth:`~isaaclab_newton.physics.NewtonManager.get_model`,
-       :meth:`~isaaclab_newton.physics.NewtonManager.get_state_0`,
-       :meth:`~isaaclab_newton.physics.NewtonManager.get_control`, and
-       :meth:`~isaaclab_newton.physics.NewtonManager.get_contacts`
-     - Generic labels and ``ArticulationView``
-     - Live engine-owned Warp arrays
-     - Direct pointer or selection reads/writes
-     - Forward kinematics and model-change notification when applicable
-     - Reacquire current state across state-buffer swaps and all objects after
-       model rebuild
-   * - OvPhysX
-     - :meth:`~isaaclab_ov.physics.OvPhysxManager.get_physx_instance`
-       or :class:`~isaaclab_ov.sim.views.OvPhysxView`
-     - A tensor type plus pattern/prim list
-     - Caller-owned transfer buffers backed by engine bindings
-     - Explicit ``read()``/``write()`` or guarded convenience methods
-     - Caller respects access mode, device, dtype, and shape
-     - Reacquire after stage/runtime teardown
-
-Choosing an access level
-------------------------
-
-#. Prefer the unified Isaac Lab data and write APIs for portable task code.
-#. Reuse an Isaac Lab-owned native handle when its selection already matches.
-#. Construct raw engine access only for selections or capabilities not exposed
-   by the owning Isaac Lab object.
-
-.. toctree::
-   :maxdepth: 1
-   :hidden:
-
-   physx
-   newton
-   ovphysx
+This page moved to :doc:`/source/concepts/native-physics-api/index`.
diff --git a/docs/source/overview/core-concepts/physical-backends/direct-api-access/newton.rst b/docs/source/overview/core-concepts/physical-backends/direct-api-access/newton.rst
index dbfe45ca46d1..551764b0b143 100644
--- a/docs/source/overview/core-concepts/physical-backends/direct-api-access/newton.rst
+++ b/docs/source/overview/core-concepts/physical-backends/direct-api-access/newton.rst
@@ -1,164 +1,10 @@
-.. Copyright (c) 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
+:orphan:
 
-Newton Native Data and Selection API
-====================================
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../concepts/native-physics-api/newton.html
+   :name=robots: noindex
 
-Mental model
-------------
+Page Moved
+==========
 
-The Newton backend exposes its engine-owned `Model
-<https://newton-physics.github.io/newton/stable/api/_generated/newton.Model.html>`_, `State
-<https://newton-physics.github.io/newton/stable/api/_generated/newton.State.html>`_, `Control
-<https://newton-physics.github.io/newton/stable/api/_generated/newton.Control.html>`_, and optional
-``Contacts`` objects through :class:`isaaclab_newton.physics.NewtonManager`. Their Warp arrays are
-the live engine data, rather than values pulled into a separate per-asset view buffer. The model
-owns structural and static arrays and labels; a state owns evolving simulation arrays; and a
-control owns actuation inputs. Contacts are optional and depend on the active solver and collision
-path.
-
-Lifecycle prerequisite
-----------------------
-
-Access Newton data after the simulation context has initialized the physics backend and built its
-model. Treat the objects as invalid after a model rebuild and reacquire them after Isaac Lab has
-reinitialized the simulation. This API is intended for code that can own the necessary lifecycle
-and synchronization responsibilities.
-
-Access live engine data
------------------------
-
-Use the manager accessors to obtain the current Newton objects:
-
-.. code-block:: python
-
-   from isaaclab_newton.physics import NewtonManager
-
-   model = NewtonManager.get_model()
-   state = NewtonManager.get_state_0()
-   control = NewtonManager.get_control()
-   contacts = NewtonManager.get_contacts()
-
-   body_poses = state.body_q
-   joint_forces = control.joint_f
-
-:meth:`isaaclab_newton.physics.NewtonManager.get_model` can construct a visualization shadow
-model when PhysX is active. The write semantics in this guide apply only when Newton is the active,
-authoritative physics backend.
-
-Reuse an Isaac Lab selection
-----------------------------
-
-Isaac Lab's Newton-backed assets expose the same generic
-``newton.selection.ArticulationView`` selection helper. For example, reuse an articulation's
-root selection instead of constructing the matching selection again:
-
-.. code-block:: python
-
-   robot = scene["robot"]
-   selection = robot.root_view
-   joint_positions = selection.get_dof_positions(state)
-
-Newton uses this generic, label-based selection concept for Isaac Lab articulations, rigid objects,
-rigid-object collections, and cables. It is a selection helper over model indices, not per-asset
-typed storage.
-
-Create a generic selection
---------------------------
-
-Code that owns a matching model can construct its own selection from a model and a label pattern:
-
-.. code-block:: python
-
-   from newton.selection import ArticulationView
-
-   selection = ArticulationView(
-       model,
-       pattern="/World/envs/env_*/Robot",
-   )
-
-Discover data and labels
-------------------------
-
-Discover the available labels, counts, state fields, and selection operations at runtime instead
-of assuming a fixed set of arrays or methods:
-
-.. code-block:: python
-
-   print(model.articulation_label)
-   print(model.body_label)
-   print(model.joint_label)
-
-   model_counts = {
-       name: getattr(model, name)
-       for name in dir(model)
-       if name.endswith("_count") and isinstance(getattr(model, name), int)
-   }
-   selection_shape = {
-       "instances": selection.count,
-       "joint_dofs_per_instance": selection.joint_dof_count,
-       "links_per_instance": selection.link_count,
-   }
-   state_fields = sorted(name for name in dir(state) if not name.startswith("_"))
-   selection_methods = sorted(
-       name
-       for name in dir(selection)
-       if name.startswith(("get_", "set_"))
-   )
-   print(model_counts)
-   print(selection_shape)
-   print(state_fields)
-   print(selection_methods)
-
-Read and write through a selection
-----------------------------------
-
-Selections provide typed convenience methods as well as generic string-keyed
-``get_attribute()`` and ``set_attribute()`` methods. The generic methods expose
-engine properties that do not have dedicated selection methods. Clone a
-selected value before modifying it when you want the write to remain explicit:
-
-.. code-block:: python
-
-   import warp as wp
-   from newton import ModelFlags
-   from isaaclab_newton.physics import NewtonManager
-
-   rolling_friction = wp.clone(
-       selection.get_attribute("shape_material_mu_rolling", model)
-   )
-   # Modify rolling_friction with a Warp kernel before writing it back.
-   selection.set_attribute(
-       "shape_material_mu_rolling",
-       model,
-       rolling_friction,
-   )
-   NewtonManager.add_model_change(ModelFlags.SHAPE_PROPERTIES)
-
-The string names a Newton model attribute rather than an Isaac Lab field. This
-example uses rolling friction because it has no dedicated selection method.
-Notify the manager with the flag appropriate to the property changed; other
-model writes can require a different flag. State writes that change generalized
-coordinates instead require forward-kinematics synchronization through
-``NewtonManager.invalidate_fk()`` and ``NewtonManager.forward()``.
-
-Ownership, synchronization, and invalidation
----------------------------------------------
-
-Direct writes bypass Isaac Lab caches and shape/order validation. Some Newton solvers swap current
-and next state buffers, so reacquire
-:meth:`isaaclab_newton.physics.NewtonManager.get_state_0` when code needs the current authoritative
-state on a later step. A selection can survive state-buffer swaps because it describes model
-indices, but it must be recreated after a model rebuild. Solver-specific generalized- and
-maximal-coordinate conventions remain authoritative.
-
-Authoritative references
-------------------------
-
-* `Model reference <https://newton-physics.github.io/newton/stable/api/_generated/newton.Model.html>`_
-* `State reference <https://newton-physics.github.io/newton/stable/api/_generated/newton.State.html>`_
-* `Control reference <https://newton-physics.github.io/newton/stable/api/_generated/newton.Control.html>`_
-* `ArticulationView selection reference <https://newton-physics.github.io/newton/stable/api/_generated/newton.selection.ArticulationView.html>`_
-* `Newton articulation guide <https://newton-physics.github.io/newton/stable/concepts/articulations.html>`_
+This page moved to :doc:`/source/concepts/native-physics-api/newton`.
diff --git a/docs/source/overview/core-concepts/physical-backends/direct-api-access/ovphysx.rst b/docs/source/overview/core-concepts/physical-backends/direct-api-access/ovphysx.rst
index 8e15125edd19..2105297ff824 100644
--- a/docs/source/overview/core-concepts/physical-backends/direct-api-access/ovphysx.rst
+++ b/docs/source/overview/core-concepts/physical-backends/direct-api-access/ovphysx.rst
@@ -1,177 +1,10 @@
-.. Copyright (c) 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
+:orphan:
 
-OvPhysX Tensor Bindings
-=======================
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../concepts/native-physics-api/ovphysx.html
+   :name=robots: noindex
 
-Mental model
-------------
+Page Moved
+==========
 
-OvPhysX exposes generic ``TensorBinding`` objects. A binding combines a prim
-selection with one installed ``TensorType``; it is not an asset-specific native
-storage object. Callers explicitly pull values into their own buffer with
-``read()`` and push a buffer back with ``write()``. Isaac Lab optionally wraps
-these bindings in :class:`~isaaclab_ov.sim.views.OvPhysxView` for a
-string-keyed, guarded convenience surface.
-
-Lifecycle prerequisite
-----------------------
-
-Create bindings only after the OvPhysX simulation has initialized and reset,
-when its native runtime is live. A stage reload, a reset path that rebuilds the
-stage or runtime, and manager teardown invalidate all existing bindings and
-views. Reacquire them afterwards.
-
-Access the native runtime
--------------------------
-
-Get the active OvPhysX handle from the manager:
-
-.. code-block:: python
-
-   from isaaclab_ov.physics import OvPhysxManager
-
-   physx = OvPhysxManager.get_physx_instance()
-   if physx is None:
-       raise RuntimeError("OvPhysX has not been constructed; initialize and reset the simulation first.")
-
-A non-``None`` handle proves only that the manager constructed an OvPhysX instance; it is not a
-readiness predicate for the current simulation context. Manager teardown releases the instance
-and clears this handle. Initialize and reset the current context before access, and always
-reacquire the handle before creating new bindings or views.
-
-Create a raw tensor binding
----------------------------
-
-Create a raw binding when the desired selection is not already owned by an
-Isaac Lab asset. The following representative pose binding is float32 and
-uses the simulation device; it is not a generic allocator for every tensor
-type:
-
-.. code-block:: python
-
-   import warp as wp
-   from isaaclab.physics import PhysicsManager
-   from ovphysx.types import TensorType
-
-   binding = physx.create_tensor_binding(
-       pattern="/World/envs/env_*/Object",
-       tensor_type=TensorType.RIGID_BODY_POSE,
-   )
-   try:
-       poses = wp.empty(
-           tuple(binding.shape),
-           dtype=wp.float32,
-           device=PhysicsManager.get_device(),
-       )
-       binding.read(poses)
-       binding.write(poses)
-   finally:
-       binding.destroy()
-
-Before allocating a buffer, inspect ``binding.shape``, ``binding.dtype``, the
-binding's count, and its path metadata. Match the binding shape and DLPack scalar
-metadata exactly, and respect the binding's native device and access mode.
-``RIGID_BODY_POSE`` has the float32 layout used above, but another tensor type
-can have a different scalar dtype, shape, native device, or write permission.
-
-Discover installed tensor types
----------------------------------
-
-Discover installed tensor types at runtime instead of maintaining an enum
-inventory:
-
-.. code-block:: python
-
-   from ovphysx.types import TensorType
-
-   tensor_types = [
-       tensor_type
-       for tensor_type in TensorType
-       if tensor_type.name != "INVALID"
-   ]
-   print(tensor_types)
-
-This lists the vocabulary provided by the installed OvPhysX version. A listed
-tensor type is not necessarily available for every prim selection.
-
-Reuse or create an ``OvPhysxView``
-----------------------------------
-
-Reuse the convenience view already owned by an Isaac Lab asset when its
-selection matches:
-
-.. code-block:: python
-
-   object_view = scene["object"].root_view
-   poses = object_view.get_attribute("rigid_body_pose")
-
-For a new selection, construct :class:`~isaaclab_ov.sim.views.OvPhysxView`
-with the native runtime and a Tensor API pattern:
-
-.. code-block:: python
-
-   from isaaclab.physics import PhysicsManager
-   from isaaclab_ov.sim.views import OvPhysxView
-
-   view = OvPhysxView(
-       physx,
-       pattern="/World/envs/env_*/Object",
-       device=PhysicsManager.get_device(),
-   )
-   try:
-       if view.try_binding_for("rigid_body_pose") is not None:
-           poses = view.get_attribute("rigid_body_pose")
-           view.set_attribute("rigid_body_pose", poses)
-           view.read_into("rigid_body_pose", poses)
-
-       print(view.attribute_names)
-       print(view.available_attributes)
-   finally:
-       view.close()
-
-``attribute_names`` is the installed ``TensorType`` vocabulary, not selection
-availability. ``try_binding_for`` attempts to create a binding for this
-selection and returns ``None`` when a valid type is unavailable. By contrast,
-``available_attributes`` lists bindings already instantiated for the view.
-``binding_for`` returns a raw binding and bypasses the view's device, dtype,
-shape, and read-only guards.
-
-Read and write data
--------------------
-
-Raw ``binding.read(buffer)`` calls pull values into caller-owned buffers, while
-``binding.write(buffer)`` calls push values to the simulation. Editing a local
-buffer alone does not change the simulation. The guarded
-:meth:`~isaaclab_ov.sim.views.OvPhysxView.get_attribute`,
-:meth:`~isaaclab_ov.sim.views.OvPhysxView.read_into`, and
-:meth:`~isaaclab_ov.sim.views.OvPhysxView.set_attribute` paths provide the
-same pull/push boundary while validating the binding's shape, scalar dtype,
-native device, and writable access.
-
-Ownership, synchronization, and invalidation
---------------------------------------------
-
-Allocate buffers on the binding's required device and match its shape and
-DLPack scalar metadata. State tensors normally use the simulation device, while
-some property tensors are CPU-only. :class:`~isaaclab_ov.sim.views.OvPhysxView`
-validates these requirements and can reinterpret supported flat scalar layouts
-as structured Warp values, but it does not move data between CPU and GPU.
-
-Use ``try_binding_for`` when a tensor type might not apply to the selected
-prims. Reacquire raw bindings and convenience views after reset paths that
-rebuild the stage or runtime, or after teardown. Destroy raw bindings and close
-custom views before they are no longer needed. Manager teardown closes tracked
-``OvPhysxView`` instances before releasing the runtime, but explicit cleanup
-avoids retaining their bindings for the rest of a long-lived simulation.
-
-Authoritative references
-------------------------
-
-The generated Isaac Lab reference for
-:class:`~isaaclab_ov.sim.views.OvPhysxView` documents the convenience
-view. The repository metadata pins OvPhysX to a version but does not provide
-a versioned official OvPhysX documentation URL, so inspect the installed
-``TensorType`` and binding metadata at runtime.
+This page moved to :doc:`/source/concepts/native-physics-api/ovphysx`.
diff --git a/docs/source/overview/core-concepts/physical-backends/direct-api-access/physx.rst b/docs/source/overview/core-concepts/physical-backends/direct-api-access/physx.rst
index bc815de4a982..870de50b35a2 100644
--- a/docs/source/overview/core-concepts/physical-backends/direct-api-access/physx.rst
+++ b/docs/source/overview/core-concepts/physical-backends/direct-api-access/physx.rst
@@ -1,142 +1,10 @@
-.. Copyright (c) 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
+:orphan:
 
-PhysX Tensor API
-================
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../concepts/native-physics-api/physx.html
+   :name=robots: noindex
 
-The PhysX Tensor API is an engine-native interface for data paths that need
-typed PhysX views or capabilities beyond the unified Isaac Lab APIs. It is
-backend-specific: use Isaac Lab asset and sensor APIs unless native access is
-needed for the workload. The `Omni Physics Python API reference
-<https://docs.omniverse.nvidia.com/kit/docs/omni_physics/latest/dev_guide/pythonapi.html>`_
-documents the Tensor API view families and their methods.
+Page Moved
+==========
 
-Mental model
-------------
-
-The API starts from a ``SimulationView`` and creates typed views over selected
-physics objects. Access is entirely method-based: a getter pulls data from the
-view, and an independent setter publishes data back. Returned buffers are not
-live pointers, so editing a getter result does not update the simulation. Raw
-views select objects with PhysX Tensor API wildcard patterns.
-
-Lifecycle prerequisite
-----------------------
-
-:class:`~isaaclab_physx.physics.PhysxManager` creates its
-``SimulationView`` with the Warp frontend. Low-level
-code must run only after physics initialization and simulation reset, when the
-PhysX Tensor API view has been created:
-
-.. code-block:: python
-
-   from isaaclab_physx.physics import PhysxManager
-
-   simulation_view = PhysxManager.get_physics_sim_view()
-   if simulation_view is None:
-       raise RuntimeError("PhysX Tensor API is not ready; initialize and reset the simulation first.")
-
-Reuse an Isaac Lab view
------------------------
-
-When an Isaac Lab asset already has the desired selection, reuse its
-:attr:`~isaaclab_physx.assets.Articulation.root_view` rather than creating a
-second view:
-
-.. code-block:: python
-
-   robot = scene["robot"]
-   articulation_view = robot.root_view
-   joint_positions = articulation_view.get_dof_positions()
-
-:attr:`~isaaclab_physx.assets.Articulation.root_view` is backend-specific and
-typed. An articulation, rigid object, rigid-object collection, or deformable
-can expose a different native PhysX view type, so choose methods that match the
-returned view rather than assuming one common interface.
-
-Create a raw typed view
------------------------
-
-Create a view directly only when no Isaac Lab-owned selection matches the
-needed objects or capability. In this Tensor API pattern, ``*`` selects the
-matching object below every cloned environment:
-
-.. code-block:: python
-
-   rigid_body_view = simulation_view.create_rigid_body_view(
-       "/World/envs/env_*/Object"
-   )
-
-Discover supported view types
------------------------------
-
-The installed PhysX version determines which typed views are available. Inspect
-the ``SimulationView`` at runtime to list its view factories instead of relying
-on a hand-written inventory that can become stale:
-
-.. code-block:: python
-
-   view_factories = sorted(
-       name
-       for name in dir(simulation_view)
-       if name.startswith("create_") and name.endswith("_view")
-   )
-   print(view_factories)
-
-Read and write data
--------------------
-
-Each getter and setter is a separate operation. Clone a returned Warp buffer
-before editing it locally, then call the matching setter to publish the result:
-
-.. code-block:: python
-
-   import warp as wp
-
-   poses = wp.clone(rigid_body_view.get_transforms())
-   indices = wp.array(
-       range(poses.shape[0]),
-       dtype=wp.int32,
-       device=poses.device,
-   )
-   rigid_body_view.set_transforms(poses, indices)
-
-Cloning makes ownership explicit. Callers can modify the clone with Warp before
-the setter, but edits to a local buffer do not publish themselves. The
-``indices`` array selects the complete view and matches the setter's required
-``int32`` dtype and device; the setter performs the write. For active Tensor API
-contracts that require link transforms to be refreshed after joint-state writes, call
-``update_articulations_kinematic()``.
-Not every setter requires that refresh; follow the method-level behavior in the
-upstream reference.
-
-Access the contact view
------------------------
-
-The PhysX contact sensor exposes its native ``RigidContactView`` through
-:attr:`~isaaclab_physx.sensors.ContactSensor.contact_view`. Use it when the
-public sensor data does not expose the required contact details:
-
-.. code-block:: python
-
-   contact_sensor = scene["contact_sensor"]
-   friction_forces, _, buffer_counts, buffer_start_indices = (
-       contact_sensor.contact_view.get_friction_data(dt=sim.cfg.dt)
-   )
-
-Other Isaac Lab sensors may use ordinary rigid-body or articulation views
-internally, but those views are not sensor-specific low-level interfaces.
-
-Ownership, synchronization, and invalidation
---------------------------------------------
-
-Preserve a view's expected selection ordering, device, dtype, and tensor shape
-when supplying values to a setter. Check and reacquire views after a hard
-reset, object removal, stage reload, or manager teardown. Prefer public Isaac
-Lab sensor data when direct native contact or motion data is not required.
-
-For method-specific shapes, synchronization requirements, and supported
-setters, follow the upstream Tensor API reference linked at the top of this
-page.
+This page moved to :doc:`/source/concepts/native-physics-api/physx`.
diff --git a/docs/source/overview/core-concepts/physical-backends/index.rst b/docs/source/overview/core-concepts/physical-backends/index.rst
index e5b5b581288f..27468630baaa 100644
--- a/docs/source/overview/core-concepts/physical-backends/index.rst
+++ b/docs/source/overview/core-concepts/physical-backends/index.rst
@@ -1,162 +1,10 @@
-Physics Backends
-================
+:orphan:
 
-Isaac Lab 3.0 supports multiple physics backends through a unified API. Each backend
-exposes the same :class:`~isaaclab.assets.Articulation`,
-:class:`~isaaclab.assets.RigidObject`, sensor and renderer surfaces, while differing
-in solver characteristics, maturity, and feature coverage. See
-:doc:`../multi_backend_architecture` for how the dispatch and factory machinery work
-under the hood.
+.. meta::
+   :http-equiv=refresh: 0; url=../../../concepts/physics_backends.html
+   :name=robots: noindex
 
-This page summarizes what each backend supports today; the sub-pages document
-backend-specific configuration, installation, and limitations.
+Page Moved
+==========
 
-.. toctree::
-    :maxdepth: 2
-
-    physx/index
-    newton/index
-    ovphysx/index
-    direct-api-access/index
-    solver-comparison
-    joint_and_body_ordering
-
-
-For backend-specific access to native engine data and views, see
-:doc:`direct-api-access/index`. That guide explains the different ownership and
-synchronization models rather than presenting a false common low-level API.
-
-Choosing a Backend
-------------------
-
-* **PhysX** — the historical default. Production-ready, broad coverage of Isaac Lab
-  features, and the reference for behavior parity. Selected via
-  :class:`~isaaclab_physx.physics.PhysxCfg`.
-* **Newton** — GPU-accelerated, Warp-native, and differentiable. The Newton
-  integration ships with the MuJoCo-Warp solver and beta support for the Kamino
-  solver. Selected via :class:`~isaaclab_newton.physics.NewtonCfg`.
-* **OvPhysX** — a **highly experimental** kit-less PhysX backend that reads
-  scene-level parameters from the USD ``PhysicsScene`` prim. Selected via
-  :class:`~isaaclab_ov.physics.OvPhysxCfg`. Not recommended for general use yet.
-
-The active backend is selected at simulation construction time and applies to every
-asset, sensor, and renderer instantiated thereafter:
-
-.. code-block:: python
-
-    from isaaclab.sim import SimulationCfg
-    from isaaclab_physx.physics import PhysxCfg
-    from isaaclab_newton.physics import NewtonCfg, MJWarpSolverCfg
-
-    # PhysX (default)
-    sim_cfg = SimulationCfg(physics=PhysxCfg())
-
-    # Newton with MuJoCo-Warp
-    sim_cfg = SimulationCfg(physics=NewtonCfg(solver_cfg=MJWarpSolverCfg()))
-
-
-Feature Support Matrix
-----------------------
-
-The matrix below is intentionally coarse-grained. For exhaustive per-asset and
-per-task support, see each backend's own ``limitations`` page.
-
-.. list-table::
-    :header-rows: 1
-    :widths: 30 20 30 20
-
-    * - Feature
-      - PhysX
-      - Newton
-      - OvPhysX
-    * - Maturity
-      - Stable
-      - Beta
-      - Highly experimental
-    * - Default solver
-      - TGS (rigid body)
-      - MuJoCo-Warp
-      - PhysX (TGS / PGS via USD)
-    * - Alternative solvers
-      - PGS
-      - Kamino (beta), additional Newton solvers planned
-      - —
-    * - Differentiable
-      - No
-      - Yes (via Warp)
-      - No
-    * - Articulation API
-      - Yes
-      - Yes
-      - Yes
-    * - Rigid Object API
-      - Yes
-      - Yes
-      - Yes
-    * - Rigid Object Collection API
-      - Yes
-      - Yes
-      - Yes
-    * - Deformable Object API
-      - Yes
-      - Yes (experimental VBD)
-      - Experimental (CUDA only)
-    * - Cable Object API
-      - No
-      - VBD
-      - No
-    * - Contact Sensor
-      - Yes
-      - Yes
-      - Yes
-    * - IMU
-      - Yes
-      - Yes
-      - In-flight
-    * - Frame Transformer / Ray Caster / PVA / Joint-Wrench Sensor
-      - Yes
-      - Yes
-      - In-flight
-    * - Camera / Tiled Rendering
-      - Yes (RTX)
-      - Yes (Newton-Warp renderer)
-      - Not yet
-    * - Requires Isaac Sim
-      - Yes
-      - Optional (only for the Omniverse visualizer)
-      - Yes
-    * - Solver configuration source
-      - :class:`~isaaclab_physx.physics.PhysxCfg`
-      - :class:`~isaaclab_newton.physics.NewtonCfg` + solver config
-      - USD ``PhysicsScene`` + :class:`~isaaclab_ov.physics.OvPhysxCfg`
-
-
-Selecting Backends per Task
----------------------------
-
-Tasks that support more than one backend define a Hydra preset on
-``SimulationCfg.physics``. The example below shows the cartpole task config which
-declares all three backends side by side:
-
-.. code-block:: python
-
-    from isaaclab.physics import PhysxAutoCfg
-    from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
-    from isaaclab_ov.physics import OvPhysxCfg
-    from isaaclab_physx.physics import PhysxCfg
-
-    @configclass
-    class CartpolePhysicsCfg(PresetCfg):
-        isaacsim_physx: PhysxCfg = PhysxCfg()
-        ovphysx: OvPhysxCfg = OvPhysxCfg()
-        physx: PhysxAutoCfg = PhysxAutoCfg(
-            isaacsim_physx=isaacsim_physx,
-            ovphysx=ovphysx,
-        )
-        default: PhysxCfg = isaacsim_physx
-        newton_mjwarp: NewtonCfg = NewtonCfg(solver_cfg=MJWarpSolverCfg())
-
-With no selector, the task uses concrete Isaac Sim PhysX. Users can select a
-backend with ``physics=<name>``; ``physics=physx`` explicitly opts into automatic
-selection between the configured PhysX-family implementations. See
-:ref:`hydra-backend-solver-presets` for the full Hydra interaction.
+This page moved to :doc:`/source/concepts/physics_backends`.
diff --git a/docs/source/overview/core-concepts/physical-backends/joint_and_body_ordering.rst b/docs/source/overview/core-concepts/physical-backends/joint_and_body_ordering.rst
index 5802c6f4420e..84acb437afa5 100644
--- a/docs/source/overview/core-concepts/physical-backends/joint_and_body_ordering.rst
+++ b/docs/source/overview/core-concepts/physical-backends/joint_and_body_ordering.rst
@@ -1,287 +1,10 @@
-Joint and Body Ordering
-=======================
+:orphan:
 
-PhysX and MJWarp may order an articulation's joints and bodies differently. Set
-``joint_ordering`` and ``body_ordering`` to keep names mapped to the same tensor elements
-across backends. This page explains the supported conventions, conversion costs, and direct
-backend-view access. For backend selection and capabilities, see the :doc:`Physics Backends
-overview <index>`.
+.. meta::
+   :http-equiv=refresh: 0; url=../../../concepts/joint_and_body_ordering.html
+   :name=robots: noindex
 
-.. seealso::
+Page Moved
+==========
 
-    For policy transfer instructions and validated examples, see
-    :doc:`/source/how-to/transfer_policies_between_physx_and_newton`.
-
-
-Why Articulation Orders Differ
-------------------------------
-
-Three facts explain why a checkpoint can need an ordering convention even when
-both backends load the same USD asset:
-
-1. USD names identify physical joints and bodies, but they do not impose one
-   universal tensor-axis order across solvers.
-2. PhysX and MJWarp construct native articulation views with different topology
-   traversal and internal representation choices.
-3. Isaac Lab resolves the requested names once during articulation
-   initialization, then exposes the selected public order through its
-   high-level API.
-
-The backend selection described in :doc:`Multi-Backend Architecture
-<../multi_backend_architecture>` controls which native view is created. The
-ordering selection controls how the high-level API presents that view.
-
-
-Public and Backend Order
-------------------------
-
-Set ``joint_ordering`` and ``body_ordering`` on
-:class:`~isaaclab.assets.ArticulationCfg`. Each field accepts one of:
-
-* ``None`` -- backend-native order and the zero-conversion default (see below).
-* ``"physx"`` -- PhysX or OVPhysX articulation-view order.
-* ``"mjwarp"`` -- Newton or MJWarp articulation-view order.
-* ``"robot_schema"`` -- the order authored on the asset's
-  ``isaac:physics:robotJoints`` (joints) or ``isaac:physics:robotLinks``
-  (bodies) relationships.
-* an explicit, complete name permutation -- a ``list`` or ``tuple`` naming every
-  joint or body exactly once.
-
-See :attr:`~isaaclab.assets.ArticulationCfg.joint_ordering` for the
-authoritative list of accepted values.
-
-For Python configs, prefer
-:func:`~isaaclab.assets.apply_articulation_ordering_preset` to set both fields
-to the same convention in a single call, which keeps joint and body order
-consistent:
-
-.. code-block:: python
-
-    from isaaclab.assets import apply_articulation_ordering_preset
-
-    robot_cfg = apply_articulation_ordering_preset(robot_cfg, "mjwarp")
-
-.. warning::
-    When overriding from the CLI or Hydra, set **both** ``joint_ordering`` and
-    ``body_ordering``. Setting only ``joint_ordering`` silently leaves bodies in
-    backend order, which mismatches a checkpoint whose body vectors follow the
-    source convention.
-
-Once initialized, the articulation and its
-:class:`~isaaclab.assets.ArticulationNameMap` objects establish this contract:
-
-.. list-table::
-    :header-rows: 1
-    :widths: 42 58
-
-    * - Surface
-      - Ordering contract
-    * - ``joint_names`` and ``body_names``
-      - Public order
-    * - :class:`~isaaclab.assets.ArticulationData` joint and body properties
-      - Public order
-    * - Articulation command and property writers
-      - Public input order
-    * - ``backend_joint_names`` and ``backend_body_names``
-      - Backend order
-    * - ``root_view`` metadata and arrays
-      - Backend order
-    * - ``joint_ordering`` and ``body_ordering`` maps
-      - Bridge between public and backend order
-
-``None`` is the zero-conversion default. Public names follow the active
-backend, no ordering map is installed, no reorder staging is allocated, and no
-reorder kernel is launched. An explicit convention or name sequence that
-resolves to backend order is normalized to ``None`` at initialization after a
-one-time name resolution, so it reaches the exact same zero-conversion state:
-a non-``None`` ordering map always denotes an actual permutation.
-
-.. tip::
-    After configuring an ordering, confirm the resolved public axis by comparing
-    :attr:`~isaaclab.assets.Articulation.joint_names` with
-    :attr:`~isaaclab.assets.Articulation.backend_joint_names` (and ``body_names``
-    with ``backend_body_names``). Cross-backend conventions are resolved by
-    emulation, so spot-check the result against the order your checkpoint expects.
-
-High-Level MDP Terms
-^^^^^^^^^^^^^^^^^^^^
-
-Standard MDP terms that consume high-level articulation data use public
-indices. This includes terms that resolve joint or body selections by name and
-then index public-order :class:`~isaaclab.assets.ArticulationData` properties
-or call high-level articulation writers.
-
-Material randomization crosses the backend boundary explicitly: it converts
-selected public body IDs to backend body IDs before deriving the corresponding
-backend shape ranges. Custom or backend-specific MDP code that accesses
-``root_view`` bypasses these high-level conversions and must convert its own
-indices and tensors.
-
-
-Conversion Cost
----------------
-
-Convention resolution and map construction are one-time initialization
-work. For a nonidentity map, affected reads and writes can require persistent
-staging memory plus gather/scatter kernel launches. Identity maps avoid those
-ongoing conversion paths.
-
-On the Newton backend, a nonidentity ordering additionally records a fixed
-per-step reorder of the core state buffers -- joint positions and velocities,
-body poses and velocities -- inside the stepped and CUDA-graph-captured region.
-This publishes backend-order state into the public-order buffers every step, so
-a small baseline per-step cost exists independent of how often properties are
-accessed.
-
-The runtime and memory cost scales with environment count, joint or body count,
-and how often affected properties and writers are accessed. Measure the
-specific task and access pattern; there is no hardware-independent
-steps-per-second number or fixed percentage overhead.
-
-
-Direct Backend-View Access
---------------------------
-
-.. warning::
-    Arrays returned by the raw solver view (``root_view``) are always in
-    backend solver order, regardless of the configured ``joint_ordering`` or
-    ``body_ordering``. Indices from ``joint_names``, ``body_names``,
-    ``find_joints``, or ``find_bodies`` are in public order and must not be
-    used to index ``root_view`` arrays directly. Use the asset's ``data``
-    buffers and write APIs, which already operate in public order, or
-    translate indices through the asset's ``joint_ordering``/``body_ordering``
-    maps first.
-
-Prefer the high-level articulation API when possible; its data and writer
-contracts already use public order. Direct ``root_view`` access uses backend
-order even when ``joint_names`` or ``body_names`` uses another convention.
-When a small set of indices needs to cross into a view array, translate them
-with :meth:`~isaaclab.assets.Articulation.map_joint_ids_to_backend` or
-:meth:`~isaaclab.assets.Articulation.map_body_ids_to_backend` instead of
-indexing the ordering maps by hand; both return the input unchanged under
-identity ordering.
-
-Torch Conversion
-^^^^^^^^^^^^^^^^
-
-To gather a backend-order joint tensor into public order, enumerate public
-output columns and use ``user_to_backend_indices`` to select the matching
-backend source columns:
-
-.. code-block:: python
-
-    ordering = robot.joint_ordering
-    if ordering is None:
-        joint_pos_public = joint_pos_backend
-    else:
-        joint_pos_public = joint_pos_backend[:, list(ordering.user_to_backend_indices)]
-
-For the opposite direction, enumerate backend output columns and use
-``backend_to_user_indices`` to select the matching public source columns:
-
-.. code-block:: python
-
-    ordering = robot.joint_ordering
-    if ordering is None:
-        joint_target_backend = joint_target_public
-    else:
-        joint_target_backend = joint_target_public[:, list(ordering.backend_to_user_indices)]
-
-Use ``robot.body_ordering`` in the same way for body-indexed axes. Keep the
-``None`` guard because it avoids an unnecessary gather and means no map object
-exists.
-
-Warp Conversion
-^^^^^^^^^^^^^^^
-
-The elementwise reorder kernels in
-``isaaclab.assets.articulation.ordering_kernels`` translate raw-view arrays
-between backend and public order. For example,
-``reorder_2d_backend_to_user`` gathers one ``(environment, joint)`` array into
-public order:
-
-.. code-block:: python
-
-    import warp as wp
-
-    from isaaclab.assets.articulation.ordering_kernels import reorder_2d_backend_to_user
-
-
-    ordering = robot.joint_ordering
-    if ordering is None:
-        joint_pos_public = joint_pos_backend
-    else:
-        joint_pos_public = wp.empty(
-            (robot.num_instances, robot.num_joints),
-            dtype=wp.float32,
-            device=robot.device,
-        )
-        wp.launch(
-            reorder_2d_backend_to_user,
-            dim=(robot.num_instances, robot.num_joints),
-            inputs=[joint_pos_backend, ordering.user_to_backend],
-            outputs=[joint_pos_public],
-            device=robot.device,
-        )
-
-The caller owns output allocation, launch dimensions, data type, and every
-non-articulation axis. A public-to-backend gather uses
-``ordering.backend_to_user``. Treat both device maps as read-only.
-
-The ``reorder_2d`` and ``reorder_3d`` kernels, in both the ``*_backend_to_user``
-and ``*_user_to_backend`` directions, form this public elementwise family. All
-other kernels in ``isaaclab.assets.articulation.ordering_kernels`` are internal
-and may change without deprecation.
-
-Joint maps cover named joints, not floating-base generalized coordinates.
-When converting raw Jacobians or mass matrices, preserve the leading
-``robot.num_base_dofs`` coordinates and offset mapped joint indices by that
-count. Apply the joint permutation to both generalized-coordinate axes of a
-mass matrix and leave all other axes unchanged.
-
-The public floating-base Jacobian body rows use the full public body order; to
-convert a raw backend Jacobian, gather with the full body map. Fixed-base raw
-backend Jacobians omit the fixed root, so do not apply the full body map
-directly. Omit public/root body index 0 and convert each remaining mapped
-backend body ID to a Jacobian row by subtracting 1. The fixed-root-first
-invariant makes this well-defined. See
-:attr:`~isaaclab.assets.BaseArticulationData.body_link_jacobian_w` for the
-authoritative body-axis convention. High-level articulation data performs
-these conversions automatically.
-
-
-What Ordering Does Not Solve
-----------------------------
-
-Ordering compatibility keeps names attached to the same vector elements;
-it does not make simulated trajectories match. Policy behavior can still
-diverge because of:
-
-* contact generation and resolution
-* friction
-* restitution
-* :ref:`actuator models and configuration <overview-actuators>`
-* integration method
-* timestep and substeps
-* solver convergence
-
-Use :doc:`Solver Comparison <solver-comparison>` to diagnose and tune these
-differences rather than treating them as ordering failures.
-
-
-Verification and Troubleshooting
---------------------------------
-
-When a transferred policy behaves unexpectedly, check these items in
-order:
-
-1. Compare public ``joint_names`` and ``body_names`` with
-   ``backend_joint_names`` and ``backend_body_names``.
-2. Confirm both joint and body source conventions when the policy or task uses
-   both kinds of vector.
-3. Verify observation and action dimensions against the training run.
-4. Audit custom code for direct ``root_view`` access.
-5. Compare source and target values by physical name rather than by raw column.
-6. When name-to-vector semantics are stable but motion still diverges, classify
-   the problem as a solver-dynamics issue and continue with
-   :doc:`Solver Comparison <solver-comparison>`.
+This page moved to :doc:`/source/concepts/joint_and_body_ordering`.
diff --git a/docs/source/overview/core-concepts/physical-backends/newton/extending-newton-solvers.rst b/docs/source/overview/core-concepts/physical-backends/newton/extending-newton-solvers.rst
new file mode 100644
index 000000000000..211f3063b2b5
--- /dev/null
+++ b/docs/source/overview/core-concepts/physical-backends/newton/extending-newton-solvers.rst
@@ -0,0 +1,10 @@
+:orphan:
+
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../developer-tools/extending_newton_solvers.html
+   :name=robots: noindex
+
+Page Moved
+==========
+
+This page moved to :doc:`/source/developer-tools/extending_newton_solvers`.
diff --git a/docs/source/overview/core-concepts/physical-backends/newton/index.rst b/docs/source/overview/core-concepts/physical-backends/newton/index.rst
index 8d07cf6df322..47157683986b 100644
--- a/docs/source/overview/core-concepts/physical-backends/newton/index.rst
+++ b/docs/source/overview/core-concepts/physical-backends/newton/index.rst
@@ -1,77 +1,10 @@
-.. seealso::
+:orphan:
 
-   This section is the source of truth for the ``isaaclab-preparing-assets-for-newton`` agent skill
-   (`skills/user/prepare-assets-for-newton/ <../../../../../../skills/user/prepare-assets-for-newton/SKILL.md>`__).
-   When you change this page, update the skill so agent guidance stays in sync. See
-   :doc:`/source/overview/developer-guide/agent_skills`.
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../concepts/physics_backends.html
+   :name=robots: noindex
 
-Newton Backend
-==============
+Page Moved
+==========
 
-`Newton <https://newton-physics.github.io/newton/latest/guide/overview.html>`_ is a
-GPU-accelerated, extensible, and differentiable physics simulation engine designed
-for robotics, research, and advanced simulation workflows. Built on top of
-`NVIDIA Warp <https://nvidia.github.io/warp/>`_ and integrating MuJoCo Warp, Newton
-provides high-performance simulation, modern Python APIs, and a flexible
-architecture for both users and developers.
-
-Newton is an Open Source community-driven project with contributions from NVIDIA,
-Google Deep Mind, and Disney Research, managed through the Linux Foundation.
-
-Newton support in Isaac Lab is in beta and under active development. Many features
-are still maturing, and the Isaac Lab integration ships a focused, validated set of
-classic RL and flat-terrain locomotion environments. We have validated Newton
-simulation against PhysX by transferring learned policies in both directions and
-have successfully deployed a Newton-trained locomotion policy to a G1 robot.
-See :doc:`migrating-assets-from-physx-to-newton` to migrate an asset and physical
-model specifically from PhysX to Newton with MJWarp. Then use
-:doc:`/source/how-to/transfer_policies_between_physx_and_newton` to train and
-evaluate policy checkpoints in both directions.
-
-Newton can support `multiple solvers
-<https://newton-physics.github.io/newton/latest/api/newton_solvers.html>`_ for
-handling different types of physics simulation. The Isaac Lab integration ships
-the following solver pages:
-
-* :doc:`mjwarp-solver` — the primary, validated solver path.
-* :doc:`kamino-solver` — beta support on selected classic tasks.
-* :doc:`using-vbd-solver`: VBD solver for cloth and soft bodies. Standalone VBD
-  is available through :mod:`isaaclab_newton.physics`; MJWarp and VBD proxy and
-  ADMM coupling is available through :mod:`isaaclab_contrib.coupling`.
-* :doc:`using-mpm`: experimental implicit MPM for particle materials, including
-  rigid-MPM proxy coupling.
-
-Each solver is exposed as a small subclass of
-:class:`~isaaclab_newton.physics.NewtonManager`. See
-:doc:`newton-manager-abstraction` for the developer-facing guide to adding a
-new solver or a coupled solver.
-
-For authoring and simulating 1D cable / rod assets under the VBD solver, see
-:doc:`using-cables`.
-
-During the beta phase, breaking changes and incomplete documentation are still
-expected. Official support and debugging assistance will follow once the framework
-reaches an official release.
-
-For an overview of how the multi-backend architecture works, including how to add a
-new backend, see :doc:`../../multi_backend_architecture`.
-
-For direct ``Model``/``State`` access and generic selections, see
-:doc:`../direct-api-access/newton`.
-
-
-.. toctree::
-  :maxdepth: 2
-  :titlesonly:
-
-  installation
-  supported-features
-  migrating-assets-from-physx-to-newton
-  mjwarp-solver
-  kamino-solver
-  using-vbd-solver
-  using-mpm
-  using-cables
-  newton-manager-abstraction
-  warp-environments
-  warp-env-migration
+This page moved to :ref:`physics-backends-newton`.
diff --git a/docs/source/overview/core-concepts/physical-backends/newton/installation.rst b/docs/source/overview/core-concepts/physical-backends/newton/installation.rst
index 0f16f67f8507..5b2810dfbdef 100644
--- a/docs/source/overview/core-concepts/physical-backends/newton/installation.rst
+++ b/docs/source/overview/core-concepts/physical-backends/newton/installation.rst
@@ -1,83 +1,10 @@
-Installation
-============
+:orphan:
 
-Installing the Newton backend requires three things:
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../setup/installation/index.html
+   :name=robots: noindex
 
-1) The ``develop`` branch of Isaac Lab
-2) Ubuntu 22.04 or 24.04
-3) [Optional] Isaac Sim 6.0 (Isaac Sim is not required if the Omniverse visualizer is not used)
+Page Moved
+==========
 
-To begin, navigate to the root directory of your local copy of the Isaac Lab repository and open a terminal.
-
-Make sure we are on the ``develop`` branch by running the following command:
-
-.. code-block:: bash
-
-    git checkout develop
-
-
-Installation
-------------
-
-We recommend using **uv** as the package manager — it is significantly faster than pip and conda.
-To install ``uv``, please follow the instructions `here <https://docs.astral.sh/uv/getting-started/installation/>`__.
-
-If you previously already have a virtual environment for Isaac Lab, please ensure to start from a fresh environment to avoid any dependency conflicts.
-If you have installed earlier versions of mujoco, mujoco-warp, or newton packages through pip, we recommend first
-cleaning your pip cache with ``pip cache purge`` to remove any cache of earlier versions that may be conflicting with the latest.
-
-Create a new virtual environment with Python 3.12:
-
-.. code-block:: bash
-
-    uv venv --python 3.12 --seed env_isaaclab
-
-Activate the environment:
-
-.. code-block:: bash
-
-    source env_isaaclab/bin/activate
-
-.. note::
-
-   If you are using ``pip`` directly instead of ``uv pip``, replace ``uv pip`` with ``pip`` in the commands below.
-
-
-Ensure pip is up to date:
-
-.. code-block:: bash
-
-    uv pip install --upgrade pip
-
-[Optional] Install Isaac Sim:
-
-.. isaaclab-isaacsim-install::
-
-Install the correct version of torch and torchvision:
-
-.. isaaclab-torch-install:: cu128
-
-Install Isaac Lab extensions and dependencies (this includes the pinned Newton development commit):
-
-.. code-block:: bash
-
-    ./isaaclab.sh -i
-
-
-Testing the Installation
-------------------------
-
-To verify that the installation was successful, run the following command from the root directory of your Isaac Lab repository:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-          uv run python scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct --num_envs 128 --viz newton physics=newton_mjwarp
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-          ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct --num_envs 128 --viz newton physics=newton_mjwarp
+This page moved to :doc:`/source/setup/installation/index`.
diff --git a/docs/source/overview/core-concepts/physical-backends/newton/kamino-solver.rst b/docs/source/overview/core-concepts/physical-backends/newton/kamino-solver.rst
index f182fdc0cc7d..a950c27c32fc 100644
--- a/docs/source/overview/core-concepts/physical-backends/newton/kamino-solver.rst
+++ b/docs/source/overview/core-concepts/physical-backends/newton/kamino-solver.rst
@@ -1,414 +1,10 @@
-.. _newton-kamino-solver:
+:orphan:
 
-Kamino Solver
-=============
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../concepts/solver-tuning/tune_kamino.html
+   :name=robots: noindex
 
-Kamino is a Newton solver, not a separate Isaac Lab physics backend. In Isaac Lab,
-Kamino is enabled by selecting a :class:`~isaaclab_newton.physics.NewtonCfg` whose
-``solver_cfg`` is :class:`~isaaclab_newton.physics.KaminoPADMMSolverCfg` or
-:class:`~isaaclab_newton.physics.KaminoDVISolverCfg`.
-This is usually exposed as a ``newton_kamino`` physics preset on the task configuration.
+Page Moved
+==========
 
-Kamino support is currently beta. A task that works with PhysX or with Newton's
-MuJoCo-Warp solver may still need task-specific asset, collision, reset, and solver
-tuning before it works well with Kamino.
-
-
-Start from a Supported Newton Task
-----------------------------------
-
-Before adding Kamino, first make sure the task runs with the Newton backend:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-          uv run python scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct --num_envs 128 --viz newton physics=newton_mjwarp
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-          ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct --num_envs 128 --viz newton physics=newton_mjwarp
-
-Then run the same task with the Kamino preset if it is available:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-          uv run python scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct --num_envs 128 --viz newton physics=newton_kamino
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-          ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct --num_envs 128 --viz newton physics=newton_kamino
-
-At the time of writing, the ``newton_kamino`` preset is defined for
-``Isaac-Cartpole-Direct``, ``Isaac-Ant-Direct``, ``Isaac-Cartpole``,
-``Isaac-Pendulum-MARL-Direct``, ``Isaac-Ant``, and several locomotion tasks. Passing
-``physics=newton_kamino`` to another task does not automatically enable Kamino;
-the task must define and validate its own ``newton_kamino`` preset.
-
-
-Add a Kamino Physics Preset
----------------------------
-
-Tasks that support multiple physics options usually store ``SimulationCfg.physics``
-as a :class:`~isaaclab_tasks.utils.hydra.PresetCfg`. First import the Newton
-solver config types used by the presets:
-
-.. code-block:: python
-
-    from isaaclab_newton.physics import (
-        KaminoCollisionDetectorCfg,
-        KaminoDVISolverCfg,
-        KaminoPADMMSolverCfg,
-        MJWarpSolverCfg,
-        NewtonCfg,
-    )
-
-Then add a ``newton_kamino`` entry beside the existing ``default``, ``physx``, and
-``newton_mjwarp`` entries:
-
-.. literalinclude:: ../../../../../../source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_env_cfg.py
-    :language: python
-    :start-at: class CartpolePhysicsCfg
-    :end-before: class CartpoleEnvCfg
-    :emphasize-lines: 18-25
-
-The important pieces are:
-
-* Add a ``newton_kamino`` preset whose value is :class:`~isaaclab_newton.physics.NewtonCfg`.
-* Construct a :class:`~isaaclab_newton.physics.KaminoPADMMSolverCfg` or
-  :class:`~isaaclab_newton.physics.KaminoDVISolverCfg`.
-* Keep the preset at the same config path used by the task's
-  :class:`~isaaclab.sim.SimulationCfg`, for example ``env.sim.physics``.
-
-Choosing PADMM vs DVI
----------------------
-
-Kamino exposes two concrete forward-dynamics solver configurations:
-
-* :class:`~isaaclab_newton.physics.KaminoPADMMSolverCfg`: robust proximal ADMM;
-  recommended for contact-heavy tasks.
-* :class:`~isaaclab_newton.physics.KaminoDVISolverCfg`: faster projected-dual
-  iterations; best for mechanisms with relatively few active contacts. It defaults
-  ``dynamics.preconditioning`` to ``False``.
-
-Construct the concrete solver configuration directly:
-
-.. code-block:: python
-
-    from isaaclab_newton.physics import KaminoDVISolverCfg, KaminoPADMMSolverCfg
-
-    newton_kamino = NewtonCfg(solver_cfg=KaminoPADMMSolverCfg(use_collision_detector=True))
-    newton_kamino_dvi = NewtonCfg(solver_cfg=KaminoDVISolverCfg(integrator="moreau"))
-
-You can select the preset globally:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-          uv run isaaclab train --rl_library rsl_rl --task=Isaac-Cartpole physics=newton_kamino
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-          ./isaaclab.sh train --rl_library rsl_rl --task=Isaac-Cartpole physics=newton_kamino
-
-or select the physics field directly:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-          uv run isaaclab train --rl_library rsl_rl --task=Isaac-Cartpole env.sim.physics=newton_kamino
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-          ./isaaclab.sh train --rl_library rsl_rl --task=Isaac-Cartpole env.sim.physics=newton_kamino
-
-Use the direct path override when only one task field should use the Kamino preset.
-Use ``physics=newton_kamino`` when you want every matching preset field in the task config
-to resolve to ``newton_kamino``.
-Isaac Lab training commands accept these Hydra overrides after the regular command
-line flags; no separator is needed for the examples above.
-
-
-Check Task and Asset Compatibility
-----------------------------------
-
-Kamino uses the Newton model built from the task assets. When adding Kamino to a
-new task, validate the following before tuning solver parameters:
-
-* The task must already be compatible with the Newton backend. If ``physics=newton_mjwarp``
-  fails during model construction, fix the asset or task configuration first.
-* The assets should use Newton-supported rigid bodies, articulations, and collision
-  geometry. PhysX-only features, unsupported schemas, or missing collision shapes
-  can prevent Newton model creation or produce unusable contacts.
-* Reset logic should write consistent root and joint state through Isaac Lab asset
-  APIs. Kamino uses a forward-kinematics reset path after state writes so maximal
-  coordinate body poses match the reduced joint state.
-* Sensor, renderer, and visualizer presets remain separate from the solver preset.
-  Kamino can share the Newton-compatible sensors and renderers used by the task,
-  but each sensor and renderer combination still needs its own validation.
-* Contact-heavy tasks usually need their own collision mode, substep count, and
-  P-ADMM iteration/tolerance settings. Start from the validated Cartpole or Ant
-  preset that most closely resembles the task.
-
-For a small articulated system with simple contacts, the Cartpole preset uses
-Kamino's internal collision detector. For Ant, the preset uses Newton's collision
-pipeline and two substeps. These choices are task-specific; treat them as starting
-points rather than universal defaults.
-
-
-Kamino Solver Parameters
-------------------------
-
-The following fields are shared by
-:class:`~isaaclab_newton.physics.KaminoPADMMSolverCfg` and
-:class:`~isaaclab_newton.physics.KaminoDVISolverCfg`. They are grouped by the part
-of the solver they affect.
-
-Core Integration
-^^^^^^^^^^^^^^^^
-
-.. list-table::
-    :header-rows: 1
-    :widths: 30 70
-
-    * - Parameter
-      - Description
-    * - ``integrator``
-      - Default: ``"moreau"``. Time integration scheme. Use ``"euler"`` for explicit Euler integration.
-    * - ``use_fk_solver``
-      - Default: ``None`` (auto). Enables Kamino's forward-kinematics solver for resets when required.
-    * - ``rotation_correction``
-      - Default: ``"twopi"``. Rotation correction mode for maximal-coordinate bodies. Valid values are ``"twopi"``, ``"continuous"``, and ``"none"``.
-    * - ``angular_velocity_damping``
-      - Default: ``0.0``. Damps angular velocity. Higher values can suppress spin but also remove physical energy from the system.
-
-
-Collision Handling
-^^^^^^^^^^^^^^^^^^
-
-.. list-table::
-    :header-rows: 1
-    :widths: 30 70
-
-    * - Parameter
-      - Description
-    * - ``use_collision_detector``
-      - Default: ``False``. Selects Kamino's internal collision detector when ``True``. When ``False``, Isaac Lab uses Newton's collision pipeline for contact generation.
-    * - ``collision_detector.pipeline``
-      - Default: ``None``. Internal Kamino collision detector pipeline. Common values are ``"primitive"`` and ``"unified"``. ``None`` uses Newton's default (``"unified"``). Only used when ``use_collision_detector=True``.
-    * - ``collision_detector.broadphase``
-      - Default: ``None``. Broad-phase algorithm. ``None`` uses Newton's default.
-    * - ``collision_detector.bvtype``
-      - Default: ``None``. Bounding-volume type. ``None`` uses Newton's default.
-    * - ``collision_detector.max_contacts``
-      - Default: ``None``. Model-wide contact buffer capacity cap.
-    * - ``collision_detector.max_contacts_per_world``
-      - Default: ``None``. Per-world contact buffer capacity override.
-    * - ``collision_detector.max_contacts_per_pair``
-      - Default: ``None``. Maximum contacts generated per candidate geometry pair by the internal Kamino collision detector.
-    * - ``collision_detector.max_triangle_pairs``
-      - Default: ``None``. Maximum triangle-primitive shape pairs in narrow phase.
-    * - ``collision_detector.default_gap``
-      - Default: ``None``. Default detection gap [m] applied as a floor to per-geometry gaps.
-    * - ``max_contacts_per_world``
-      - Default: ``None``. Caps per-world contact pre-allocation passed to Kamino. When ``None``, Kamino falls back to the collision pipeline default, which can over-allocate for contact-rich assets.
-    * - ``constraints.delta``
-      - Default: ``1.0e-6``. Contact penetration margin [m] used by Kamino constraint stabilization.
-
-
-Constraint Stabilization
-^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. list-table::
-    :header-rows: 1
-    :widths: 30 70
-
-    * - Parameter
-      - Description
-    * - ``constraints.alpha``
-      - Default: ``0.1``. Baumgarte stabilization for bilateral joint constraints. Increasing it can reduce joint constraint drift but may make the solve stiffer.
-    * - ``constraints.beta``
-      - Default: ``0.01``. Baumgarte stabilization for unilateral joint-limit constraints.
-    * - ``constraints.gamma``
-      - Default: ``0.01``. Baumgarte stabilization for unilateral contact constraints.
-
-
-P-ADMM Solver Controls
-^^^^^^^^^^^^^^^^^^^^^^
-
-Configured through :class:`~isaaclab_newton.physics.KaminoPADMMSolverCfg` at
-``solver_cfg.dynamics_solver_cfg``.
-
-.. list-table::
-    :header-rows: 1
-    :widths: 30 70
-
-    * - Parameter
-      - Description
-    * - ``solver_cfg.dynamics_solver_cfg.max_iterations``
-      - Default: ``100``. Maximum number of P-ADMM iterations per solver step. Higher values can improve convergence and increase runtime.
-    * - ``solver_cfg.dynamics_solver_cfg.primal_tolerance``
-      - Default: ``1e-4``. Primal residual convergence tolerance.
-    * - ``solver_cfg.dynamics_solver_cfg.dual_tolerance``
-      - Default: ``1e-4``. Dual residual convergence tolerance.
-    * - ``solver_cfg.dynamics_solver_cfg.compl_tolerance``
-      - Default: ``1e-4``. Complementarity residual convergence tolerance for contacts and unilateral constraints.
-    * - ``solver_cfg.dynamics_solver_cfg.restart_tolerance``
-      - Default: ``0.999``. Combined primal-dual residual tolerance for acceleration restarts.
-    * - ``solver_cfg.dynamics_solver_cfg.rho_0``
-      - Default: ``0.05``. Initial P-ADMM penalty parameter. This influences how strongly constraint residuals are penalized early in the solve.
-    * - ``solver_cfg.dynamics_solver_cfg.rho_min``
-      - Default: ``1e-5``. Lower bound on the penalty parameter.
-    * - ``solver_cfg.dynamics_solver_cfg.a_0``
-      - Default: ``1.0``. Initial acceleration parameter.
-    * - ``solver_cfg.dynamics_solver_cfg.alpha``
-      - Default: ``10.0``. Primal-dual residual threshold for penalty updates.
-    * - ``solver_cfg.dynamics_solver_cfg.tau``
-      - Default: ``1.5``. Penalty increase/decrease factor.
-    * - ``solver_cfg.dynamics_solver_cfg.eta``
-      - Default: ``1e-5``. Proximal regularization parameter. It must be greater than zero.
-    * - ``solver_cfg.dynamics_solver_cfg.penalty_update_freq``
-      - Default: ``1``. Frequency of penalty updates. Zero disables updates.
-    * - ``solver_cfg.dynamics_solver_cfg.penalty_update_method``
-      - Default: ``"fixed"``. Penalty update method. Valid values are ``"fixed"`` and ``"balanced"``.
-    * - ``solver_cfg.dynamics_solver_cfg.linear_solver_tolerance``
-      - Default: ``0.0``. Absolute tolerance for the iterative linear solver. Zero leaves it unchanged.
-    * - ``solver_cfg.dynamics_solver_cfg.linear_solver_tolerance_ratio``
-      - Default: ``0.0``. Ratio adapting the linear solver tolerance from the ADMM primal residual.
-    * - ``solver_cfg.dynamics_solver_cfg.use_acceleration``
-      - Default: ``True``. Enables acceleration in the P-ADMM iterations. This usually improves convergence but should be validated per task.
-    * - ``solver_cfg.dynamics_solver_cfg.warmstart_mode``
-      - Default: ``"containers"``. Warm-start source for P-ADMM. Valid values are ``"none"``, ``"internal"``, and ``"containers"``.
-    * - ``solver_cfg.dynamics_solver_cfg.contact_warmstart_method``
-      - Default: ``"geom_pair_net_force"``. Contact warm-start matching method.
-    * - ``solver_cfg.dynamics_solver_cfg.use_graph_conditionals``
-      - Default: ``False``. Uses CUDA graph conditional nodes for the iterative solver when ``True``. Setting it to ``False`` unrolls to fixed loops over the maximum iteration count.
-
-
-DVI Solver Controls
-^^^^^^^^^^^^^^^^^^^
-
-Configured through :class:`~isaaclab_newton.physics.KaminoDVISolverCfg` at
-``solver_cfg.dynamics_solver_cfg``.
-
-.. list-table::
-    :header-rows: 1
-    :widths: 30 70
-
-    * - Parameter
-      - Description
-    * - ``solver_cfg.dynamics_solver_cfg.max_alternating_iterations``
-      - Default: ``20``. Maximum outer DVI iterations.
-    * - ``solver_cfg.dynamics_solver_cfg.tolerance``
-      - Default: ``1e-5``. Convergence tolerance on the projected update size.
-    * - ``solver_cfg.dynamics_solver_cfg.regularization``
-      - Default: ``1e-6``. Diagonal regularization added to each projected update denominator.
-    * - ``solver_cfg.dynamics_solver_cfg.omega``
-      - Default: ``1.0``. Relaxation factor applied to projected Gauss-Seidel updates.
-    * - ``solver_cfg.dynamics_solver_cfg.inequality_sweeps_per_iteration``
-      - Default: ``1``. Projected Gauss-Seidel sweeps per DVI iteration.
-    * - ``solver_cfg.dynamics_solver_cfg.bilateral_solve_interval``
-      - Default: ``1``. DVI iterations between repeated direct bilateral solves.
-    * - ``solver_cfg.dynamics_solver_cfg.bilateral_solver_type``
-      - Default: ``"LLTB"``. Direct linear solver for bilateral constraints. Use ``"LLTBRCM"`` for large sparse systems.
-    * - ``solver_cfg.dynamics_solver_cfg.warmstart_mode``
-      - Default: ``"containers"``. Warm-start source for DVI. Valid values are ``"none"``, ``"internal"``, and ``"containers"``.
-    * - ``solver_cfg.dynamics_solver_cfg.contact_warmstart_method``
-      - Default: ``"key_and_position_with_net_force_backup"``. Contact warm-start method for container warm-starts.
-
-
-Forward Kinematics Reset
-^^^^^^^^^^^^^^^^^^^^^^^^
-
-Configured through :class:`~isaaclab_newton.physics.KaminoFKCfg` at ``solver_cfg.fk``.
-
-.. list-table::
-    :header-rows: 1
-    :widths: 30 70
-
-    * - Parameter
-      - Description
-    * - ``fk.use_regularization``
-      - Default: ``True``. Regularizes the FK reset solve with a Tikhonov term on body poses.
-    * - ``fk.regularization_weight``
-      - Default: ``1e-5``. Weight of the FK reset regularizer when ``fk.use_regularization=True``.
-    * - ``fk.tolerance``
-      - Default: ``1e-5``. Convergence tolerance of the FK reset solve.
-
-
-Material Mixing
-^^^^^^^^^^^^^^^
-
-Configured through :class:`~isaaclab_newton.physics.KaminoMaterialsCfg` at ``solver_cfg.materials``.
-
-.. list-table::
-    :header-rows: 1
-    :widths: 30 70
-
-    * - Parameter
-      - Description
-    * - ``materials.friction_mix_mode``
-      - Default: ``"average"``. How friction coefficients are mixed for a contact pair. Valid values are ``"average"``, ``"multiply"``, ``"max"``, and ``"min"``.
-    * - ``materials.restitution_mix_mode``
-      - Default: ``"min"``. How restitution coefficients are mixed for a contact pair.
-
-
-Sparsity, Dynamics, and Debugging
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. list-table::
-    :header-rows: 1
-    :widths: 30 70
-
-    * - Parameter
-      - Description
-    * - ``sparse_jacobian``
-      - Default: ``None``. Uses sparse Jacobian computation. ``None`` lets Newton pick per backend.
-    * - ``sparse_dynamics``
-      - Default: ``False``. Uses sparse dynamics computation.
-    * - ``dynamics.preconditioning``
-      - Default: ``True``. Enables preconditioning for constrained dynamics. Must be ``False`` for DVI.
-    * - ``dynamics.linear_solver_type``
-      - Default: ``"LLTB"``. Linear solver for the dynamics problem. The DVI config defaults it to ``"LLTBRCM"``.
-    * - ``collect_solver_info``
-      - Default: ``False``. Collects solver convergence and performance information. Enable only for debugging because it significantly increases runtime.
-    * - ``compute_solution_metrics``
-      - Default: ``False``. Computes solution metrics at each step. Enable only for debugging because it significantly increases runtime.
-
-
-Tuning Workflow
----------------
-
-Use the following sequence when bringing up a new Kamino task:
-
-1. Run the task with ``physics=newton_mjwarp`` and fix Newton model construction or task
-   compatibility issues first.
-2. Add a ``newton_kamino`` preset with conservative values copied from the closest
-   validated task.
-3. Run a small smoke test with a low environment count and a visualizer.
-4. Increase ``num_envs`` and profile only after the task is stable.
-5. Tune ``num_substeps``, ``padmm.max_iterations``, and the P-ADMM tolerances
-   together. Raising iteration count without checking tolerances can hide a
-   poorly scaled constraint setup.
-6. Enable ``collect_solver_info`` or ``compute_solution_metrics`` only while
-   debugging convergence. Disable them for training and benchmarks.
+This page moved to :doc:`/source/concepts/solver-tuning/tune_kamino`.
diff --git a/docs/source/overview/core-concepts/physical-backends/newton/migrating-assets-from-physx-to-newton.rst b/docs/source/overview/core-concepts/physical-backends/newton/migrating-assets-from-physx-to-newton.rst
index 6b63aa2c78f9..12cb0bd102b3 100644
--- a/docs/source/overview/core-concepts/physical-backends/newton/migrating-assets-from-physx-to-newton.rst
+++ b/docs/source/overview/core-concepts/physical-backends/newton/migrating-assets-from-physx-to-newton.rst
@@ -1,435 +1,10 @@
-Migrating Assets from PhysX to Newton with MJWarp
-==================================================
+:orphan:
 
-.. seealso::
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../how-to/prepare_asset_for_newton.html
+   :name=robots: noindex
 
-   This page is the source of truth for the ``isaaclab-preparing-assets-for-newton`` agent skill
-   (`skill source
-   <https://github.com/isaac-sim/IsaacLab/blob/develop/skills/user/prepare-assets-for-newton/SKILL.md>`__).
-   When you
-   change this page, update the skill so agent guidance stays in sync. See
-   :doc:`/source/overview/developer-guide/agent_skills`.
+Page Moved
+==========
 
-   After the asset and task run under both backends, follow
-   :doc:`/source/how-to/transfer_policies_between_physx_and_newton` and its
-   ``isaaclab-transferring-policies-sim-to-sim``
-   `skill
-   <../../../../../../skills/user/isaaclab-transferring-policies-sim-to-sim/SKILL.md>`__
-   to transfer a policy checkpoint.
-
-   Use Newton's
-   `Simulation Tuning guide <https://newton-physics.github.io/newton/latest/concepts/simulation_tuning.html>`__
-   for the current solver-specific diagnosis workflow and configuration references. The guide was
-   introduced in `newton-physics/newton#3224
-   <https://github.com/newton-physics/newton/pull/3224>`__.
-
-
-This guide outlines general considerations when migrating an asset from PhysX to Newton/MJWarp
-for the first time. Missing inertia, implicit
-collision assumptions, ambiguous joint coupling, or placeholder actuator parameters can
-produce a model that loads in both paths but represents two different systems.
-
-This guide covers the robot, rigid objects, collision geometry, articulation topology, actuators,
-and task integration required to make a PhysX asset MJWarp-ready.
-Policy training and evaluation are
-intentionally covered in the separate sim-to-sim how-to.
-
-
-Multi-backend Asset Importing Pipeline
---------------------------------------
-
-Assets provided by Isaac Lab work with both ``physics=physx`` and
-``physics=newton_mjwarp``. Many of these assets still author USD Physics and PhysX schemas; Newton
-parses the supported authored properties into its model so a separate Newton-only copy is not
-required. Confirm each property against the supported-feature and schema documentation because a
-PhysX attribute can remain present without being consumed by MJWarp.
-
-When importing a new URDF or MJCF asset, use the updated Isaac Lab importers to create a
-multi-physics asset. They generate a layered asset with neutral physics, PhysX, and MuJoCo payloads
-when ``run_asset_transformer`` and ``run_multi_physics_conversion`` are enabled; both
-converter-config options default to ``True``. The new converter produces a nested rigid-body
-structure instead of the flat USD structure from earlier releases. See
-:doc:`/source/how-to/import_new_asset`, :class:`~isaaclab.sim.converters.UrdfConverterCfg`, and
-:class:`~isaaclab.sim.converters.MjcfConverterCfg`.
-
-
-Use per-solver asset configuration classes
-------------------------------------------
-
-Asset configuration classes have been structured to allow for solver-common parameters and
-solver-specific parameters. Put common
-USD Physics properties in the solver-common classes such as ``RigidBodyBaseCfg`` and
-``JointDriveBaseCfg``. Put backend-only properties in the matching subclasses:
-
-* Use ``MujocoRigidBodyPropertiesCfg``, ``MujocoJointDrivePropertiesCfg``, and
-  ``MujocoCollisionCfg`` for properties implemented specifically by Newton's MJWarp solver.
-* Use the ``Newton*PropertiesCfg`` classes for supported Newton collision, material, articulation,
-  and other Newton-native properties.
-* Keep PhysX-only damping, stabilization, solver-iteration, friction-patch, and compliant-contact
-  parameters in the corresponding ``Physx*PropertiesCfg`` classes.
-
-The class hierarchy and parameter-to-USD routing are documented in
-:doc:`../../schema_cfgs`. Check the
-:doc:`Newton/MuJoCo schema API </source/api/lab_newton/isaaclab_newton.sim.schemas>` and
-:doc:`PhysX schema API </source/api/lab_physx/isaaclab_physx.sim.schemas>` for the currently
-supported fields. A value being present in the PhysX asset or imported Newton model does not prove
-that MJWarp uses it during stepping.
-
-This setup is designed to help prevent scenarios where parameters are silently ignored when unsupported
-by a solver. For backwards compatibility, we still allow using a default configuration that may include
-solver-specific attributes. However, some attributes may not be parsed by specific solvers.
-
-
-Audit the authored mechanical model
------------------------------------
-
-Inspect every dynamic link and contact-relevant object:
-
-* Author positive mass [kg], center of mass [m], and positive-definite inertia [kg*m^2]. Treat a
-  placeholder inertia warning as a modeling failure.
-* Confirm the inertia frame and center-of-mass frame. A positive tensor in the wrong frame still
-  produces incorrect joint and contact acceleration.
-* Apply ``UsdPhysics.CollisionAPI`` only to intended collision geometry. Do not let an importer
-  silently fall back to render meshes.
-* Compare collision approximation, mesh scale, contact offset or margin, material binding,
-  restitution, and self-collision filtering. Visual parity is not collision parity.
-* Verify the articulation root, fixed-base representation, fixed-joint merging, nested rigid
-  bodies, joint types, axes, and limits.
-* Check that gravity is enabled or disabled intentionally for each rigid body. A source asset can
-  carry a stale body-level override that makes the task behave differently from the scene gravity.
-
-
-Match contact and friction behavior
------------------------------------
-
-The same nominal friction coefficient does not reproduce the same grasp in PhysX and MJWarp.
-MJWarp often exhibits more slip because contact dimensionality, material combination, contact
-geometry and count, and the global friction-cone formulation differ. Tune the target contact path
-instead of copying PhysX friction settings numerically:
-
-* First confirm that both backends use the intended collision shapes and material bindings and
-  generate contacts at the expected locations. Also confirm that the gripper can supply the
-  intended normal force.
-* Inspect the resolved MJWarp contact dimensionality, ``condim``. ``condim=1`` is frictionless,
-  ``3`` adds tangential friction, ``4`` adds torsional friction, and ``6`` also adds rolling
-  friction. Select the smallest model that represents the required contact physics and verify that
-  the active importer and contact path preserve it.
-* Tune the material friction against measured tangential slip. PhysX static and dynamic
-  coefficients and combination modes do not map one-to-one to MJWarp's resolved coefficient.
-* Tune the global ``MJWarpSolverCfg.cone`` and ``MJWarpSolverCfg.impratio`` after the contact model
-  and coefficients are valid. ``cone="elliptic"`` can suppress grasp slip more faithfully than
-  ``"pyramidal"`` at additional cost. For a validated grasp, ``impratio=10`` is a useful starting
-  point; recheck convergence and runtime after changing either setting.
-
-``condim`` is a per-collision-shape MuJoCo attribute and defaults to ``3`` when ``mjc:condim`` is
-not authored. ``impratio`` and ``cone`` are global MJWarp solver options; ``impratio`` defaults to
-``1.0``. The following task configuration writes ``mjc:condim=4`` on every collision shape below
-``object_spawn_cfg`` and selects the grasping solver starting point:
-
-.. code-block:: python
-
-    import isaaclab.sim as sim_utils
-    from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
-    from isaaclab_newton.sim.schemas import MujocoCollisionCfg
-
-
-    object_spawn_cfg = sim_utils.UsdFileCfg(
-        usd_path="path/to/object.usd",
-        collision_props=[
-            sim_utils.UsdPhysicsCollisionCfg(collision_enabled=True),
-            MujocoCollisionCfg(condim=4),
-        ],
-    )
-
-    newton_mjwarp_cfg = NewtonCfg(
-        solver_cfg=MJWarpSolverCfg(
-            cone="elliptic",
-            impratio=10.0,
-        ),
-    )
-
-``MujocoCollisionCfg`` exposes the per-collider custom attributes registered by MJWarp:
-
-.. list-table::
-   :header-rows: 1
-   :widths: 18 82
-
-   * - Field
-     - Use
-   * - ``condim``
-     - Select the friction-cone dimensions: ``1``, ``3``, ``4``, or ``6``.
-   * - ``priority``
-     - Select which collider's contact parameters take precedence when priorities differ.
-   * - ``solmix``
-     - Weight contact-parameter mixing when priorities are equal.
-   * - ``solref``
-     - Override the two contact reference parameters. Tune only with the corresponding MuJoCo
-       solver-parameter model in mind.
-   * - ``solimp``
-     - Override the five contact impedance parameters. Tune only after collision geometry,
-       margins, material properties, and contact counts are correct.
-   * - ``group``
-     - Set the MuJoCo geometry group used for visualization and inertia-inference selection. This
-       is not an Isaac Lab collision-filter group.
-
-Use :attr:`~isaaclab_newton.sim.schemas.NewtonCollisionCfg.contact_margin` and
-:attr:`~isaaclab_newton.sim.schemas.NewtonCollisionCfg.contact_gap` for contact spacing, and use
-:attr:`~isaaclab_newton.sim.schemas.NewtonMeshCollisionCfg.max_hull_vertices` for the convex-hull
-vertex limit instead of duplicating their raw ``mjc:*`` importer attributes. Author explicit mass
-and inertia rather than relying on ``mjc:shellinertia`` during migration.
-
-Assign ``object_spawn_cfg`` to the asset's ``spawn`` field and use ``newton_mjwarp_cfg`` as the
-``newton_mjwarp`` physics preset. A file spawner applies ``collision_props`` recursively, so do not
-attach this override to an entire robot when only its fingertips need ``condim=4``. Instead, author
-``mjc:condim`` on the intended collider prims in USD, preserve the source MJCF ``geom`` ``condim``
-during conversion, or apply separate spawn configurations to the contacting assets. Set the value
-on every collider whose contact model must be controlled; then inspect the exported MJCF or
-resolved model to confirm it. ``impratio`` remains global for the entire MJWarp simulation.
-
-Record object displacement, contact count, gripper effort, penetration, and success rate for the
-same fixed grasp. Do not increase friction, ``condim``, or ``impratio`` to hide missing contacts,
-incorrect collision geometry, or insufficient actuator effort. See :ref:`mjwarp-solver-tuning` for
-the complete tuning sequence.
-
-
-.. _newton-velocity-limits:
-
-Velocity limits distinction
----------------------------
-
-``actuator_velocity_limit`` is the actuator's physical rated speed. Isaac Lab can use it in
-actuator or task logic, observations, rewards, and terminations, but MJWarp does not parse it into
-the solver model and does not enforce it during stepping.
-
-``joint_velocity_limit`` requests a solver-side hard clamp and has no direct hardware counterpart.
-Isaac Lab always writes the value to Newton's ``Model.joint_velocity_limit``. The MJWarp solver
-drops that field instead of consuming it, while the Kamino solver honors it. Consequently, neither
-``velocity_limit`` nor ``joint_velocity_limit`` prevents a joint from exceeding the requested speed
-under ``physics=newton_mjwarp``.
-
-Do not treat these values as an MJWarp safety mechanism. When a task requires a rated-speed
-boundary, check it explicitly in observations or terminations and use physically justified effort
-limits, damping, armature, action scaling, rate limits, or controller clipping to keep the response
-well behaved. PhysX does consume its supported solver clamp; an overly tight PhysX clamp can make a
-velocity-limit termination unreachable and create a hidden transfer difference.
-``joint_effort_limit`` is the simulated effort limit. Use
-``actuator_effort_limit`` to clip an explicit actuator model, and choose both limits from the
-motor and gearbox rather than using one oversized value for the whole robot.
-
-
-Why MJWarp often needs more armature
-------------------------------------
-
-Joint armature represents motor and transmission inertia reflected into generalized coordinates.
-For a geared revolute actuator, a useful physical starting point is
-
-.. math::
-
-   a \approx J_\mathrm{rotor} N^2,
-
-where :math:`J_\mathrm{rotor}` is rotor inertia and :math:`N` is the reduction ratio. The effective
-joint-space inertia becomes
-
-.. math::
-
-   M_\mathrm{eff}(q) = M(q) + \operatorname{diag}(a).
-
-An impulse :math:`p` then produces approximately
-
-.. math::
-
-   \Delta \dot{q} = M_\mathrm{eff}^{-1}p.
-
-Consequently, a light distal link, finger, or free rotational coordinate with very small effective
-inertia can convert a modest drive or contact impulse into a very large velocity. PhysX and MJWarp
-differ in contact regularization, constraint stabilization, drive integration, and clamp behavior;
-a nearly singular or very stiff model that appeared stable in PhysX can expose much larger angular
-velocities in MJWarp. Adding physically justified armature improves the conditioning of the
-generalized mass matrix, bounds acceleration, and makes drives and contacts less sensitive to
-time-step and iteration choices. This is why many assets need larger, per-joint armature values
-when they are calibrated for MJWarp.
-
-Zero-gravity curricula make this problem especially visible. Zero gravity does not directly damp
-rotation. Instead, an unsupported object can remain in free flight or sustained manipulator
-contact, without settling onto a support surface. Repeated constraint and contact impulses can
-therefore excite low-inertia rotational coordinates and produce large angular velocities. During
-the Franka migration, this zero-gravity behavior motivated increased armature on the low-inertia
-generalized coordinates for which armature was available. Do not infer from that observation that
-the grasped rigid body itself exposes an armature parameter.
-
-Apply that remedy according to the representation:
-
-* For a robot or an object represented as an articulation, set joint armature to the
-  smallest value supported by reflected rotor inertia, identified response, or controlled impulse
-  tests.
-* A plain :class:`~isaaclab.assets.RigidObject` has no actuator armature. Give it correct body mass
-  and inertia first. Represent any remaining rotational energy loss according to its physical
-  source: use contact and material friction for contact losses, or apply an explicit drag torque
-  for bearing or fluid drag, then validate the response with free-spin and impact-decay tests.
-  Enforce a required angular-speed operating bound explicitly in task or control logic. Reserve
-  armature for inertia reflected through articulated coordinates; describe rigid-body drag and
-  speed bounds by their actual mechanisms.
-
-Armature is not a universal stability knob. Do not use it to hide incorrect units, missing body
-inertia, penetrating resets, excessive effort or action scale, an incorrect control period, or
-undersized contact capacity. Compare the source and target step and impulse responses after each
-change.
-
-Retune damping with armature
-----------------------------
-
-Insufficient damping lets a position policy alternate large positive and negative commands,
-creating bang-bang control that exploits one solver's drive or joint-limit response. For one joint,
-
-.. math::
-
-   \omega_n = \sqrt{\frac{k_p}{I_\mathrm{eff}}}, \qquad
-   \zeta = \frac{k_d}{2\sqrt{k_p I_\mathrm{eff}}}.
-
-Increasing armature increases :math:`I_\mathrm{eff}` and, with fixed :math:`k_d`, reduces damping
-ratio. Retune armature, stiffness, and damping together from an open-loop step response. Use enough
-damping for a plausible, non-oscillatory response, keep action scales conservative, and keep targets
-away from hard stops. Do not mask a bad inertia tensor with extreme damping.
-
-For a stiffness-dominated relative position action, the approximate steady closing speed is
-
-.. math::
-
-   v \approx \frac{k_p s}{k_d},
-
-where :math:`s` is action scale. This relation is useful for choosing gripper damping from a rated
-closing speed and for defining a physically meaningful randomization range.
-
-
-Choose an MJWarp starting profile
----------------------------------
-
-PhysX and MJWarp solver parameters often do not have one-to-one mapping. PhysX scene and per-actor iteration
-counts are not MJWarp nonlinear-solver iterations, and PhysX GPU contact buffers are not MJWarp's
-per-environment ``njmax`` or ``nconmax`` budgets. Start from the nearest profile in
-:ref:`mjwarp-solver-tuning`, then validate the task's worst-case randomized state.
-
-For a new articulation with light contact, the common starting point is
-``MJWarpSolverCfg(integrator="implicitfast", njmax=50, nconmax=20, cone="pyramidal", impratio=1)``
-with ``NewtonCfg.num_substeps=1``. These values override the :class:`~isaaclab_newton.physics.MJWarpSolverCfg`
-defaults of ``integrator="euler"``, ``njmax=300``, and ``nconmax=None``. Maintained locomotion tasks
-commonly need constraint/contact budgets near ``100``/``40``. Dexterous hand tasks commonly start
-near ``200``/``70`` with ``NewtonCfg.num_substeps=2``, an elliptic cone, and ``impratio=10``. Dense
-manipulation can require ``300``/``200``. These are capacity and formulation profiles, not fidelity
-guarantees.
-
-Keep ``iterations=100``, ``ls_iterations=50``, and ``tolerance=1e-6`` for the first explicit
-baseline. Enable ``NewtonCfg.debug_mode`` and change convergence work only after capacity is sufficient
-and the iteration report or a recorded task metric identifies a convergence problem. Some dense
-manipulation tasks reduce ``ls_iterations`` to ``15`` for measured performance; do not copy that
-optimization before validating the larger default.
-
-Use MuJoCo contacts by default. Switch to ``use_mujoco_contacts=False`` only when the task needs
-Newton's collision pipeline, such as the rough-terrain, SDF or hydroelastic, and some
-dense-manipulation patterns. Only then assign a
-:class:`~isaaclab_newton.physics.NewtonCollisionPipelineCfg` to ``NewtonCfg.collision_cfg`` and set
-``max_triangle_pairs`` or ``rigid_contact_max`` on that pipeline config; tune per-shape margins on
-the corresponding shape config. See :doc:`mjwarp-solver` for the complete PhysX mapping table,
-starting profiles, parameter semantics, and tuning sequence.
-
-Run task-level smoke tests to compare behavior between PhysX and MJWarp:
-
-.. tab-set::
-   :sync-group: os
-
-   .. tab-item:: :icon:`fa-brands fa-linux` Linux
-      :sync: linux
-
-      .. code-block:: bash
-
-         uv run --extra isaacsim python scripts/environments/zero_agent.py \
-             --task TASK --num_envs 4 --viz none physics=physx
-         uv run --extra isaacsim python scripts/environments/zero_agent.py \
-             --task TASK --num_envs 4 --viz none physics=newton_mjwarp
-         uv run --extra isaacsim python scripts/environments/random_agent.py \
-             --task TASK --num_envs 4 --viz none physics=physx
-         uv run --extra isaacsim python scripts/environments/random_agent.py \
-             --task TASK --num_envs 4 --viz none physics=newton_mjwarp
-
-   .. tab-item:: :icon:`fa-brands fa-windows` Windows
-      :sync: windows
-
-      .. code-block:: batch
-
-         uv run --extra isaacsim python scripts\environments\zero_agent.py ^
-             --task TASK --num_envs 4 --viz none physics=physx
-         uv run --extra isaacsim python scripts\environments\zero_agent.py ^
-             --task TASK --num_envs 4 --viz none physics=newton_mjwarp
-         uv run --extra isaacsim python scripts\environments\random_agent.py ^
-             --task TASK --num_envs 4 --viz none physics=physx
-         uv run --extra isaacsim python scripts\environments\random_agent.py ^
-             --task TASK --num_envs 4 --viz none physics=newton_mjwarp
-
-   .. tab-item:: DGX / multi-GPU
-
-      .. code-block:: bash
-
-         uv run --extra isaacsim python scripts/environments/zero_agent.py \
-             --task TASK --num_envs 4 --device cuda:N --viz none physics=physx
-         uv run --extra isaacsim python scripts/environments/zero_agent.py \
-             --task TASK --num_envs 4 --device cuda:N --viz none physics=newton_mjwarp
-         uv run --extra isaacsim python scripts/environments/random_agent.py \
-             --task TASK --num_envs 4 --device cuda:N --viz none physics=physx
-         uv run --extra isaacsim python scripts/environments/random_agent.py \
-             --task TASK --num_envs 4 --device cuda:N --viz none physics=newton_mjwarp
-
-      Replace ``N`` with the GPU index assigned to the process. MJWarp's ``njmax`` and ``nconmax``
-      capacities are allocated per environment, so device-memory use grows with ``num_envs``.
-
-Let each continuous agent run through multiple resets, then interrupt it. Check for non-finite
-state, first-step impulses, unexpected joint saturation, excessive angular velocity, contact loss,
-and importer or solver warnings.
-
-Reset validity is part of asset readiness. Reject robot-object and robot-support penetrations,
-impossible mimic states, and invalid randomized geometry before the first physics step. If valid
-states are cached, inspect explicit collision meshes, cover every heterogeneous clone group,
-exclude a fixed base from ground-clearance tests, store positions relative to environment origins,
-and rebuild the cache after topology or geometry changes.
-
-
-Diagnose MJWarp-only failures
------------------------------
-
-A scene can remain finite in PhysX but produce a NaN, overflow, or unstable contact in MJWarp.
-Treat that difference as evidence to localize, not proof that one solver setting is wrong. MJWarp
-can expose invalid or ill-conditioned asset data, unsupported features, different contact
-behavior, or insufficient solver capacity that PhysX tolerated.
-
-#. Reproduce the first failing step with one environment, a fixed seed and reset state, domain
-   randomization disabled, and the same command or action sequence in both backends.
-#. For a failure at initialization or the first step, inspect mass and inertia, collision scale,
-   reset overlap, joint and mimic topology, drive import, and unsupported features before changing
-   solver parameters.
-#. For a failure that begins at contact, inspect contact locations and counts, ``nconmax`` and
-   ``njmax`` warnings, margins, ``condim``, friction, cone choice, and extreme mass or inertia
-   ratios.
-#. For a failure under control, inspect effort and gain limits, action scale and discontinuities,
-   ``dt`` and substeps, damping, armature, and joint-limit impacts.
-#. For failures that appear only with dense scenes or many environments, compare the busiest
-   environment against the per-environment contact and constraint capacities.
-
-Enable ``NewtonCfg.debug_mode`` to inspect iteration-cap usage. Increase capacity when contacts or
-constraints overflow; sweep iterations, line-search work, or tolerance only after the asset,
-reset, controller, contact model, and capacities are valid. Keep the smallest fixed-state
-reproduction and record the first non-finite quantity so later changes can be compared one at a
-time.
-
-See also
---------
-
-* :doc:`index`
-* :doc:`supported-features`
-* :doc:`mjwarp-solver`
-* :doc:`../../schema_cfgs`
-* `Newton Simulation Tuning guide
-  <https://newton-physics.github.io/newton/latest/concepts/simulation_tuning.html>`__
-* `MuJoCo-Warp Contact Tuning guide
-  <https://newton-physics.github.io/newton/latest/concepts/simulation_tuning_mujoco.html>`__
-* :doc:`../../multi_backend_architecture`
-* :doc:`/source/how-to/import_new_asset`
-* :doc:`/source/features/hydra`
+This page moved to :doc:`/source/how-to/prepare_asset_for_newton`.
diff --git a/docs/source/overview/core-concepts/physical-backends/newton/mjwarp-solver.rst b/docs/source/overview/core-concepts/physical-backends/newton/mjwarp-solver.rst
index a53f9e4f8535..58c970dc55ef 100644
--- a/docs/source/overview/core-concepts/physical-backends/newton/mjwarp-solver.rst
+++ b/docs/source/overview/core-concepts/physical-backends/newton/mjwarp-solver.rst
@@ -1,291 +1,10 @@
-.. _mjwarp-solver-tuning:
+:orphan:
 
-MJWarp Solver
-=============
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../concepts/solver-tuning/tune_mjwarp.html
+   :name=robots: noindex
 
-The MuJoCo-Warp solver from Google DeepMind is the primary, validated solver
-for the Newton backend in Isaac Lab. It is enabled by setting
-:attr:`~isaaclab_newton.physics.NewtonCfg.solver_cfg` to a
-:class:`~isaaclab_newton.physics.MJWarpSolverCfg`, usually exposed as the
-``newton_mjwarp`` physics preset on a task configuration. Newton ships with
-support for other solvers as well — see :doc:`kamino-solver` and
-:ref:`hydra-backend-solver-presets` for how presets are selected. For details
-on how solver-specific managers are implemented, or how to add a new solver
-manager, see :doc:`newton-manager-abstraction`.
+Page Moved
+==========
 
-For a diagnose-first workflow, parameter-ordering guidance, and links to the current
-solver-specific references, see Newton's
-`Simulation Tuning guide <https://newton-physics.github.io/newton/latest/concepts/simulation_tuning.html>`__.
-The companion `Solver Tuning Reference
-<https://newton-physics.github.io/newton/latest/concepts/simulation_tuning_solvers.html>`__
-lists the options supported by each Newton solver, while the `MuJoCo-Warp Contact Tuning guide
-<https://newton-physics.github.io/newton/latest/concepts/simulation_tuning_mujoco.html>`__
-explains the MuJoCo constraint model and contact-parameter mapping.
-
-
-The mechanical scene still comes from USD, but solver configuration is backend-specific.
-:class:`~isaaclab_newton.physics.NewtonCfg` replaces
-:class:`~isaaclab_physx.physics.PhysxCfg` inside an MJWarp physics preset; the simulation ``dt``
-remains on :class:`~isaaclab.sim.SimulationCfg`.
-
-Do not translate PhysX knobs one-for-one
-----------------------------------------
-
-PhysX and MJWarp expose some related concepts, but their parameters have different scopes,
-algorithms, and units. A matching number rarely means matching behavior.
-
-.. list-table::
-   :header-rows: 1
-   :widths: 28 28 44
-
-   * - PhysX configuration surface
-     - Closest MJWarp surface
-     - Migration rule
-   * - Scene min/max solver iterations and per-actor position or velocity iterations
-     - ``iterations``, ``ls_iterations``, and ``tolerance``
-     - There is no numeric conversion. MJWarp's values are solver-wide nonlinear and line-search
-       convergence caps, not per-actor TGS or PGS sweeps.
-   * - ``gpu_max_rigid_contact_count``, ``gpu_max_rigid_patch_count``, and found/lost-pair buffers
-     - ``nconmax`` and ``njmax``; or ``collision_cfg.rigid_contact_max`` and
-       ``collision_cfg.max_triangle_pairs`` when using Newton contacts
-     - PhysX buffers are scene-wide GPU allocations. ``nconmax`` and ``njmax`` are per environment.
-       Size them from MJWarp contact and constraint demand, not from the PhysX allocation.
-   * - ``bounce_threshold_velocity``
-     - Contact material, timestep, damping, and the active MuJoCo ``solref``/``solimp`` mapping
-     - MJWarp has no direct bounce-threshold replacement. Reproduce the intended contact response
-       instead of copying the threshold.
-   * - ``friction_correlation_distance``
-     - Collision geometry and contact count, ``cone``, ``impratio``, and material friction
-     - There is no distance-to-``impratio`` conversion. Establish the expected contacts first, then
-       tune friction behavior.
-   * - ``solver_type`` TGS or PGS
-     - ``solver="newton"`` or ``"cg"``
-     - These are different algorithms. Maintained Isaac Lab tasks use ``"newton"``; do not infer a
-       pairing from the names.
-   * - ``enable_ccd``
-     - Contact representation and ``ccd_iterations``
-     - ``ccd_iterations`` is a convergence cap for convex collision detection, not an enable flag
-       equivalent to PhysX CCD.
-   * - ``enable_stabilization``
-     - Model validation, smaller solver ``dt``, substeps, damping, and convergence work
-     - There is no direct MJWarp stabilization pass. Diagnose the underlying failure.
-
-Start from an explicit baseline
--------------------------------
-
-The following baseline makes the frequently relied-on values visible. ``iterations``,
-``ls_iterations``, and ``tolerance`` match the current
-:class:`~isaaclab_newton.physics.MJWarpSolverCfg` defaults; ``integrator="implicitfast"`` is an
-intentional override used by nearly every maintained Isaac Lab MJWarp environment because it is a
-better starting point for stiff drives and contact than the Isaac Lab configuration default of
-``"euler"``.
-
-.. code-block:: python
-
-    from isaaclab.sim import SimulationCfg
-    from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
-
-    solver_cfg = MJWarpSolverCfg(
-        solver="newton",
-        integrator="implicitfast",
-        njmax=50,
-        nconmax=20,
-        cone="pyramidal",
-        impratio=1.0,
-        iterations=100,
-        ls_iterations=50,
-        tolerance=1.0e-6,
-    )
-    newton_cfg = NewtonCfg(
-        solver_cfg=solver_cfg,
-        num_substeps=1,
-        debug_mode=False,  # Set True during tuning, False for production.
-    )
-    sim: SimulationCfg = SimulationCfg(dt=1 / 120, render_interval=decimation, physics=newton_cfg)
-
-Enable ``debug_mode`` during tuning so Isaac Lab reports the minimum, mean, maximum, and standard
-deviation of the per-environment solver iteration count and warns when an environment reaches the
-``iterations`` cap. Disable it for production training after the solver budget is validated.
-
-Repository starting profiles
-----------------------------
-
-The checked-in task configurations show four recurring profiles. These values are **initial
-budgets**, not universal safe values. Validate them with the task's worst-case reset, contact, and
-command distribution, then keep only the capacity and convergence work that the task needs.
-
-.. list-table::
-   :header-rows: 1
-   :widths: 24 13 13 18 14 18
-
-   * - Task profile
-     - ``njmax``
-     - ``nconmax``
-     - Friction starting point
-     - Substeps
-     - Other starting values
-   * - Simple articulation or reach
-     - ``50``
-     - ``20``
-     - pyramidal, ``impratio=1``
-     - ``1``
-     - ``update_data_interval=1``
-   * - Legged locomotion
-     - ``100``
-     - ``40``
-     - pyramidal, ``impratio=1``
-     - ``1``
-     - Reduce to measured demand
-   * - Dexterous reorientation or handover
-     - ``200``
-     - ``70``
-     - elliptic, ``impratio=10``
-     - ``2``
-     - ``update_data_interval=2``
-   * - Dense manipulation or many objects
-     - ``300``
-     - ``200``
-     - task-dependent
-     - ``2``
-     - Validate the contact pipeline
-
-The maintained locomotion presets span roughly ``njmax=52`` to ``130`` and ``nconmax=10`` to
-``40``. Cartpole uses only ``5`` and ``3``. Dexterous tasks use ``80`` to ``200`` constraint rows,
-``70`` contacts, two substeps, and commonly an elliptic cone with ``impratio=10``. Dense
-manipulation configurations use ``300`` and ``200``. These ranges explain the profiles; they are
-not guarantees that a new task will fit.
-
-Some Anymal locomotion presets use an elliptic cone with ``impratio=100``. Treat that as a
-robot-specific tuned result, not a default for locomotion or grasping. Likewise, dense
-manipulation configurations that set ``ls_iterations=15`` are reducing the class default of ``50``
-for measured performance; ``15`` is not a higher-accuracy setting.
-
-Tune parameters by function
----------------------------
-
-Capacity: ``njmax`` and ``nconmax``
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-``nconmax`` bounds contact points per environment. ``njmax`` bounds constraint rows per
-environment; one contact can generate multiple rows, and joint limits, drives, equality
-constraints, and mimic constraints also consume rows. Do not derive ``njmax`` directly from
-``nconmax``.
-
-Increase capacity first when the solver reports overflow, contacts disappear only in dense
-states, equality constraints are missing, or behavior changes with the number of objects. Add
-headroom above the measured worst case, including randomized geometry and resets. Once the full
-distribution is stable, reduce capacity in a bounded performance sweep. Increasing either value
-cannot repair wrong collision geometry, insufficient friction, poor convergence, or invalid
-resets.
-
-Integration: ``integrator`` and ``num_substeps``
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Start rigid articulated tasks with ``integrator="implicitfast"``. Use ``num_substeps=1`` for simple
-tasks and most locomotion; test ``2`` for dexterous contact, high drive stiffness, light objects,
-or impact-heavy motion. Each solver substep uses ``SimulationCfg.dt / num_substeps``. Substeps do
-not change the policy period ``SimulationCfg.dt * env.decimation``.
-
-Prefer adding a substep or reducing ``dt`` before making contact substantially harder. Compare
-runtime and the same physical metrics at every candidate. Do not change policy decimation merely
-to hide a solver instability.
-
-Convergence: ``iterations``, ``ls_iterations``, and ``tolerance``
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Keep ``solver="newton"`` and the default ``iterations=100``, ``ls_iterations=50``, and
-``tolerance=1e-6`` for the first validated baseline. If ``debug_mode`` shows environments reaching
-the iteration cap or a reproducible residual or task metric improves with more work, sweep one cap
-at a time. Stop when the metric plateaus. Lowering ``tolerance`` requests tighter convergence;
-raising it permits earlier exit.
-
-Do not raise iterations to compensate for bad inertia, reset penetration, missing collision
-geometry, unsupported constraints, excessive drive stiffness, or undersized capacity. Conversely,
-do not copy the ``ls_iterations=15`` performance choice from dense manipulation until the task
-converges reliably with the larger default.
-
-Friction: ``cone`` and ``impratio``
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Use ``cone="pyramidal"`` with ``impratio=1`` as the inexpensive baseline. Test
-``cone="elliptic"`` for contact-rich manipulation or when physically valid friction and normal
-force still produce slip. Elliptic cones are a closer friction representation but cost more.
-``impratio`` controls frictional relative to normal constraint impedance; try ``10`` for a
-validated grasp before considering larger values. Recheck convergence and runtime whenever the
-cone changes because this changes the constraint formulation.
-
-Do not use ``impratio`` to compensate for missing contacts, incorrect friction coefficients,
-insufficient gripper effort, sparse collision geometry, or a controller that opens the grasp.
-
-Contact path: ``use_mujoco_contacts`` and ``collision_cfg``
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Keep ``use_mujoco_contacts=True`` for the simplest baseline. This uses MuJoCo's internal collision
-detection and forbids setting :attr:`~isaaclab_newton.physics.NewtonCfg.collision_cfg`.
-
-Set ``use_mujoco_contacts=False`` when the task specifically needs Newton's collision pipeline,
-for example non-convex meshes, SDF or hydroelastic contacts, or the maintained rough-terrain and
-dense-manipulation patterns. Then configure
-:class:`~isaaclab_newton.physics.NewtonCollisionPipelineCfg` on
-:class:`~isaaclab_newton.physics.NewtonCfg`. The maintained rough-terrain presets use
-``default_shape_cfg.margin=0.01`` and raise ``max_triangle_pairs`` from ``1_000_000`` to
-``2_500_000``; the Lift pattern raises ``rigid_contact_max`` for its unusually dense scene.
-Increase those capacities only in response to the matching overflow or missing-contact evidence.
-
-``collision_decimation=0`` collides once per physics tick. A positive value re-collides every N
-solver substeps and only matters when the Newton collision pipeline is active and
-``num_substeps > 1``. Refresh contacts more often for fast-changing manipulation contacts before
-reducing it for performance.
-
-Collision convergence: ``ccd_iterations``
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Keep the default ``35``. Increase it when GJK/EPA explicitly warns that
-``opt.ccd_iterations`` is insufficient or a reproducible complex-geometry collision fails to
-converge. Handover uses ``50`` for multi-finger geometry; a coupled cloth example uses ``100``.
-This knob does not enable PhysX-style continuous collision detection and should not be raised for
-unrelated contact softness or solver residuals.
-
-State synchronization: ``update_data_interval``
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Keep ``1`` while bringing up a task. Several two-substep humanoid and dexterous environments use
-``2`` to reduce joint-state resynchronization frequency. Increase the interval only after resets,
-Newton-side state writes, contact reporting, and sensors are verified. ``0`` disables updates
-after initialization and is unsuitable for a normal migration unless the data flow has been
-audited explicitly.
-
-Diagnostic and model-conversion options
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-The following settings are useful, but they are not general stability knobs:
-
-* ``save_to_mjcf`` exports the converted model for inspecting joints, actuators, contacts, and
-  resolved MuJoCo options.
-* ``use_mujoco_cpu=True`` is a diagnostic comparison path, not the GPU training configuration.
-* ``disable_contacts=True`` isolates whether a failure originates in contact; do not train the
-  final contact task with it.
-* ``default_actuator_gear`` and ``actuator_gears`` change the actuator transmission model. Source
-  them from the mechanism or an identified model rather than tuning them as solver convergence
-  parameters.
-* ``use_cuda_graph=False`` can aid debugging but severely reduces performance.
-
-Recommended tuning sequence
----------------------------
-
-#. Reproduce one failure with a fixed initial state and command.
-#. Validate units, mass, inertia, collision geometry, joint topology, drives, reset overlap, and
-   supported MJWarp features.
-#. Establish ``dt``, ``integrator="implicitfast"``, and a task-appropriate substep count.
-#. Size ``nconmax`` and ``njmax``. If using Newton contacts, size the collision-pipeline buffers.
-#. Enable ``debug_mode`` and sweep convergence settings only when the solver reaches its cap or a
-   recorded residual or task metric justifies more work.
-#. Tune the friction cone, ``impratio``, and contact material against penetration, slip, energy,
-   success, and runtime metrics.
-#. Optimize line searches, state-update frequency, collision refresh, capacities, and substeps
-   only after behavior is acceptable.
-
-See :doc:`migrating-assets-from-physx-to-newton` for the complete model and asset audit. For the
-authoritative MuJoCo contact formulation, consult the `MuJoCo computation documentation
-<https://mujoco.readthedocs.io/en/stable/computation/index.html#contact>`__ and `option reference
-<https://mujoco.readthedocs.io/en/stable/XMLreference.html#option-impratio>`__.
+This page moved to :doc:`/source/concepts/solver-tuning/tune_mjwarp`.
diff --git a/docs/source/overview/core-concepts/physical-backends/newton/newton-manager-abstraction.rst b/docs/source/overview/core-concepts/physical-backends/newton/newton-manager-abstraction.rst
index e8aab8806dcd..9353c68155da 100644
--- a/docs/source/overview/core-concepts/physical-backends/newton/newton-manager-abstraction.rst
+++ b/docs/source/overview/core-concepts/physical-backends/newton/newton-manager-abstraction.rst
@@ -1,276 +1,15 @@
-Newton Manager Abstraction
-==========================
+.. Copyright (c) 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
 
-Newton exposes multiple solver families, and Isaac Lab keeps that flexibility by
-making each solver an implementation detail of a small
-:class:`~isaaclab_newton.physics.NewtonManager` subclass. The simulation context
-still sees a normal physics manager; the solver configuration decides which
-manager class is used.
+:orphan:
 
-For most new Newton solvers, the integration surface is intentionally small:
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../developer-tools/extending_newton_solvers.html
+   :name=robots: noindex
 
-* define a solver config that inherits from
-  :class:`~isaaclab_newton.physics.NewtonSolverCfg`;
-* point the config's ``class_type`` at a manager subclass;
-* implement ``_build_solver()`` in that manager;
-* set the three base-manager slots: ``_solver``, ``_use_single_state``, and
-  ``_needs_collision_pipeline``.
+Page Moved
+==========
 
-The existing MuJoCo Warp, XPBD, Featherstone, and Kamino managers are examples
-of this pattern.
-
-
-Adding a Solver Manager
------------------------
-
-The solver config carries both user-tunable solver parameters and the manager
-dispatch target:
-
-.. code-block:: python
-
-    from isaaclab_newton.physics import NewtonManager, NewtonSolverCfg
-    from isaaclab.utils.configclass import configclass
-
-
-    @configclass
-    class MySolverCfg(NewtonSolverCfg):
-        class_type: type[NewtonManager] | str = "{DIR}.my_solver_manager:NewtonMySolverManager"
-        solver_type: str = "my_solver"
-        iterations: int = 16
-
-
-``NewtonCfg`` copies ``solver_cfg.class_type`` into its own ``class_type`` in
-``__post_init__``. User code keeps the normal shape:
-
-.. code-block:: python
-
-    from isaaclab.sim import SimulationCfg
-    from isaaclab_newton.physics import NewtonCfg
-
-    sim_cfg = SimulationCfg(
-        physics=NewtonCfg(
-            solver_cfg=MySolverCfg(iterations=32),
-            num_substeps=2,
-        )
-    )
-
-
-The manager then owns solver construction:
-
-.. code-block:: python
-
-    from newton import Model
-    from newton.solvers import SolverMySolver
-
-    from isaaclab_newton.physics import NewtonManager
-
-
-    class NewtonMySolverManager(NewtonManager):
-        @classmethod
-        def _build_solver(cls, model: Model, solver_cfg: MySolverCfg) -> None:
-            NewtonManager._solver = SolverMySolver(model, iterations=solver_cfg.iterations)
-            NewtonManager._use_single_state = False
-            NewtonManager._needs_collision_pipeline = True
-
-
-``_use_single_state`` tells the base manager whether the solver advances in
-place or swaps input/output states. ``_needs_collision_pipeline`` tells the base
-manager whether to allocate and pass Newton collision-pipeline contacts to the
-solver. A solver with its own internal contact detector can set it to ``False``.
-
-Optional Overrides
-------------------
-
-Most managers only implement ``_build_solver()``. Override more only when the
-solver actually needs it:
-
-* ``_initialize_contacts()``: allocate custom contact buffers or support an
-  internal contact detector.
-* ``_step_solver(state_0, state_1, control, contacts, substep_dt)``: change one substep of
-  solver execution while keeping the base simulation loop.
-* ``_simulate_physics_only()``: add per-step work around the base substep loop,
-  such as rebuilding a BVH.
-* ``_reset_solver_internals(world_mask)``: clear solver-owned state for reset
-  environments.
-* ``start_simulation()`` or ``instantiate_builder_from_stage()``: customize model
-  building or post-finalize setup.
-* ``_register_builder_attributes(builder)``: register solver-specific Newton
-  custom attributes (particle, shape, body) on the builder before particles or
-  finalize run. The active manager class invokes this hook from
-  ``create_builder()``, ``start_simulation()``, and
-  ``instantiate_builder_from_stage()``.
-  :class:`~isaaclab_newton.physics.NewtonMPMManager` is the in-tree example —
-  it registers ``mpm:young_modulus`` and the rest of the implicit MPM
-  particle attributes.
-* ``_prepare_builder_for_finalize(builder)``: normalize imported or replicated
-  builder data right before ``ModelBuilder.finalize()``.
-  :class:`~isaaclab_newton.physics.NewtonMPMManager` uses this to clear mass and
-  inertia on kinematic bodies so implicit MPM treats them as massless colliders.
-* ``_supports_cuda_graph_capture()``: return ``False`` to opt the solver out of
-  CUDA graph capture and fall back to eager execution. Defaults to ``True``;
-  :class:`~isaaclab_newton.physics.NewtonMPMManager` accepts fixed and
-  capacity-bounded rebuildable sparse grids.
-* ``_requires_initial_reset_before_graph_capture()``: delay headless CUDA graph
-  capture until the first post-reset step when solver resources depend on
-  reset-authored state.
-* ``_solver_specific_clear()``: release any class-level state owned by the
-  solver manager.
-
-For implicit MPM, use a fixed grid or follow Newton's rebuildable-sparse capture
-requirements, including a positive ``max_active_cell_count``. Dense and
-unbounded sparse grids fall back to eager execution with a warning when
-``NewtonCfg.use_cuda_graph`` is enabled.
-
-Keep the manager name prefixed with ``Newton`` and the solver config grouped
-with the other Newton solver configs so autocomplete and backend discovery stay
-predictable.
-
-
-Custom Coupled Solvers
-----------------------
-
-Coupled solvers use the same abstraction. Instead of wrapping one Newton solver,
-a coupled manager constructs two or more sub-solvers and overrides
-``_step_solver()`` to define the substep order.
-That means a custom coupling usually needs only a config that stores existing
-solver configs plus a manager that defines how data flows between them; the
-component solvers can stay unchanged.
-
-The MJWarp + VBD deformable manager is a concrete example:
-
-* :class:`~isaaclab_contrib.custom_coupling.CoupledMJWarpVBDSolverCfg` stores a
-  ``rigid_solver_cfg`` for :class:`~isaaclab_newton.physics.MJWarpSolverCfg`, a
-  ``soft_solver_cfg`` for :class:`~isaaclab_newton.physics.VBDSolverCfg`,
-  and a ``coupling_mode``.
-* ``NewtonCoupledMJWarpVBDManager._build_solver()`` constructs
-  ``SolverMuJoCo`` and ``SolverVBD`` from those sub-configs.
-* ``_step_solver()`` dispatches to either one-way or two-way coupling.
-* ``_reset_solver_internals()`` and ``_solver_specific_clear()`` forward the
-  solver-specific lifecycle to both sub-solvers.
-* The base ``NewtonManager`` still owns state allocation, substep iteration,
-  Fabric synchronization, and the outer lifecycle.
-
-The two-way MJWarp + VBD substep stays compact because it is expressed as a
-short coupling algorithm:
-
-.. admonition:: Algorithm: Two-Way MJWarp + VBD Substep
-   :class: note
-
-   **Inputs:** rigid body state, deformable particle state, and the shared
-   Newton collision pipeline.
-
-   **Output:** updated rigid body and deformable particle state for one Newton
-   substep.
-
-   1. **Clear output force accumulators.**
-      Clear the next-state force buffers before evaluating contact.
-
-   2. **Detect coupled contacts.**
-      Run Newton collision detection once over the current rigid and
-      deformable state.
-
-   3. **Apply soft-to-rigid reactions.**
-      Inject body-particle contact reactions into ``body_f`` before the rigid
-      solve.
-
-   4. **Advance the rigid solver.**
-      Step MJWarp with the coupled contact forces applied.
-
-   5. **Advance the deformable solver.**
-      Step VBD against the same contacts and the updated rigid poses.
-
-
-This keeps the custom part focused on the coupling policy. The manager does not need to reimplement scene loading, asset buffers, or the
-outer simulation loop.
-
-.. figure:: ../../../../_static/newton/franka-mjwarp-vbd-coupling.png
-   :align: center
-   :figwidth: 480px
-   :class: square-crop-figure
-   :alt: Franka manipulating a deformable object with MJWarp and VBD coupling
-
-   Franka manipulation using MJWarp for rigid bodies and VBD for the deformable
-   object.
-
-.. note::
-
-   This volume soft-body task requires automatic tetrahedralization. Run commands for it
-   with the ``tetrahedralization`` extra:
-
-   .. code-block:: bash
-
-      uv run --extra tetrahedralization <command>
-
-   With the legacy installer:
-
-   .. code-block:: bash
-
-      ./isaaclab.sh -i tetrahedralization
-
-The opt-in example is registered only when its registration module is imported:
-
-.. code-block:: python
-
-   import isaaclab_contrib.custom_coupling.tasks
-
-The import registers ``IsaacContrib-Lift-Soft-Franka-Custom-Coupling``, which
-selects the ``newton_mjwarp_vbd`` preset and uses ``coupling_mode="two_way"``.
-The core ``Isaac-Lift-Soft-Franka`` and ``Isaac-Lift-Cloth-Franka`` tasks default
-to the ``newton_mjwarp_vbd_proxy`` preset backed by
-:class:`~isaaclab_contrib.coupling.CouplerProxyCfg` instead.
-
-Tuning the Franka Soft-Body Lift
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Tune the coupled contact behavior before training a policy:
-
-* Start with ``coupling_mode="two_way"``. Compared with one-way coupling, two-way
-  coupling can prevent clipping more easily because body-particle contact
-  penalties can push the robot back instead of only moving the deformable.
-* Use a small scripted grasp/lift check before training to confirm that grasping
-  is possible and to inspect what clips when the grasp fails.
-* Lower the arm actuator stiffness enough that the arm can respond to contact
-  penalties. Prefer the arm being pushed back over the gripper clipping into the
-  deformable.
-* Tune :attr:`~isaaclab_newton.physics.NewtonSoftContactCfg.soft_contact_ke`
-  first. Increase it only as much as needed to prevent clipping, then adjust
-  :attr:`~isaaclab_newton.physics.NewtonSoftContactCfg.soft_contact_mu` so the
-  gripper can carry the object without requiring an obviously unphysical
-  friction value. Use
-  :attr:`~isaaclab_newton.physics.NewtonSoftContactCfg.soft_contact_kd` for
-  stabilization if contacts chatter.
-  Set this configuration on the outer
-  :attr:`~isaaclab_newton.physics.NewtonCfg.soft_contact_cfg` field.
-* Tune the ``soft_contact_*`` values together with the rigid shape contact
-  material, because the shape's ``ke``/``kd``/``mu`` also affect the effective
-  contact. Set shape defaults via
-  :class:`~isaaclab_newton.physics.NewtonShapeCfg` on ``NewtonCfg.default_shape_cfg``,
-  or override per asset through the asset's Newton contact material.
-* If ``soft_contact_ke`` is not sufficient, or ``soft_contact_mu`` must be
-  unphysically high, tune the Franka arm and hand actuator stiffness and maximum
-  effort. For the gripper command, fully close the fingers and let the actuator
-  maximum effort limit the actual squeeze.
-* If the deformable no longer visibly deforms, ``soft_contact_ke`` is likely too
-  high.
-* If contacts are unstable or missed, increase the deformable mesh resolution or
-  increase ``particle_radius`` in the deformable material so contact is detected
-  earlier from a larger distance.
-* If the rigid shapes still clip through the deformable, increase
-  :attr:`~isaaclab_newton.physics.VBDSolverCfg.iterations`; more VBD
-  iterations can improve contact convergence.
-
-
-When to Add a Coupled Manager
------------------------------
-
-Add a coupled manager when one solver cannot own the whole model step by itself:
-
-* rigid bodies should use one solver while particles or cloth use another;
-* contact detection is shared, but each solver consumes the contacts
-  differently;
-* you need a custom force, impulse, or state exchange between solvers;
-* the substep order is part of the algorithm.
-
-Use a normal single-solver manager when all physics can be advanced by one
-Newton solver. Use a coupled manager only for the small amount of glue that is
-truly solver-specific.
+This page moved to :doc:`/source/developer-tools/extending_newton_solvers`.
diff --git a/docs/source/overview/core-concepts/physical-backends/newton/supported-features.rst b/docs/source/overview/core-concepts/physical-backends/newton/supported-features.rst
index 5e39b1f37b0f..47157683986b 100644
--- a/docs/source/overview/core-concepts/physical-backends/newton/supported-features.rst
+++ b/docs/source/overview/core-concepts/physical-backends/newton/supported-features.rst
@@ -1,136 +1,10 @@
-Supported Features
-==================
+:orphan:
 
-The Newton backend is in beta. Breaking changes and incomplete documentation are
-still expected, and official support or debugging assistance will only be
-available once the integration reaches an official release.
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../concepts/physics_backends.html
+   :name=robots: noindex
 
+Page Moved
+==========
 
-Discovering Newton-Supported Tasks
-----------------------------------
-
-Most multi-backend tasks support Newton when their physics ``PresetCfg``
-declares a ``newton_mjwarp`` (or ``newton_kamino``) entry. To list tasks with
-a selectable Newton preset:
-
-.. code-block:: bash
-
-    grep -rln "newton_mjwarp" source/isaaclab_tasks/
-
-Tasks built specifically for Newton can instead assign
-:class:`~isaaclab_newton.physics.NewtonCfg` directly. The coupled-MPM
-``IsaacContrib-Franka-Pour`` artifact-backed task and
-``IsaacContrib-UR10-Particle-Push`` use this fixed-Newton pattern and should be launched
-without a ``physics=`` selector. Passing
-``physics=newton_mjwarp`` to a task without that preset will raise an error at
-launch. The :doc:`mjwarp-solver` page covers how to add a selectable Newton
-preset to your own task.
-
-Implicit MPM Demos
-------------------
-
-The repository includes standalone granular, rigid-coupled snowball, and
-mesh-cavity filling examples. See :doc:`using-mpm` for the runnable commands,
-minimal authoring path, and tuning guidance.
-
-
-Supported APIs
---------------
-
-The following capabilities are covered by the Newton backend on ``develop`` at
-the time of writing. The list is non-exhaustive and continues to grow.
-
-isaaclab
-^^^^^^^^
-
-* Articulation API (multi-link and single-body articulations)
-* Rigid Object and Rigid Object Collection APIs
-* Sensors: Contact Sensor, IMU, Frame Transformer, Joint Wrench, PVA
-* Direct and Manager-based single-agent workflows
-* Backend-neutral deformable object API
-* Omniverse Kit visualizer (when Isaac Sim is installed)
-* Cable Object API for standalone, open, linear, unwelded curves using VBD
-* Newton-Warp visualizer (kit-less)
-* Tiled rendering via the Newton-Warp renderer
-
-isaaclab_newton
-^^^^^^^^^^^^^^^^
-
-* Standalone VBD deformable solver
-
-* Implicit Material Point Method (MPM) solver and declarative particle assets
-* Fixed and capture-compatible capacity-bounded sparse MPM grids
-* Standard visual-material binding for MPM particle visualization
-
-isaaclab_contrib
-^^^^^^^^^^^^^^^^
-
-* Newton deformable object integration
-* MJWarp and VBD proxy and ADMM coupling
-* Proxy-based coupling for rigid and particle solvers, including MJWarp + MPM
-
-The following sensors are backend-agnostic (implemented in ``isaaclab`` core)
-and work transparently with Newton:
-
-* Ray Caster
-* Camera — see :doc:`../../sensors/camera`
-
-isaaclab_assets
-^^^^^^^^^^^^^^^
-
-* Quadrupeds: AnymalB, AnymalC, AnymalD, Unitree A1, Unitree Go1, Unitree
-  Go2, Spot
-* Humanoids: Unitree H1, Unitree G1, Cassie
-* Arms and hands: Franka, UR10, Allegro Hand, Shadow Hand
-* Toy examples: Cartpole, Ant, Humanoid
-
-isaaclab_tasks
-^^^^^^^^^^^^^^
-
-Direct workflows:
-
-* Cartpole (state, RGB, depth)
-* Ant, Humanoid
-* Allegro Hand Repose Cube, Shadow Hand, Shadow Hand Over
-* Locomotion (shared base env)
-
-Manager-based workflows:
-
-* Classic: Cartpole, Ant, Humanoid
-* Locomotion velocity, flat terrain: A1, AnymalB, AnymalC, AnymalD, Cassie,
-  Unitree G1, Go1, Go2, Unitree H1, Spot
-* Locomotion velocity, rough terrain: AnymalC, Cassie, Go1, Go2
-* Manipulation: reach (Franka, UR10), cabinet, lift and reorient (Franka, KukaAllegro)
-* Manipulation lift with deformable objects: Franka soft-body lift, Franka cloth
-  lift (via MJWarp and VBD proxy coupling)
-* Coupled MPM manipulation: Franka pour and UR10 particle push (MJWarp + MPM)
-
-
-Solver Coverage
----------------
-
-* **MuJoCo-Warp solver**: the primary, validated path for every supported task.
-* **Kamino solver**: beta. Currently validated on ``Isaac-Cartpole-Direct``,
-  ``Isaac-Ant-Direct``, ``Isaac-Cartpole``, and ``Isaac-Ant``. See
-  :doc:`kamino-solver`.
-* **VBD solver**: experimental, exposed through :mod:`isaaclab_newton.physics`
-  for standalone cloth, soft-body, and cable simulation. Rigid and deformable
-  scenes can use proxy or ADMM coupling from :mod:`isaaclab_contrib.coupling` so
-  MJWarp advances rigid bodies and VBD advances deformable particles. Cable objects work with standalone
-  VBD and with :class:`~isaaclab_contrib.coupling.CouplerProxyCfg` when a named VBD
-  entry owns the cable. See :doc:`using-vbd-solver` and
-  :doc:`newton-manager-abstraction`.
-* **Implicit MPM solver**: experimental, supporting standalone particle
-  materials and proxy-coupled rigid-MPM scenes. Capacity-bounded sparse grids
-  and fixed grids support CUDA graph capture.
-
-
-Known Gaps
-----------
-
-* Soft bodies are available through the experimental VBD path, while particle
-  materials are available through implicit MPM; other non-rigid PhysX features
-  are not yet covered.
-* Behaviour on stiff contact stacks can diverge from PhysX; expect to retune
-  contact and substep parameters when porting tasks across backends.
-* Multi-agent and self-play workflows are not yet wired up for Newton.
+This page moved to :ref:`physics-backends-newton`.
diff --git a/docs/source/overview/core-concepts/physical-backends/newton/using-cables.rst b/docs/source/overview/core-concepts/physical-backends/newton/using-cables.rst
deleted file mode 100644
index 13ec97d067a2..000000000000
--- a/docs/source/overview/core-concepts/physical-backends/newton/using-cables.rst
+++ /dev/null
@@ -1,354 +0,0 @@
-.. _newton-using-cables:
-
-Using Cables
-============
-
-Isaac Lab exposes 1D cable / rod assets on the Newton backend. A cable is
-authored as a single open ``UsdGeom.BasisCurves`` prim carrying the
-``PhysicsCurvesDeformableSimAPI`` schema, and is simulated by Newton's VBD
-solver as a chain of per-segment capsule bodies joined by ``JointType.CABLE``
-joints, with thickness, density, stretch stiffness, and bend stiffness.
-
-Cable support is experimental. The spawner cfg, asset class, and material
-defaults may change while Newton cable support is under active development.
-
-.. note::
-    Cables are **only supported on the Newton backend**, and only under its VBD
-    solver. :class:`~isaaclab.assets.CableObject` is a backend-dispatched
-    factory: selecting PhysX or OpenUSD PhysX raises the factory import error at
-    construction, so a misconfigured scene fails fast instead of loading the
-    curve as inert geometry.
-
-
-Quick Start: The Cable Demo
----------------------------
-
-Before adding cables to a task, run the standalone demo to confirm that the
-spawner, the VBD solver, collision, and the Kit / Fabric viewport sync all work
-in your environment:
-
-.. code-block:: bash
-
-    # Default Newton VBD physics with the Kit visualizer.
-    uv run --extra isaacsim python scripts/demos/cables.py
-
-    # Explicit Newton VBD physics with the Newton visualizer.
-    uv run python scripts/demos/cables.py --physics newton_vbd --visualizer newton
-
-    # No visualizer and a larger cable pile.
-    uv run python scripts/demos/cables.py --visualizer none --num_cables 40 --num_segments 15
-
-The demo accepts ``newton_vbd`` as its only ``--physics`` option. Its
-``--visualizer`` option accepts ``kit``, ``newton``, ``rerun``, ``viser``, and
-``none``; when omitted, the demo uses ``kit``. Use ``--num_cables`` and
-``--num_segments`` to change the pile size and cable resolution. Use
-``--max_steps`` to stop after a fixed number of simulation steps; its negative
-default runs until the selected visualizer closes or the process is interrupted.
-
-The demo spawns a pile of randomly oriented cables onto a ground plane under
-standalone Newton VBD, lets them collide and settle, and periodically restores
-them to their spawn state. Source: ``scripts/demos/cables.py``.
-
-
-Authoring a Cable
------------------
-
-A cable is configured with a :class:`~isaaclab.sim.spawners.shapes.CableCfg`
-plus a :class:`~isaaclab.sim.spawners.materials.CableMaterialCfg`. Adjacent
-pairs in ``positions`` become individual segments, each materialized as a
-capsule body of diameter :attr:`CableMaterialCfg.thickness` and joined to its
-neighbour by a Newton cable joint. ``N`` control points produce ``N-1`` segment
-bodies and ``N-2`` cable joints; the root segment is free-floating.
-
-.. list-table::
-    :header-rows: 1
-    :widths: 30 70
-
-    * - Parameter
-      - Description
-    * - ``positions``
-      - Control points in the cable-local frame [m]. Requires at least **three**
-        finite points, with consecutive points separated by more than ``1e-8`` m.
-    * - ``physics_material``
-      - Required :class:`~isaaclab.sim.spawners.materials.CableMaterialCfg`; see
-        `Cable Material Parameters`_ below. Thickness is also written to the
-        curve's ``widths`` attribute so the visual radius matches the physics.
-    * - ``collision_props``
-      - Optional collision properties. When omitted, the cable is
-        collision-free; when set (typically
-        ``[UsdPhysicsCollisionCfg(collision_enabled=True)]``), the cable collides
-        with the ground and other cables. See `Collision`_ below.
-    * - ``visual_material``
-      - Optional :class:`~isaaclab.sim.spawners.materials.VisualMaterialCfg` for
-        the curve's appearance.
-    * - ``visual_material_path``
-      - Sub-path of the visual material under the cable geometry prim. Defaults
-        to ``"material"``.
-    * - ``physics_material_path``
-      - Sub-path of the physics material under the cable geometry prim. Defaults
-        to ``"physics_material"``.
-
-.. code-block:: python
-
-    import isaaclab.sim as sim_utils
-
-    cable_spawn = sim_utils.CableCfg(
-        positions=[(index * 0.1, 0.0, 0.0) for index in range(10)],
-        visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.7, 0.2, 0.2)),
-        physics_material=sim_utils.CableMaterialCfg(
-            thickness=0.03,
-            density=1000.0,
-            stretch_stiffness=1.0e9,
-            bend_stiffness=1.0e6,
-        ),
-        collision_props=[sim_utils.UsdPhysicsCollisionCfg(collision_enabled=True)],
-    )
-
-This authors a straight 0.9 m red cable along the cable-local x-axis: 9 capsule
-segments (0.1 m long, 0.03 m diameter) joined by 8 cable joints. See
-`Loading Cables from USD`_ for how the curve becomes Newton physics.
-
-Wrap the spawner in a :class:`~isaaclab.assets.CableObjectCfg` to get a runtime
-asset whose per-segment state can be read, written, and restored:
-
-.. code-block:: python
-
-    from isaaclab.assets import CableObject, CableObjectCfg
-
-    cable = CableObject(
-        cfg=CableObjectCfg(
-            prim_path="/World/Env_0/Cable",
-            spawn=cable_spawn,
-            init_state=CableObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 0.5)),
-        )
-    )
-
-The inherited ``init_state`` sets the cable root's spawn pose in each
-environment.
-
-
-Picking a Solver
-----------------
-
-Cables can **only** be simulated under Newton's VBD solver, which is the only
-solver that steps ``JointType.CABLE`` joints. A cable-only scene uses a
-standalone :class:`~isaaclab_newton.physics.VBDSolverCfg`:
-
-.. code-block:: python
-
-    from isaaclab_newton.physics import NewtonCfg, VBDSolverCfg
-
-    sim_cfg = sim_utils.SimulationCfg(
-        dt=0.01,
-        device=args_cli.device,
-        physics=NewtonCfg(solver_cfg=VBDSolverCfg(iterations=20), num_substeps=8),
-    )
-
-Mixed rigid + cable scenes (for example a robot manipulating a cable) run the
-cable under a :class:`~isaaclab_contrib.coupling.CouplerProxyCfg` entry: define a
-named VBD entry that owns the cable segments and couple it to the rigid entry.
-See :doc:`using-vbd-solver`.
-
-
-Cable Material Parameters
--------------------------
-
-:class:`~isaaclab.sim.spawners.materials.CableMaterialCfg` defines the cable's
-geometry and stiffness. All values are validated at author time; nonfinite or
-out-of-range values raise :class:`ValueError` before any prim is created. The
-attributes are authored in the standard ``physics:`` namespace and read back by
-Newton's importer.
-
-.. list-table::
-    :header-rows: 1
-    :widths: 24 76
-
-    * - Parameter
-      - Description
-    * - ``thickness``
-      - Full cable thickness (diameter) [m]. Must be finite and positive.
-        Newton uses ``radius = thickness / 2`` for the capsule cross-section,
-        the bending second moment of area, and the collision radius. Default
-        ``0.001``.
-    * - ``density``
-      - Cable density [kg/m^3]. Must be finite and positive. Newton derives
-        per-segment mass from the density and the capsule volume. Default
-        ``1000.0``.
-    * - ``stretch_stiffness``
-      - Axial (stretch) elastic modulus ``E`` [Pa], i.e. force per area. Must be
-        finite and nonnegative. Newton converts it to the rod's per-joint axial
-        stiffness ``E * A / L``, where ``A`` is the circular cross-section area
-        and ``L`` is the mean segment rest length. Higher values reduce elongation
-        but need more solver iterations or substeps. Default ``1.0e9``.
-    * - ``bend_stiffness``
-      - Bending elastic modulus ``E`` [Pa]. Must be finite and nonnegative.
-        Newton converts it to the per-joint bend stiffness ``E * I / L``, where
-        ``I`` is the second moment of area of the circular cross-section.
-        ``0.0`` gives a limp rope; increase for a stiff hose or wire. Default
-        ``1.0e6``.
-    * - ``shear_stiffness``
-      - Transverse shear elastic modulus [Pa]. Must be finite and nonnegative.
-        Optional: when left at ``None`` the attribute is not authored and the solver
-        falls back to :attr:`stretch_stiffness`. Default ``None``.
-    * - ``twist_stiffness``
-      - Torsional elastic modulus [Pa]. Must be finite and nonnegative. Optional:
-        when left at ``None`` the attribute is not authored and the solver falls back
-        to :attr:`bend_stiffness`. Default ``None``.
-
-.. note::
-    A Newton cable joint has four degrees of freedom: linear stretch and shear, and
-    angular bend and twist. Leaving :attr:`shear_stiffness` or :attr:`twist_stiffness`
-    unset does **not** mean the cable has no shear or twist resistance; it means the
-    solver reuses the stretch and bend moduli for them. Set them explicitly to decouple
-    torsion from bending, for example a hose that bends easily but resists twisting.
-    Authoring ``0.0`` is distinct from leaving them unset: it removes that resistance.
-
-    Damping is not exposed. The AOUSD deformable schema defines damping alongside the
-    moduli, but Isaac Lab does not author it.
-
-To target a specific axial ``E * A`` or bending ``E * I``, invert these
-relations to pick the modulus; ``scripts/demos/cables.py`` does this from a
-target stiffness and the segment geometry.
-
-.. warning::
-    Newton derives **one** stretch/bend stiffness pair for the whole cable, using the
-    **mean** segment length as ``L``. Author :attr:`positions` with roughly uniform
-    spacing: with a strongly uneven spacing the per-joint stiffness is wrong for the
-    outlier segments, since stiffness scales as ``1 / L``. A segment much longer than
-    the mean comes out too stiff, and a much shorter one too soft.
-
-
-Collision
----------
-
-Collision is opt-in through ``collision_props``. When enabled, the importer
-applies **adjacent-segment-only** collision filtering: directly connected
-segments (which share a joint anchor and would otherwise jitter) are filtered,
-while every other pair collides. As a result:
-
-* The cable collides with the ground and with other cables.
-* Non-adjacent segments of the **same** cable collide, so a cable can
-  self-arrest when it loops back on itself.
-* Only immediate neighbours are filtered, matching Newton's cable-pile
-  behaviour.
-
-When ``collision_props`` is omitted, the cable imports as a dynamics-only rod
-and does not collide.
-
-
-Runtime State
--------------
-
-:class:`~isaaclab.assets.CableObject` exposes per-segment world state through its
-data container and integrates with :class:`~isaaclab.scene.InteractiveScene`,
-``scene.get_state`` / ``scene.reset_to``, and the ``reset_scene_to_default``
-event term.
-
-* ``cable.data.segment_pose_w`` shape ``(num_instances, num_segments, 7)``,
-  position [m] followed by quaternion ``(x, y, z, w)``.
-* ``cable.data.segment_velocity_w`` shape ``(num_instances, num_segments, 6)``,
-  linear [m/s] followed by angular [rad/s].
-* ``cable.data.default_segment_pose_w`` / ``default_segment_velocity_w`` capture
-  the spawn state for restoration.
-
-Write per-segment state back with the indexed or masked setters. The masked
-form is CUDA-graph capturable:
-
-.. code-block:: python
-
-    cable.write_segment_pose_to_sim_index(
-        segment_pose=cable.data.default_segment_pose_w,
-    )
-    cable.write_segment_velocity_to_sim_index(
-        segment_velocity=cable.data.default_segment_velocity_w,
-    )
-
-Writes update Newton's maximal-coordinate body state directly (both simulation
-states) and flag the affected environments for a solver reset, without running
-forward kinematics.
-
-
-Kit / Fabric Visualization
---------------------------
-
-Cables render in the Kit viewport as ``UsdGeom.BasisCurves``. At render cadence
-the curve points are refreshed from Newton's cable segment endpoints so the
-rendered shape always matches the simulation. Use the default
-``--visualizer kit`` flag, as in the demo.
-
-.. note::
-    Curve points are synchronized through **CPU** Fabric because the RTX Hydra
-    delegate does not read GPU-backed Fabric arrays for ``BasisCurves``
-    (NVBug 6502662). The on-device sync path can be restored once that bug is
-    fixed. Periodic curves are skipped by the sync.
-
-
-Loading Cables from USD
------------------------
-
-Physics is authored in place on the curve:
-:func:`~isaaclab.sim.spawners.shapes.spawn_cable` applies the
-``PhysicsCurvesDeformableSimAPI`` schema and binds a deformable-curve material,
-and Newton imports the curve natively through ``ModelBuilder.add_usd``. Topology
-comes from the curve's own ``points`` and ``curveVertexCounts``; no custom edge
-attribute is required, and imported and replicated cables use the same path.
-
-A cable can therefore also be loaded from an external USD (for example one
-authored in a DCC tool) via
-:class:`~isaaclab.sim.spawners.from_files.UsdFileCfg`, provided the curve in that
-USD already carries:
-
-* a single open, linear, nonperiodic ``UsdGeom.BasisCurves`` under the loaded
-  prim,
-* the ``PhysicsCurvesDeformableSimAPI`` applied schema, and
-* a bound deformable-curve material (``PhysicsCurvesDeformableMaterialAPI``)
-  supplying ``thickness``, ``density``, ``stretchStiffness``, and
-  ``bendStiffness`` in the ``physics:`` namespace.
-
-A raw exported curve without the physics schema and material will not be
-recognized as a cable (the importer falls back to a default radius and warns, or
-skips the curve). Author it through
-:func:`~isaaclab.sim.spawners.shapes.spawn_cable`, or apply the schema and
-material to the imported prim before construction.
-
-
-Limitations
------------
-
-* **Newton + VBD only.** Other backends and other Newton solvers are not
-  supported.
-* **One standalone, unwelded cable per object.**
-  :class:`~isaaclab.assets.CableObject` requires "one standalone, unwelded cable
-  articulation per simulation world": exactly one ``BasisCurves`` prim carrying
-  ``PhysicsCurvesDeformableSimAPI`` under ``prim_path``, holding a single open
-  curve that is not welded to another cable. Multi-curve ``BasisCurves`` prims,
-  periodic (closed) curves, and hard coincident curve-to-curve
-  ``PhysicsAttachment`` welds all fail during initialization.
-* **Cable ends can be pinned, not clamped.** A ``PhysicsAttachment`` to an xform
-  target lowers to a ball joint, so it constrains position only and the cable
-  pivots freely at the anchor. Rigid plugs and end fittings that must transfer
-  orientation are not representable. The joint is also created only when the
-  attachment stiffness is unauthored or infinite; a finite stiffness is kept as
-  metadata and no joint is created. Both cases are import warnings rather than
-  errors, so the cable initializes normally with the attachment missing. Check
-  the importer output when an attachment appears to have no effect.
-* **No damping knobs.** The four stiffness moduli are exposed; their damping
-  counterparts are not.
-* **Uniform point spacing assumed.** One stiffness pair is derived from the mean segment
-  length, so uneven spacing mistunes the outlier segments.
-* **CPU-only render sync** (NVBug 6502662); periodic curves are not synced.
-* **Culled by Isaac RTX scene partitioning** once the cable deforms beyond its initial
-  extent (OMPE-105749). See :ref:`known-issues-animated-curve-scene-partition`.
-
-.. note::
-    Topologies the runtime object rejects still simulate: the Newton model is
-    built from the whole USD stage, so every curve carrying
-    ``PhysicsCurvesDeformableSimAPI`` is imported whether or not a
-    :class:`~isaaclab.assets.CableObject` wraps it. Drive them through
-    :class:`~isaaclab_newton.physics.NewtonManager` ``get_model()`` /
-    ``get_state_0()`` and your own ``newton.selection.ArticulationView``. There
-    is no Isaac Lab asset wrapper for those cases.
-
-For the public API, see :class:`~isaaclab.assets.CableObject`,
-:class:`~isaaclab.sim.spawners.shapes.CableCfg`, and
-:class:`~isaaclab.sim.spawners.materials.CableMaterialCfg`.
diff --git a/docs/source/overview/core-concepts/physical-backends/newton/using-mpm.rst b/docs/source/overview/core-concepts/physical-backends/newton/using-mpm.rst
index 49c9c4d8ec86..b54bd713764f 100644
--- a/docs/source/overview/core-concepts/physical-backends/newton/using-mpm.rst
+++ b/docs/source/overview/core-concepts/physical-backends/newton/using-mpm.rst
@@ -1,153 +1,10 @@
-.. _newton-using-mpm:
+:orphan:
 
-Using Implicit MPM
-==================
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../concepts/using_mpm.html
+   :name=robots: noindex
 
-Newton's implicit Material Point Method (MPM) solver models particle materials
-such as granular media. MPM support and rigid-MPM coupling are experimental.
-Start with the compact ``scripts/demos/mpm/newton_mpm_granular.py`` example;
-``snowball_smash.py`` adds coupling and ``teapot_fill.py`` adds cavity sampling.
+Page Moved
+==========
 
-
-.. _franka-pour-reset-artifact:
-
-Train and Regenerate Franka Pour
----------------------------------
-
-The ``IsaacContrib-Franka-Pour`` task restores episodes from a reset artifact
-containing the connected 14-phase reset distribution. The canonical 20,000-row
-artifact downloads from the standard Isaac Lab asset root on first use, so
-training needs no artifact setup:
-
-.. code-block:: bash
-
-   uv run isaaclab train --rl_library rsl_rl --task IsaacContrib-Franka-Pour \
-     --num_envs 2048 --device cuda:0
-
-The checked-in generator remains the executable reference for reproducing or
-customizing the distribution. It takes about two minutes on an L40S-class GPU
-and writes a local artifact that can be selected explicitly:
-
-.. code-block:: bash
-
-   uv run python scripts/tools/generate_franka_pour_reset_dataset.py --device cuda:0
-   uv run isaaclab train --rl_library rsl_rl --task IsaacContrib-Franka-Pour \
-     --num_envs 2048 --device cuda:0 \
-     env.reset_dataset_path=datasets/franka_pour/reset_dataset.pt
-
-The task validates the payload's stored content digest automatically. Setting
-``ISAACSIM_ASSET_ROOT`` redirects the canonical artifact to a compatible local
-or self-hosted asset tree. Digest pinning remains available for custom
-reproducible experiments.
-
-The source uses a non-colliding analytic fill volume whose height is controlled
-by ``env.source_fill_level`` in ``(0, 1]``. The default ``0.70`` produces a
-735-particle jittered lattice up to roughly 70% of the cup height.
-``env.pour_target_frac`` independently controls the fraction of that live
-payload that must reach the receiver.
-
-Play a checkpoint in Kit with the canonical task configuration; no external
-callback or particle override is required:
-
-.. code-block:: bash
-
-   uv run isaaclab play --rl_library rsl_rl --task IsaacContrib-Franka-Pour \
-     --checkpoint /path/to/model.pt --num_envs 1 --device cuda:0 --visualizer kit
-
-
-Minimal Setup
--------------
-
-Use the same voxel size for the solver grid and particle generator. Add the
-generated object to an :class:`~isaaclab.scene.InteractiveSceneCfg` like any
-other declarative asset.
-
-.. code-block:: python
-
-    import isaaclab.sim as sim_utils
-    from isaaclab_newton.assets import MPMObjectCfg
-    from isaaclab_newton.physics import MPMSolverCfg, NewtonCfg
-    from isaaclab_newton.sim.spawners.mpm import MPMGridCfg
-
-    voxel_size = 0.02
-
-    sim_cfg = sim_utils.SimulationCfg(
-        dt=1.0 / 100.0,
-        physics=NewtonCfg(
-            solver_cfg=MPMSolverCfg(
-                voxel_size=voxel_size,
-                max_iterations=100,
-                tolerance=1.0e-4,
-            ),
-            num_substeps=2,
-        ),
-    )
-
-    media = MPMObjectCfg(
-        prim_path="{ENV_REGEX_NS}/Media",
-        spawn=MPMGridCfg(
-            lower=(-0.1, -0.1, 0.0),
-            upper=(0.1, 0.1, 0.2),
-            voxel_size=voxel_size,
-            particles_per_cell=2.0,
-            particle_placement="cell_center",
-        ),
-    )
-
-Tune the particle material separately through
-:class:`~isaaclab_newton.sim.MPMParticleMaterialCfg`. The implicit solve already
-resolves collider contact. ``project_outside_colliders`` adds a hard post-step
-correction for particles that remain inside colliders; use it only when that
-geometric correction is intentional, and not as a substitute for valid initial
-states, collision geometry, or a stable timestep. Coupled MPM entries do not
-support this manager-level projection pass.
-
-
-Tune Resolution, Time, Then Convergence
----------------------------------------
-
-Tune one group at a time in this order:
-
-1. **Voxel and particle resolution.** ``MPMSolverCfg.voxel_size`` controls the
-   background grid. Smaller voxels resolve thinner geometry but increase active
-   cells and memory. ``MPMGridCfg.particles_per_cell`` controls particle density;
-   doubling it along each axis creates about eight times as many particles in
-   3D. Start coarse, then refine until the measured behavior stops changing.
-2. **Timestep and substeps.** Each Newton substep uses
-   ``SimulationCfg.dt / NewtonCfg.num_substeps``. Reduce ``dt`` or increase
-   ``num_substeps`` first when contacts tunnel, jitter, or become unstable.
-   Substeps do not change the policy period, which also includes environment
-   decimation.
-3. **Iterations and tolerance.** ``MPMSolverCfg.max_iterations`` caps the
-   rheology solve; ``tolerance`` permits an earlier exit after convergence.
-   Increase the cap only when the solver reaches it, and lower the tolerance
-   only when tighter convergence improves a physical metric. These settings do
-   not repair an unstable timestep, invalid reset, or incorrect collider.
-
-
-Tune Rigid-MPM Coupling
------------------------
-
-For :class:`~isaaclab_contrib.coupling.CouplerProxyCfg`, first stabilize each
-solver alone. Then tune the additional controls:
-
-* ``CouplerEntryCfg.substeps`` divides one coupled step for that entry. Increase
-  the MPM entry's value when only the particle solve needs a smaller timestep.
-* ``CouplerProxyCfg.iterations`` repeats the proxy exchange and relaxation; it
-  does not replace smaller physical timesteps.
-* ``CouplerProxyMappingCfg.mass_scale`` scales the source body's effective mass
-  and inertia only in the destination proxy view. It does not change the body's
-  authored mass in the rigid solver.
-
-Start ``mass_scale`` at ``1`` for a freely moving collider. Increase it when the
-rigid solver strongly constrains the collider during MPM contact. For example, a
-cup resting on a table has much greater effective resistance in the supported
-direction than its free-body mass suggests. Sweep finite values geometrically,
-such as ``1``, ``10``, and ``100``, and keep the smallest value that prevents
-unrealistic proxy motion. Newton requires a finite positive value: do not use
-infinity. An excessively large scalar also suppresses legitimate motion in
-unsupported directions and can make the interaction effectively one-way.
-
-Validate both the supported and free-moving cases after changing coupling. If
-the uncoupled systems are unstable, fix their timestep, contacts, and reset
-states before adjusting ``mass_scale`` or coupling iterations.
+This page moved to :doc:`/source/concepts/using_mpm`.
diff --git a/docs/source/overview/core-concepts/physical-backends/newton/using-vbd-solver.rst b/docs/source/overview/core-concepts/physical-backends/newton/using-vbd-solver.rst
index ee9253e28726..f78ce73d322d 100644
--- a/docs/source/overview/core-concepts/physical-backends/newton/using-vbd-solver.rst
+++ b/docs/source/overview/core-concepts/physical-backends/newton/using-vbd-solver.rst
@@ -1,510 +1,10 @@
-.. _newton-using-vbd:
+:orphan:
 
-VBD Solver
-==========
-
-Vertex Block Descent (VBD) is a Newton solver for cloth and soft-body
-simulation. In Isaac Lab, VBD is enabled by selecting a
-:class:`~isaaclab_newton.physics.NewtonCfg` whose ``solver_cfg`` is a
-:class:`~isaaclab_newton.physics.VBDSolverCfg`.
-
-A task that works with PhysX or with Newton's MuJoCo-Warp solver may still need
-deformable assets, materials, contacts, and coupling tuned before it works well
-with VBD.
-
-VBD is usually exposed through a task-specific physics preset rather than a
-general ``newton_vbd`` preset. Deformable-only scenes can use
-:class:`~isaaclab_newton.physics.VBDSolverCfg` directly. For robot or
-rigid-body scenes, the named-entry coupling options are:
-
-* :class:`~isaaclab_contrib.coupling.CouplerProxyCfg` for the proxy coupling
-  used by the core Franka tasks.
-* :class:`~isaaclab_contrib.coupling.CouplerAdmmCfg` for linearized ADMM
-  coupling between named solver entries.
-
-Start from a Supported Deformable Task
---------------------------------------
-
-.. note::
-
-   The ``Isaac-Lift-Soft-Franka`` task requires automatic tetrahedralization.
-   The uv commands below select the ``tetrahedralization`` extra when needed.
-
-   With the legacy installer:
-
-   .. code-block:: bash
-
-      ./isaaclab.sh -i tetrahedralization
-
-Before adding VBD to a new task, first run one of the Franka deformable tasks:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-          uv run --extra tetrahedralization python scripts/environments/zero_agent.py --task Isaac-Lift-Soft-Franka --num_envs 1 --visualizer kit
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-          ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Lift-Soft-Franka --num_envs 1 --visualizer kit
-
-For the surface-deformable cloth variant, use:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-          uv run python scripts/environments/zero_agent.py --task Isaac-Lift-Cloth-Franka --num_envs 1 --visualizer kit
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-          ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Lift-Cloth-Franka --num_envs 1 --visualizer kit
-
-Both tasks configure MJWarp for the rigid Franka and VBD for the deformable
-object through
-:class:`~isaaclab_contrib.coupling.CouplerProxyCfg`.
-Use these tasks as starting points for asset setup, solver coupling, and contact
-tuning.
-
-Add a VBD Physics Preset
-------------------------
-
-Tasks that support multiple physics options usually store ``SimulationCfg.physics``
-as a :class:`~isaaclab_tasks.utils.hydra.PresetCfg`. For deformable Newton tasks,
-the preset is a plain :class:`~isaaclab_newton.physics.NewtonCfg`. Standalone
-VBD and soft-contact configuration live in :mod:`isaaclab_newton.physics`, while
-proxy and ADMM coupling live in :mod:`isaaclab_contrib.coupling`.
-
-The Franka soft-body and cloth tasks define task-specific proxy presets.
-
-The important pieces are:
-
-* Add a Newton physics preset whose value is a
-  :class:`~isaaclab_newton.physics.NewtonCfg`.
-* Use :class:`~isaaclab_contrib.coupling.CouplerProxyCfg` with named
-  :class:`~isaaclab_contrib.coupling.CouplerEntryCfg` entries to partition the
-  rigid bodies and deformable particles between MJWarp and VBD.
-* Add :class:`~isaaclab_contrib.coupling.CouplerProxyMappingCfg` entries for the
-  collidable rigid bodies exposed to VBD. Leave
-  ``integrate_with_external_rigid_solver=False`` for proxy-coupled VBD entries.
-* Set the outer :attr:`~isaaclab_newton.physics.NewtonCfg.soft_contact_cfg` to a
-  :class:`~isaaclab_newton.physics.NewtonSoftContactCfg` when body-particle or
-  self-contact values need task-level tuning.
-* Keep the preset at the same config path used by the task's
-  :class:`~isaaclab.sim.SimulationCfg`, for example ``env.sim.physics``.
-
-You can select the deformable Newton preset globally:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-          uv run --extra tetrahedralization isaaclab train --rl_library rsl_rl --task=Isaac-Lift-Soft-Franka physics=newton_mjwarp_vbd_proxy
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-          ./isaaclab.sh train --rl_library rsl_rl --task=Isaac-Lift-Soft-Franka physics=newton_mjwarp_vbd_proxy
-
-or select the physics field directly:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-          uv run --extra tetrahedralization isaaclab train --rl_library rsl_rl --task=Isaac-Lift-Soft-Franka env.sim.physics=newton_mjwarp_vbd_proxy
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-          ./isaaclab.sh train --rl_library rsl_rl --task=Isaac-Lift-Soft-Franka env.sim.physics=newton_mjwarp_vbd_proxy
-
-Use the direct path override when only one task field should use the VBD preset.
-Use ``physics=newton_mjwarp_vbd_proxy`` when you want every matching preset
-field in the task config to resolve to that preset. Isaac Lab training commands
-accept these Hydra overrides after the regular command line flags; no separator is
-needed for the examples above.
-
-
-Check Task and Asset Compatibility
-----------------------------------
-
-VBD uses the Newton model built from the task assets. When adding VBD to a new
-task, validate the following before tuning solver parameters:
-
-* The task must already be compatible with the Newton backend. If a rigid-only
-  ``newton_mjwarp`` preset fails during model construction, fix the asset or task
-  configuration first.
-* The scene must include Newton-compatible deformable assets and materials. Use
-  :class:`~isaaclab_newton.sim.spawners.materials.NewtonDeformableBodyMaterialCfg`
-  for volume deformables and
-  :class:`~isaaclab_newton.sim.spawners.materials.NewtonSurfaceDeformableBodyMaterialCfg`
-  for cloth or surface deformables.
-* Proxy-coupled robot tasks should expose only the collidable bodies needed for
-  deformable contact.
-* Contact-heavy scenes usually need task-specific ``num_substeps``,
-  :class:`~isaaclab_newton.physics.VBDSolverCfg`, and
-  :class:`~isaaclab_newton.physics.NewtonSoftContactCfg` values. Start from the
-  Franka soft-body or cloth preset that most closely resembles the scene.
-* Use a small visual smoke test before training. Confirm that the deformable
-  spawns, renders, deforms, and contacts rigid bodies as expected.
-
-VBD Solver Parameters
----------------------
-
-The following fields are specific to
-:class:`~isaaclab_newton.physics.VBDSolverCfg`. They are grouped by the part
-of the solver they affect.
-
-Core Solve
-^^^^^^^^^^
-
-.. list-table::
-    :header-rows: 1
-    :widths: 30 70
-
-    * - Parameter
-      - Description
-    * - ``iterations``
-      - Default: ``10``. Number of VBD iterations per substep. Increasing this value improves deformation and contact convergence, especially for stiff materials or rigid gripper contacts, but increases runtime.
-    * - ``rigid_body_particle_contact_buffer_size``
-      - Default: ``256``. Per-body capacity for particle, edge, and face soft contacts. Increase it if Newton reports a per-body contact buffer overflow.
-    * - ``integrate_with_external_rigid_solver``
-      - Default: ``False``. Set to ``True`` only when a manual manager integrates rigid bodies in the shared model. Proxy-coupled entries use partitioned model views and leave this ``False``.
-
-
-Self-Contact
-^^^^^^^^^^^^
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../concepts/solver-tuning/tune_vbd.html
+   :name=robots: noindex
 
-.. list-table::
-    :header-rows: 1
-    :widths: 30 70
-
-    * - Parameter
-      - Description
-    * - ``particle_enable_self_contact``
-      - Default: ``False``. Enables deformable self-contact. Use this for cloth folds or soft bodies that collide with themselves. It increases contact work and usually needs additional tuning.
-    * - ``particle_self_contact_radius``
-      - Default: ``0.005`` [m]. Effective self-contact thickness. VBD applies vertex-triangle and edge-edge self-contact response when the current primitive distance is smaller than this radius.
-    * - ``particle_self_contact_margin``
-      - Default: ``0.005`` [m]. Self-contact candidate search distance. VBD uses this envelope when building self-contact lists, then applies contact response using ``particle_self_contact_radius``. Keep this greater than or equal to the radius to avoid missed contacts.
-    * - ``particle_collision_detection_interval``
-      - Default: ``-1``. Controls how often self-contact detection runs. A negative value detects before initialization only. ``0`` detects before and immediately after initialization. A positive value ``k`` detects before every ``k`` VBD iterations.
-    * - ``particle_vertex_contact_buffer_size``
-      - Default: ``32``. Preallocation size for each vertex's vertex-triangle self-contact buffer. Increase it if dense folds or high-resolution cloth exceed the default capacity.
-    * - ``particle_edge_contact_buffer_size``
-      - Default: ``64``. Preallocation size for each edge's edge-edge self-contact buffer. Increase it if dense folds or high-resolution cloth exceed the default capacity.
-    * - ``particle_topological_contact_filter_threshold``
-      - Default: ``2``. Filters contacts between mesh primitives that are close in topology. Increase this to suppress contact between neighboring elements of the same surface. Values greater than ``3`` can significantly increase compute time.
-    * - ``particle_rest_shape_contact_exclusion_radius``
-      - Default: ``0.0`` [m]. Filters self-contact candidates whose rest-configuration distance is shorter than this distance. Increase it when rest-neighbor contacts produce unwanted resistance.
-
-
-Custom MJWarp + VBD Parameters
-------------------------------
-
-The opt-in
-:class:`~isaaclab_contrib.custom_coupling.CoupledMJWarpVBDSolverCfg` runs
-MJWarp and VBD over one shared model. Import
-:mod:`isaaclab_contrib.custom_coupling.tasks` explicitly before using its
-registered task.
-
-.. list-table::
-    :header-rows: 1
-    :widths: 30 70
-
-    * - Parameter
-      - Description
-    * - ``rigid_solver_cfg``
-      - MJWarp configuration for rigid bodies.
-    * - ``soft_solver_cfg``
-      - VBD configuration. Set ``integrate_with_external_rigid_solver=True``
-        so VBD advances only particles.
-    * - ``coupling_mode="one_way"``
-      - Advance rigid bodies first, then particles without rigid reaction
-        forces.
-    * - ``coupling_mode="two_way"``
-      - Inject particle reactions before MJWarp, then advance VBD with the same
-        contacts.
-
-MJWarp ``nconmax`` and ``njmax`` must cover the rigid contacts and constraints
-in the scene. ``ccd_iterations`` can affect fast rigid contacts near
-deformables. See :doc:`mjwarp-solver` for the rigid-solver parameters.
-
-Use the custom manager for direct shared-model substep ordering. Use proxy
-coupling when deformable contact is localized to selected rigid bodies.
-
-
-.. _newton-vbd-proxy-coupling:
-
-Coupled MJWarp + VBD
---------------------
-
-:class:`~isaaclab_contrib.coupling.CouplerProxyCfg` is the coupling used by
-the core Franka tasks. It partitions the model between named solver entries and
-exposes selected source bodies to the destination solver as proxies. Contact
-feedback returns to the source solver as lagged impulses. This keeps deformable
-contact work localized to the rigid bodies that need it, such as a gripper hand
-and fingers. The pinned proxy solver supports at most two entries and rejects
-joints that cross entry boundaries.
-
-See :ref:`newton-coupled-solvers` for a high-level comparison of proxy and ADMM
-coupling before choosing an approach.
-
-The core Franka soft-body task demonstrates the proxy configuration:
-
-.. literalinclude:: ../../../../../../source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_soft_env_cfg.py
-    :language: python
-    :start-at: newton_mjwarp_vbd_proxy: NewtonCfg
-    :end-before: isaacsim_physx: PhysxCfg = PhysxCfg(
-    :dedent: 4
-
-What the selectors do:
-
-* ``entries`` contains one
-  :class:`~isaaclab_contrib.coupling.CouplerEntryCfg` per sub-solver. Each
-  entry has a stable ``name``, its own ``solver_cfg``, and explicit model
-  ownership selectors.
-* An entry's ``bodies`` selectors are full Newton body-label regex strings.
-  By default, joints inherit their child body's owner and
-  shapes inherit their body's owner. Use ``all_particles=True`` to own all
-  deformable particles and ``include_static_shapes=True`` to own world
-  geometry. Bodies, particles, joints, and shapes may be assigned to at most
-  one entry; unassigned elements remain outside the nested solver views.
-* ``proxies`` contains directed
-  :class:`~isaaclab_contrib.coupling.CouplerProxyMappingCfg` mappings. Each mapping
-  names its ``source`` and ``destination`` entries, then uses ``bodies`` to
-  select the source bodies that the destination solver should collide against.
-  Only bodies that own at least one ``newton.ShapeFlags.COLLIDE_SHAPES`` shape
-  are kept.
-* In the snippet above, the entire Franka articulation is routed to MJWarp,
-  while the deformable particles and static table/world shapes are routed to
-  VBD. Only the ``panda_hand`` and the two fingers are exposed as proxies,
-  so VBD sees three rigid proxies regardless of the number of arm links.
-
-Full-surface rigid-soft contact includes edge and triangle-interior contacts.
-Analytic proxy shapes support it directly, while mesh and convex proxy shapes
-require a volume SDF.
-
-.. important::
-
-    The coupler currently rejects
-    :class:`~isaaclab_newton.physics.KaminoPADMMSolverCfg` or
-    :class:`~isaaclab_newton.physics.KaminoDVISolverCfg` entries and
-    :class:`~isaaclab_newton.physics.MPMSolverCfg` entries configured with
-    ``project_outside_colliders=True``, as well as
-    :class:`~isaaclab_newton.physics.MJWarpSolverCfg` entries configured with
-    ``use_mujoco_cpu=True``. These configurations require manager-specific
-    build, forward-kinematics, reset, or per-step lifecycle hooks that are not
-    yet available to nested solvers. Use MPM with
-    ``project_outside_colliders=False`` and GPU MJWarp, or run these solvers
-    through their standalone managers until nested lifecycle support is added.
-
-Key proxy-specific parameters:
-
-.. list-table::
-    :header-rows: 1
-    :widths: 30 70
-
-    * - Parameter
-      - Description
-    * - ``CouplerProxyMappingCfg.mode``
-      - Default: ``"lagged"``. ``"lagged"`` syncs source begin poses and end
-        velocities, then rewinds lagged feedback before the destination solve.
-        ``"staggered"`` syncs source end poses and end velocities directly.
-        Lagged is the safer default; staggered can be tighter but is more
-        sensitive to timestep.
-    * - ``CouplerProxyCfg.iterations``
-      - Default: ``1``. Number of relaxation iterations per coupled substep.
-        Increase it when proxy contact feedback needs more accuracy.
-    * - ``CouplerProxyMappingCfg.collide_interval``
-      - Default: ``None`` (every proxy pass). How often the proxy collision
-        pipeline rebuilds candidate pairs. Increase it for cheaper but slightly
-        staler proxy contacts.
-    * - ``CouplerProxyMappingCfg.mass_scale``
-      - Default: ``1.0``. Multiplier for the virtual inertia of proxy bodies
-        in the VBD view. Increase it to make proxies behave more like fixed
-        obstacles to VBD.
-
-Body selectors must use full Newton body-label regexes, such as
-``/World/envs/env_.*/Robot``. Proxy mappings also accept raw Newton body ids.
-
-:class:`~isaaclab_contrib.coupling.CouplerAdmmCfg` provides linearized ADMM
-coupling between the same named solver entries. Set ``contact_pairs`` to select
-entry pairs explicitly, or leave it as ``None`` to detect every distinct pair.
-Use ``iterations`` and ``rho`` to tune the ADMM solve.
-
-Try the demo:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-          # zero-agent visual smoke test
-          uv run --extra tetrahedralization python scripts/environments/zero_agent.py --task Isaac-Lift-Soft-Franka --num_envs 1 --visualizer kit
-
-          # scripted pick-and-lift via state machine
-          uv run --extra tetrahedralization python scripts/environments/state_machine/lift_franka_soft.py --num_envs 1
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-          # zero-agent visual smoke test
-          ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Lift-Soft-Franka --num_envs 1 --visualizer kit
-
-          # scripted pick-and-lift via state machine
-          ./isaaclab.sh -p scripts/environments/state_machine/lift_franka_soft.py --num_envs 1
-
-
-Contact and Material Parameters
--------------------------------
-
-Contact Model
-^^^^^^^^^^^^^
-
-:class:`~isaaclab_newton.physics.NewtonSoftContactCfg` applies contact parameters
-to the finalized Newton model through
-:attr:`~isaaclab_newton.physics.NewtonCfg.soft_contact_cfg`:
-
-.. list-table::
-    :header-rows: 1
-    :widths: 30 70
-
-    * - Parameter
-      - Description
-    * - ``soft_contact_ke``
-      - Default: ``1.0e3`` [N/m]. Stiffness for body-particle and particle self-contact. Increase it to reduce clipping through rigid shapes or through other deformable particles. If it is too high, the object can stop visibly deforming or require more VBD iterations and substeps.
-    * - ``soft_contact_kd``
-      - Default: ``1.0e1`` [N*s/m]. Contact damping. Increase it to reduce chatter or bouncing. Too much damping can make contact response sticky or overdamped.
-    * - ``soft_contact_mu``
-      - Default: ``0.5``. Friction coefficient for body-particle and particle self-contact. Increase it when a gripper cannot carry the deformable object without slipping.
-
-To set rigid collision-shape contact properties (``ke``, ``kd``, ``mu``) for
-shapes that lack an explicit per-asset material, use
-:class:`~isaaclab_newton.physics.NewtonShapeCfg` on ``NewtonCfg.default_shape_cfg``
-instead. Per-asset materials override these defaults.
-
-
-Volume Deformable Materials
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Use
-:class:`~isaaclab_newton.sim.spawners.materials.NewtonDeformableBodyMaterialCfg`
-for volume deformables:
-
-.. list-table::
-    :header-rows: 1
-    :widths: 30 70
-
-    * - Parameter
-      - Description
-    * - ``density``
-      - Default: ``1.0`` [kg/m^3]. Material density. Higher density increases particle mass and inertia, so the object accelerates and deforms less for the same contact forces.
-    * - ``particle_radius``
-      - Default: ``0.008`` [m]. Particle contact radius used by Newton. Increase it when contacts are missed or detected too late. If it is too large relative to the mesh resolution, contacts can start too early.
-    * - ``k_mu``
-      - Default: ``1.0e5`` [Pa]. First Lame material parameter. Higher values make the deformable object stiffer and usually require more VBD iterations, more substeps, or a smaller timestep.
-    * - ``k_lambda``
-      - Default: ``1.0e5`` [Pa]. Second Lame material parameter. Higher values make the deformable object stiffer and usually require more VBD iterations, more substeps, or a smaller timestep.
-    * - ``k_damp``
-      - Default: ``0.0`` [Pa*s]. Damping for tetrahedral elements. Increase it to reduce oscillations after deformation, but avoid overdamping if the object should rebound.
-
-
-Surface Deformable Materials
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Use
-:class:`~isaaclab_newton.sim.spawners.materials.NewtonSurfaceDeformableBodyMaterialCfg`
-for cloth or surface deformables:
-
-.. list-table::
-    :header-rows: 1
-    :widths: 30 70
-
-    * - Parameter
-      - Description
-    * - ``density``
-      - Default: ``1.0`` [kg/m^3]. Material density. Higher density increases particle mass and inertia.
-    * - ``particle_radius``
-      - Default: ``0.008`` [m]. Particle contact radius used by Newton.
-    * - ``tri_ke``
-      - Default: ``1.0e4`` [Pa]. Triangle area-preserving stiffness. Increase it to reduce cloth stretch.
-    * - ``tri_ka``
-      - Default: ``1.0e4`` [Pa]. Triangle area stiffness. Increase it to reduce cloth area change.
-    * - ``tri_kd``
-      - Default: ``1.5e-6`` [Pa*s]. Triangle area damping. Increase it to reduce cloth vibration after stretching.
-    * - ``edge_ke``
-      - Default: ``5.0`` [N*m]. Bending stiffness. Increase it for stiffer cloth folds; decrease it for softer draping.
-    * - ``edge_kd``
-      - Default: ``1.0e-2`` [N*m*s]. Bending damping. Increase it to damp fold oscillations.
-
-Tuning Workflow
----------------
-
-Use the following sequence when bringing up a new VBD task:
-
-1. Run one of the supported Franka deformable tasks and confirm your
-   installation, visualizer, and deformable rendering path work.
-2. Add a task-specific VBD or proxy-coupled VBD preset copied from the closest
-   supported task.
-3. Run a small visual smoke test with ``--num_envs 1`` before training.
-4. Tune deformable material stiffness and damping until the object deforms in
-   the expected range without rigid contact.
-5. Increase ``num_substeps`` or decrease ``dt`` if the object is unstable before
-   increasing stiffness further.
-6. Increase :attr:`~isaaclab_newton.physics.VBDSolverCfg.iterations` when
-   contacts or stiff materials do not converge within a substep.
-7. Tune :attr:`~isaaclab_newton.physics.NewtonSoftContactCfg.soft_contact_ke` to
-   reduce rigid/deformable clipping, then tune
-   :attr:`~isaaclab_newton.physics.NewtonSoftContactCfg.soft_contact_mu` for grip
-   and :attr:`~isaaclab_newton.physics.NewtonSoftContactCfg.soft_contact_kd` for
-   chatter.
-8. Enable self-contact only after body-particle contact is stable, then tune
-   ``particle_self_contact_radius`` for active self-contact thickness,
-   ``particle_self_contact_margin`` for missed contacts, and
-   ``particle_collision_detection_interval`` for detection frequency.
-9. Increase ``num_envs`` and profile only after the single-environment scene is
-   stable.
-
-
-Symptoms and First Parameters to Check
---------------------------------------
-
-.. list-table::
-    :header-rows: 1
-    :widths: 35 65
-
-    * - Symptom
-      - First parameters to check
-    * - Rigid bodies visibly clip through the deformable.
-      - Increase ``soft_contact_ke``, VBD ``iterations``, ``num_substeps``, or the deformable material ``particle_radius``.
-    * - The robot cannot lift the deformable.
-      - Check that the gripper bodies are included in the proxy, then increase ``soft_contact_mu`` and rigid-side shape friction (per-asset material ``mu`` or ``NewtonShapeCfg.mu``). Also check gripper actuator stiffness and effort limits.
-    * - The deformable barely deforms.
-      - Reduce material stiffness, ``soft_contact_ke``, or shape contact stiffness.
-    * - Contact chatters or bounces.
-      - Increase ``soft_contact_kd`` or material damping, and consider using more substeps.
-    * - Cloth passes through itself.
-      - Enable ``particle_enable_self_contact``, increase ``particle_self_contact_radius`` if the active self-contact thickness is too small, increase ``particle_self_contact_margin`` if contacts are missed, and use a positive ``particle_collision_detection_interval``.
-    * - Self-contact is too expensive.
-      - Increase ``particle_collision_detection_interval``, reduce mesh resolution, or disable self-contact until the rest of the scene is tuned.
+Page Moved
+==========
 
-For implementation details of the VBD managers and Newton coupler, see
-:doc:`newton-manager-abstraction`.
+This page moved to :doc:`/source/concepts/solver-tuning/tune_vbd`.
diff --git a/docs/source/overview/core-concepts/physical-backends/newton/warp-env-migration.rst b/docs/source/overview/core-concepts/physical-backends/newton/warp-env-migration.rst
index 468ced739b4a..bf8171b21856 100644
--- a/docs/source/overview/core-concepts/physical-backends/newton/warp-env-migration.rst
+++ b/docs/source/overview/core-concepts/physical-backends/newton/warp-env-migration.rst
@@ -1,280 +1,10 @@
-.. _warp-env-migration:
+:orphan:
 
-Warp Environment Migration Guide
-================================
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../concepts/warp_environment_migration.html
+   :name=robots: noindex
 
-This guide covers the key conventions and patterns used by the warp-first environment
-infrastructure, useful for migrating existing torch environments or creating new ones
-natively. For an overview of the warp env path itself (workflows, available envs,
-performance, limitations, benchmarking), see :doc:`warp-environments`.
+Page Moved
+==========
 
-
-Design Rationale
-~~~~~~~~~~~~~~~~
-
-The warp environment path is built around `CUDA graph capture
-<https://docs.nvidia.com/cuda/cuda-programming-guide/04-special-topics/cuda-graphs.html>`_.
-A CUDA graph records a sequence of GPU operations (kernel launches, memory copies) during a
-capture phase, then replays the entire sequence with a single launch. This eliminates per-kernel
-CPU overhead — the parameter validation, kernel selection, and buffer setup that normally costs
-20–200 μs per operation is performed once during graph instantiation and reused on every replay
-(~10 μs total). All CPU-side code (Python logic, torch dispatching) executed during capture is
-completely bypassed during replay. See the `Warp concurrency documentation
-<https://nvidia.github.io/warp/stable/deep_dive/concurrency.html>`_ for Warp's graph capture API
-(``wp.ScopedCapture``).
-
-All design decisions in the warp infrastructure follow from this constraint: every operation in the
-step loop must be a GPU kernel launch with stable memory pointers so that the captured graph can
-be replayed without modification.
-
-Key consequences:
-
-- All buffers are **pre-allocated** — no dynamic allocation inside the step loop
-- Data flows through **persistent ``wp.array`` pointers** — never replaced, only overwritten
-- MDP terms are **pure ``@wp.kernel`` functions** — no Python branching on GPU data
-- Reset uses **boolean masks** (``env_mask``) instead of index lists (``env_ids``) to avoid
-  variable-length indexing that changes graph topology
-
-
-Project Structure
-~~~~~~~~~~~~~~~~~
-
-Warp-specific implementations that diverge from the torch-based managers and env classes live in the ``_experimental`` packages:
-
-- ``isaaclab_experimental`` — warp managers, base env classes, warp MDP terms
-- ``isaaclab_tasks_experimental`` — warp task configs and task-specific MDP terms
-
-Any new warp implementation that differs from the torch-based managers or env classes belongs in these packages.
-Warp task configs reference Newton physics directly (no ``PresetCfg``) since the warp path
-is Newton-only.
-
-
-Writing Warp MDP Terms
-~~~~~~~~~~~~~~~~~~~~~~
-
-Imports
-^^^^^^^
-
-Warp task configs import from the experimental packages:
-
-.. code-block:: python
-
-   # Warp
-   from isaaclab_experimental.managers import ObservationTermCfg, RewardTermCfg, SceneEntityCfg
-   import isaaclab_experimental.envs.mdp as mdp
-
-The term config classes have the same interface — only the import path changes.
-
-
-Common Pattern
-^^^^^^^^^^^^^^
-
-All warp MDP terms (observations, rewards, terminations, events, actions) follow the same
-**kernel + launch** pattern. Torch terms use torch tensors and return results; warp terms
-write into pre-allocated ``wp.array`` output buffers via ``@wp.kernel`` functions:
-
-.. code-block:: python
-
-   # Torch — returns a tensor
-   def lin_vel_z_l2(env, asset_cfg) -> torch.Tensor:
-       return torch.square(asset.data.root_lin_vel_b[:, 2])
-
-   # Warp — writes into pre-allocated output
-   @wp.kernel
-   def _lin_vel_z_l2_kernel(vel: wp.array(...), out: wp.array(dtype=wp.float32)):
-       i = wp.tid()
-       out[i] = vel[i][2] * vel[i][2]
-
-   def lin_vel_z_l2(env, out, asset_cfg) -> None:
-       wp.launch(_lin_vel_z_l2_kernel, dim=env.num_envs, inputs=[..., out])
-
-The output buffer shapes differ by term type:
-
-- **Observations**: ``(num_envs, D)`` where D is the observation dimension
-- **Rewards**: ``(num_envs,)``
-- **Terminations**: ``(num_envs,)`` with dtype ``bool``
-- **Events**: ``(num_envs,)`` mask — events don't produce output, they modify sim state
-
-
-Observation Terms
-^^^^^^^^^^^^^^^^^
-
-Since warp terms write into pre-allocated buffers, the observation manager must know each
-term's output dimension at initialization to allocate the correct ``(num_envs, D)`` output
-array. This is resolved via a fallback chain (see
-``ObservationManager._infer_term_dim_scalar`` in
-``isaaclab_experimental/managers/observation_manager.py``):
-
-1. **Explicit ``out_dim`` in decorator** (preferred):
-
-   .. code-block:: python
-
-      @generic_io_descriptor_warp(out_dim=3, observation_type="RootState")
-      def base_lin_vel(env, out, asset_cfg) -> None: ...
-
-   ``out_dim`` can be an integer, or a string that resolves at initialization:
-
-   - ``"joint"`` — number of selected joints from ``asset_cfg``
-   - ``"body:N"`` — N components per selected body from ``asset_cfg``
-   - ``"command"`` — dimension from command manager
-   - ``"action"`` — dimension from action manager
-
-2. **``axes`` metadata**: Dimension equals the number of axes listed:
-
-   .. code-block:: python
-
-      @generic_io_descriptor_warp(axes=["X", "Y", "Z"], observation_type="RootState")
-      def projected_gravity(env, out, asset_cfg) -> None: ...
-      # → dimension = 3
-
-3. **Legacy params**: ``term_dim``, ``out_dim``, or ``obs_dim`` keys in ``term_cfg.params``.
-
-4. **Asset config fallback**: Count of ``asset_cfg.joint_ids`` (or ``joint_ids_wp``) for
-   joint-level terms.
-
-
-Event Terms
-^^^^^^^^^^^
-
-Events use ``env_mask`` (boolean ``wp.array``) instead of ``env_ids``, and each kernel
-checks the mask to skip non-selected environments:
-
-.. code-block:: python
-
-   def reset_joints_by_offset(env, env_mask, ...):
-       wp.launch(_kernel, dim=env.num_envs, inputs=[env_mask, ...])
-
-   @wp.kernel
-   def _kernel(env_mask: wp.array(dtype=wp.bool), ...):
-       i = wp.tid()
-       if not env_mask[i]:
-           return
-       # ... modify state for selected envs only
-
-- RNG uses per-env ``env.rng_state_wp`` (``wp.uint32``) instead of ``torch.rand``
-- **Startup/prestartup** events use the torch convention ``(env, env_ids, **params)``
-- **Reset/interval** events use the warp convention ``(env, env_mask, **params)``
-
-
-Action Terms
-^^^^^^^^^^^^
-
-Actions follow a **two-stage execution**: ``process_actions`` (called once per env step) scales
-and clips raw actions, and ``apply_actions`` (called once per sim step) writes targets to the
-asset. Both stages use warp kernels with pre-allocated ``_raw_actions`` and ``_processed_actions``
-buffers.
-
-
-Capture Safety
-^^^^^^^^^^^^^^
-
-When writing terms that run inside the captured step loop, keep in mind:
-
-- **No ``wp.to_torch``** or torch arithmetic — stay in warp throughout
-- **No lazy-evaluated properties** — use sim-bound (Tier 1) data directly; if a derived
-  quantity is needed, compute it inline in the kernel
-- **No dynamic allocation** — all buffers must be pre-allocated in ``__init__``
-
-
-Parity Testing
-~~~~~~~~~~~~~~
-
-Two levels of parity testing are used to validate warp terms:
-
-**1. Implementation parity (torch vs warp)** — verifies that the warp kernel produces the
-same result as the torch implementation. This is optional for terms that have no torch
-counterpart (e.g. new terms written directly in warp).
-
-.. code-block:: python
-
-   import isaaclab.envs.mdp.observations as torch_obs
-   import isaaclab_experimental.envs.mdp.observations as warp_obs
-
-   # Torch baseline
-   expected = torch_obs.joint_pos(torch_env, asset_cfg=cfg)
-
-   # Warp (uncaptured)
-   out = wp.zeros((num_envs, num_joints), dtype=wp.float32, device=device)
-   warp_obs.joint_pos(warp_env, out, asset_cfg=cfg)
-   actual = wp.to_torch(out)
-
-   torch.testing.assert_close(actual, expected)
-
-**2. Capture parity (warp vs warp-captured)** — verifies that the term produces identical
-results when replayed from a CUDA graph vs launched directly. A mismatch here indicates capture-unsafe
-code (e.g. stale pointers, dynamic allocation, or lazy property access that doesn't replay).
-This test should always be run, even for terms without a torch counterpart.
-
-.. code-block:: python
-
-   # Warp uncaptured
-   out_uncaptured = wp.zeros((num_envs, num_joints), dtype=wp.float32, device=device)
-   warp_obs.joint_pos(warp_env, out_uncaptured, asset_cfg=cfg)
-
-   # Warp captured (graph replay)
-   out_captured = wp.zeros((num_envs, num_joints), dtype=wp.float32, device=device)
-   with wp.ScopedCapture() as cap:
-       warp_obs.joint_pos(warp_env, out_captured, asset_cfg=cfg)
-   wp.capture_launch(cap.graph)
-
-   torch.testing.assert_close(wp.to_torch(out_captured), wp.to_torch(out_uncaptured))
-
-See ``source/isaaclab_experimental/test/envs/mdp/`` for complete parity test examples.
-
-
-Available Warp MDP Terms
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. list-table::
-   :header-rows: 1
-   :widths: 20 80
-
-   * - Category
-     - Available Terms
-   * - Observations (11)
-     - | ``base_pos_z``
-       | ``base_lin_vel``
-       | ``base_ang_vel``
-       | ``projected_gravity``
-       | ``joint_pos``
-       | ``joint_pos_rel``
-       | ``joint_pos_limit_normalized``
-       | ``joint_vel``
-       | ``joint_vel_rel``
-       | ``last_action``
-       | ``generated_commands``
-   * - Rewards (16)
-     - | ``is_alive``
-       | ``is_terminated``
-       | ``lin_vel_z_l2``
-       | ``ang_vel_xy_l2``
-       | ``flat_orientation_l2``
-       | ``joint_torques_l2``
-       | ``joint_vel_l1``
-       | ``joint_vel_l2``
-       | ``joint_acc_l2``
-       | ``joint_deviation_l1``
-       | ``joint_pos_limits``
-       | ``action_rate_l2``
-       | ``action_l2``
-       | ``undesired_contacts``
-       | ``track_lin_vel_xy_exp``
-       | ``track_ang_vel_z_exp``
-   * - Events (6)
-     - | ``reset_joints_by_offset``
-       | ``reset_joints_by_scale``
-       | ``reset_root_state_uniform``
-       | ``push_by_setting_velocity``
-       | ``apply_external_force_torque``
-       | ``randomize_rigid_body_com``
-   * - Terminations (4)
-     - | ``time_out``
-       | ``root_height_below_minimum``
-       | ``joint_pos_out_of_manual_limit``
-       | ``illegal_contact``
-   * - Actions (2)
-     - | ``JointPositionAction``
-       | ``JointEffortAction``
-
-Terms not listed here remain in torch only. When using an env that requires unlisted terms,
-those terms must be implemented in warp first.
+This page moved to :doc:`/source/concepts/warp_environment_migration`.
diff --git a/docs/source/overview/core-concepts/physical-backends/newton/warp-environments.rst b/docs/source/overview/core-concepts/physical-backends/newton/warp-environments.rst
index 33a480e2ec11..0e621038909f 100644
--- a/docs/source/overview/core-concepts/physical-backends/newton/warp-environments.rst
+++ b/docs/source/overview/core-concepts/physical-backends/newton/warp-environments.rst
@@ -1,334 +1,10 @@
-.. _warp-environments:
+:orphan:
 
-Warp Experimental Environments
-==============================
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../concepts/warp_environments.html
+   :name=robots: noindex
 
-.. note::
+Page Moved
+==========
 
-   The warp environment infrastructure lives in ``isaaclab_experimental`` and
-   ``isaaclab_tasks_experimental``. It's an experimental feature.
-
-The experimental extensions introduce **warp-first** environment infrastructure with CUDA graph capture
-support. All environment-side computation (observations, rewards, resets, actions) runs as pure Warp
-kernels, eliminating Python overhead and enabling CUDA graph capture for maximum throughput.
-
-Throughout this page, **stable** refers to the standard Torch-based implementations in the
-``isaaclab`` and ``isaaclab_tasks`` packages (the default runtime, used when ``--frontend warp``
-is not passed). Their Warp counterparts live in the ``isaaclab_experimental`` and
-``isaaclab_tasks_experimental`` packages.
-
-
-Workflows
-~~~~~~~~~
-
-Two environment workflows are supported:
-
-**Direct workflow** — ``DirectRLEnvWarp`` base class. You implement the step loop, observations,
-rewards, and resets directly in your env class using Warp kernels.
-
-**Manager-based workflow** — ``ManagerBasedRLEnvWarp`` base class. You define MDP terms as
-standalone Warp-kernel functions and compose them via configuration.
-
-
-Available Environments
-~~~~~~~~~~~~~~~~~~~~~~
-
-Direct Warp Environments
-^^^^^^^^^^^^^^^^^^^^^^^^
-
-Direct tasks share the stable task configuration. ``--frontend warp`` resolves
-the stable ``<task>_direct_env:<Name>Env`` entry point to the mirrored
-``<task>_warp_env:<Name>WarpEnv`` implementation and swaps only the environment
-class. Registrations can use ``warp_entry_point`` as an optional override when
-the implementation cannot follow this convention. Stable tasks with a Warp
-implementation:
-
-- ``Isaac-Cartpole-Direct`` — Cartpole balance
-- ``Isaac-Ant-Direct`` — Ant locomotion
-- ``Isaac-Humanoid-Direct`` — Humanoid locomotion
-- ``Isaac-Reorient-Cube-Allegro-Direct`` — Allegro hand cube reorient
-
-
-Manager-Based Warp Execution (``--frontend warp``)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Manager-based tasks do not need a parallel warp registration: the shared RL
-CLI exposes ``--frontend {torch,warp}``, and ``--frontend warp`` adapts the
-*stable* task configuration onto the warp runtime at build time (swapping each
-MDP term for its warp twin). Select the Newton solver explicitly with
-``presets=newton_mjwarp``. Stable tasks with full twin coverage:
-
-- ``Isaac-Cartpole``
-- ``Isaac-Ant``
-- ``Isaac-Humanoid``
-- ``Isaac-Reach-Franka``
-- ``Isaac-Reach-UR10``
-- ``Isaac-Velocity-Flat-AnymalD``
-- ``Isaac-Velocity-Flat-Cassie``
-- ``Isaac-Velocity-Flat-G1``
-- ``Isaac-Velocity-Flat-H1``
-- ``Isaac-Velocity-Flat-UnitreeGo2``
-
-A missing twin is a hard error listing the affected terms, so a partially
-covered task fails at build time rather than silently changing behavior.
-Rough-terrain velocity tasks remain unsupported until
-:class:`~isaaclab.terrains.TerrainImporter` gains Warp APIs.
-
-
-Quick Start
-~~~~~~~~~~~
-
-.. code-block:: bash
-
-    # Direct workflow: stable task, warp env implementation
-    uv run isaaclab train --rl_library rsl_rl \
-        --task Isaac-Cartpole-Direct --frontend warp presets=newton_mjwarp --num_envs 4096
-    uv run isaaclab play --rl_library rsl_rl \
-        --task Isaac-Cartpole-Direct --frontend warp presets=newton_mjwarp \
-        --num_envs 32 --checkpoint latest --visualizer newton_gl
-
-    # Manager-based workflow: stable task on the warp runtime
-    uv run isaaclab train --rl_library rsl_rl \
-        --task Isaac-Velocity-Flat-AnymalD --frontend warp presets=newton_mjwarp --num_envs 4096
-    uv run isaaclab play --rl_library rsl_rl \
-        --task Isaac-Velocity-Flat-AnymalD --frontend warp presets=newton_mjwarp \
-        --num_envs 32 --checkpoint latest --visualizer newton_gl
-
-All RL libraries with warp-compatible wrappers are supported: RSL-RL, RL Games, SKRL, and
-Stable-Baselines3.
-
-.. note::
-
-   ``--video`` is rejected on the warp path, for both ``train`` and ``play``: video
-   recording requires the standard torch frontend. To record a rollout, replay the same
-   checkpoint with ``--frontend torch``.
-
-
-Performance Comparison
-~~~~~~~~~~~~~~~~~~~~~~
-
-Step time comparison between the stable (torch/manager) and warp (CUDA graph captured) variants,
-both running on the Newton physics backend. Measured over 300 iterations with 4096 environments.
-
-.. note::
-
-   The warp migration is an ongoing effort. Several components (e.g. scene write, actuator models)
-   have not yet been migrated to Warp kernels and still run through torch. Further performance
-   improvements are expected as these components are migrated.
-
-.. list-table::
-   :header-rows: 1
-   :widths: 42 10 14 14 12
-
-   * - Env
-     - Type
-     - Stable Step (us)
-     - Warp Step (us)
-     - Change
-   * - Isaac-Cartpole-Direct
-     - Direct
-     - 5,274
-     - 4,331
-     - -17.88%
-   * - Isaac-Ant-Direct
-     - Direct
-     - 6,368
-     - 3,128
-     - -50.88%
-   * - Isaac-Humanoid-Direct
-     - Direct
-     - 13,937
-     - 10,783
-     - -22.63%
-   * - Isaac-Reorient-Cube-Allegro-Direct
-     - Direct
-     - 82,950
-     - 74,570
-     - -10.10%
-   * - Isaac-Cartpole
-     - Manager
-     - 7,971
-     - 3,642
-     - -54.31%
-   * - Isaac-Ant
-     - Manager
-     - 9,781
-     - 4,672
-     - -52.23%
-   * - Isaac-Humanoid
-     - Manager
-     - 17,653
-     - 12,505
-     - -29.16%
-   * - Isaac-Reach-Franka
-     - Manager
-     - 11,458
-     - 7,813
-     - -31.83%
-   * - Isaac-Velocity-Flat-AnymalD
-     - Manager
-     - 32,294
-     - 23,977
-     - -25.75%
-   * - Isaac-Velocity-Flat-Cassie
-     - Manager
-     - 17,320
-     - 10,706
-     - -38.19%
-   * - Isaac-Velocity-Flat-G1
-     - Manager
-     - 34,487
-     - 27,300
-     - -20.84%
-   * - Isaac-Velocity-Flat-H1
-     - Manager
-     - 22,202
-     - 15,864
-     - -28.55%
-   * - Isaac-Velocity-Flat-UnitreeGo2
-     - Manager
-     - 15,221
-     - 9,966
-     - -34.52%
-
-
-Which Workflows Benefit Most
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-The savings come from eliminating Python / torch overhead in the env's step loop, so envs
-gain in proportion to how much of their step time was previously dominated by per-kernel CPU
-overhead. Reading the table above:
-
-- **Manager-based classic RL** (Cartpole, Ant) — biggest gains (-52% to -54%). Many small
-  reward / observation terms with low compute per term, so per-launch CPU overhead dominated
-  the stable baseline.
-- **Manager-based locomotion** (AnymalD, G1, H1, Cassie, UnitreeGo2) — consistent -21% to -38%
-  range. The MDP has more terms but the underlying physics step is heavier, so the relative
-  Python savings shrink.
-- **Direct workflow** — gains scale with how much the env's step body was Python (Ant -51%,
-  Cartpole -18%, Allegro hand -10%). Direct envs that already wrote most of their work as
-  GPU kernels see modest gains; ones with substantial Python state machinery see large ones.
-- **Compute-heavy / scene-write-heavy envs** (Allegro hand, large humanoids) — see smaller
-  relative gains because the warp-side savings are amortised over a heavier step. Components
-  that still go through torch (scene write, actuator models) currently bound the floor; this
-  is expected to improve as remaining components migrate to warp.
-
-If your env's step time is dominated by physics or scene I/O, expect modest gains. If it has
-many small MDP terms or a lot of Python in the step loop, expect large ones. Use the
-benchmarking workflow below to measure on your task before committing to a migration.
-
-
-Limitations
-~~~~~~~~~~~
-
-The warp env path is experimental and has the following known constraints. These are
-specific to warp envs; for Newton physics limitations see :doc:`supported-features`.
-
-**Physics backend**
-
-- **Newton only.** PhysX is not supported under the warp env path. Asset and sensor
-  ``class_type`` fields resolve to ``isaaclab_physx.*`` classes that depend on
-  ``omni.physics.tensors`` (a Kit module the warp runtime does not initialise), and several
-  warp APIs (env-mask reset, CUDA graph capture) require the Newton articulation. Configure
-  the cfg with a Newton physics block (or the typed selector ``physics=newton_mjwarp``,
-  which fails loudly if the task has no Newton physics preset).
-
-**MDP coverage**
-
-- Only the terms listed under :ref:`Available Warp MDP Terms <warp-env-migration>` are
-  implemented. Stable envs that depend on un-migrated terms cannot be run on the warp path
-  until those terms are ported.
-- Some scene-side operations (asset write, actuator models, certain sensor types) still go
-  through torch. They participate in the step but are not yet captured into the graph; they
-  set the lower bound on observed step time.
-- Sensors that depend on the Kit RTX renderer (camera-based observations) cannot be combined
-  with the warp env path — they need Kit, which the warp runtime does not initialise.
-
-**API differences vs stable**
-
-- Reset events use a boolean ``env_mask`` (``wp.array(dtype=wp.bool)``) instead of an
-  ``env_ids`` list. This is required for capture safety: variable-length indexing changes
-  graph topology and breaks replay.
-- All buffers must be pre-allocated in ``__init__``. There is no dynamic allocation inside
-  the captured step loop, so observation / reward / termination output dimensions must be
-  known at env init.
-- Term functions write into a pre-allocated ``out`` buffer rather than returning a tensor.
-  See :doc:`warp-env-migration` for the kernel + launch pattern.
-- Code inside the captured step loop must follow capture-safety rules (no
-  ``wp.to_torch``, no torch arithmetic, no lazy-evaluated properties, no Python branching
-  on GPU data). See the *Capture Safety* section in :doc:`warp-env-migration` for the
-  full set of rules.
-
-
-Benchmarking Your Environment
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-The performance table above was produced with ``isaaclab benchmark training``,
-which runs a fixed iteration count and reports step-time statistics. Use the same command
-to estimate the gain for your own task before committing to a migration.
-
-**Single-task A/B**
-
-Run the same stable task id twice, differing only in ``--frontend``. Pass
-``presets=newton_mjwarp`` to *both* runs so the physics backend is identical and the
-measured difference isolates the frontend (manager pipeline + CUDA graph capture):
-
-.. code-block:: bash
-
-    # Torch frontend (stable managers)
-    uv run isaaclab benchmark training \
-        --rl_library rsl_rl \
-        --task <Task-Name> \
-        --num_envs 4096 \
-        --max_iterations 500 \
-        --benchmark_formatter summary \
-        --output_path benchmarks/torch \
-        presets=newton_mjwarp
-
-    # Warp frontend (warp managers, CUDA-graph captured) — same task id
-    uv run isaaclab benchmark training \
-        --rl_library rsl_rl \
-        --task <Task-Name> \
-        --frontend warp \
-        --num_envs 4096 \
-        --max_iterations 500 \
-        --benchmark_formatter summary \
-        --output_path benchmarks/warp \
-        presets=newton_mjwarp
-
-The ``summary`` formatter prints step time (min / mean / max) and total throughput. Compare
-"step time" between the two runs to estimate the gain per env step.
-
-**Sweep across all available tasks**
-
-Run ``isaaclab benchmark training`` for each task in the stable set (cartpole, ant, humanoid,
-locomotion, manipulation) and again with ``--frontend warp``, then diff the two output
-directories.
-
-**What to look at in the output**
-
-- *Step time (min / mean / max)*: the headline number — what each env step costs.
-- *Iteration time*: includes policy update; useful for end-to-end training throughput.
-- *Capture overhead*: for warp runs, the first few iterations include CUDA graph capture
-  cost; exclude those when comparing steady-state numbers.
-
-**Estimating before you migrate**
-
-If you can't run the warp variant yet (e.g. the task isn't ported), measure the stable
-step time and look at where it's spent:
-
-- ``num_envs * step_time`` dominated by physics → expect modest warp gains.
-- ``step_time`` dominated by ``manager.compute_*`` calls → expect large gains, since those
-  are exactly what the warp managers replace with captured kernel launches.
-
-Use ``--num_steps`` on ``runtime.py`` for a no-policy step-time microbenchmark
-when you want to isolate env overhead from policy compute.
-
-
-Migrating Existing Environments
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-For step-by-step instructions on porting an existing stable env (or writing a new warp
-env from scratch) — covering project layout, the kernel + launch pattern shared by
-observations / rewards / events / terminations / actions, capture-safety rules, and
-parity testing — see :doc:`warp-env-migration`.
+This page moved to :doc:`/source/concepts/warp_environments`.
diff --git a/docs/source/overview/core-concepts/physical-backends/ovphysx/index.rst b/docs/source/overview/core-concepts/physical-backends/ovphysx/index.rst
index abf006cd2d17..e5c0632162d2 100644
--- a/docs/source/overview/core-concepts/physical-backends/ovphysx/index.rst
+++ b/docs/source/overview/core-concepts/physical-backends/ovphysx/index.rst
@@ -1,193 +1,10 @@
-OvPhysX Backend
-===============
+:orphan:
 
-.. warning::
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../concepts/ovphysx.html
+   :name=robots: noindex
 
-    OvPhysX is **highly experimental** and is not recommended for general use yet.
-    The public surface is changing rapidly while the backend is under active
-    development. Expect feature coverage and test commands to change between
-    Isaac Lab 3.0 beta releases.
+Page Moved
+==========
 
-.. warning::
-
-    Do not combine OvPhysX with the Kit visualizer. Commands such as
-    ``physics=ovphysx --visualizer kit`` are unsupported because ovphysx
-    loads USD-dependent PhysX plugins from its own package, while Kit already
-    owns a separate USD/plugin stack in the same process. Use
-    ``--visualizer newton``, ``--visualizer rerun``, ``--visualizer viser``,
-    or omit ``--visualizer`` for headless execution.
-
-OvPhysX is a kit-less variant of the PhysX backend. It drives PhysX directly
-(without the Omniverse Kit runtime) and reads scene-level solver parameters
-from the USD ``PhysicsScene`` prim rather than from a Python config. The Python
-config :class:`~isaaclab_ov.physics.OvPhysxCfg` only exposes the handful of
-GPU buffer sizes that are not represented on the USD schema.
-
-OvPhysX is selected through :class:`~isaaclab_ov.physics.OvPhysxCfg`:
-
-.. code-block:: python
-
-    from isaaclab.sim import SimulationCfg
-    from isaaclab_ov.physics import OvPhysxCfg
-
-    sim_cfg = SimulationCfg(physics=OvPhysxCfg())
-
-Why use OvPhysX?
-----------------
-
-* **Kit-less execution.** OvPhysX avoids Omniverse Kit, which makes it a useful
-  experimental path for headless deployments and for backends that don't need
-  the Kit runtime stack.
-* **USD-as-source-of-truth.** Solver parameters are taken from the
-  ``PhysicsScene`` USD prim, so authoring tools that already manage USD scenes
-  do not need a parallel Python config.
-
-What works today
-----------------
-
-The asset and sensor surface tracks PhysX, but only a subset is implemented and
-validated at the time of writing. The following pieces are available on
-``develop``:
-
-* RigidObject — merged via
-  `PR #5426 <https://github.com/isaac-sim/IsaacLab/pull/5426>`_.
-* Articulation — merged via
-  `PR #5459 <https://github.com/isaac-sim/IsaacLab/pull/5459>`_.
-* RigidObjectCollection — merged via
-  `PR #5570 <https://github.com/isaac-sim/IsaacLab/pull/5570>`_.
-* Contact Sensor — merged via
-  `PR #5422 <https://github.com/isaac-sim/IsaacLab/pull/5422>`_.
-* SceneDataProvider — merged via
-  `PR #5589 <https://github.com/isaac-sim/IsaacLab/pull/5589>`_.
-* FrameView — merged via
-  `PR #5678 <https://github.com/isaac-sim/IsaacLab/pull/5678>`_.
-* :class:`~isaaclab.assets.DeformableObject` — experimental volume- and
-  surface-deformable support on CUDA simulation devices.
-
-Additional OvPhysX work remains in flight. IMU, Frame Transformer, Joint Wrench,
-PVA, Ray Caster, and rendering support are not documented as supported here
-until their implementations land on ``develop`` and pass the backend smoke
-tests.
-
-Deformable limitations
-----------------------
-
-OvPhysX deformables currently require every body matched by one
-:class:`~isaaclab.assets.DeformableObject` to have the same number of simulation
-nodes. Initialization raises an error for mixed node counts instead of exposing
-padded state that would produce incorrect reductions.
-
-Deformable scenes also require full-stage materialization. Startup cost therefore
-grows with the number of authored environments. Use this path for small validation
-scenes; training-scale workloads with thousands of environments are not currently
-supported.
-
-Installation
-------------
-
-The Isaac Lab source install includes the ``isaaclab_ov`` package, but it
-does not install the heavier ``ovphysx`` runtime wheel by default. After a
-standard source install, install the optional OvPhysX runtime dependency from
-the repository root:
-
-.. code-block:: bash
-
-    ./isaaclab.sh -i 'ov[ovphysx]'
-
-You can also install all OV runtime wheels with:
-
-.. code-block:: bash
-
-    ./isaaclab.sh -i 'ov[all]'
-
-The ``ov[ovphysx]`` selector installs the ``ovphysx`` runtime wheel declared by
-the root ``pyproject.toml`` ``ov`` extra. If the wheel is missing, OvPhysX-specific
-tests skip with ``ovphysx wheel not installed`` and user code fails at import time.
-
-Testing the Installation
-------------------------
-
-First check that the Python package and runtime wheel import correctly:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-          uv run python -c "import ovphysx.types; from isaaclab_ov.physics import OvPhysxCfg; print('OvPhysX runtime OK')"
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-          ./isaaclab.sh -p -c "import ovphysx.types; from isaaclab_ov.physics import OvPhysxCfg; print('OvPhysX runtime OK')"
-
-Then run a small backend smoke test:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-          uv run python -m pytest source/isaaclab_ov/test/assets/test_rigid_object.py::test_initialization -k cpu
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-          ./isaaclab.sh -p -m pytest source/isaaclab_ov/test/assets/test_rigid_object.py::test_initialization -k cpu
-
-To try a task that declares an OvPhysX physics preset, use the same preset CLI
-syntax as the other backends:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-          uv run isaaclab zero_agent --task Isaac-Cartpole-Direct \
-              --num_envs 128 --max_steps 64 --viz none physics=ovphysx
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-          ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole-Direct \
-              --num_envs 128 --max_steps 64 --viz none physics=ovphysx
-
-This command runs a 64-step headless zero-action rollout and then exits.
-
-Supported locomotion environments
----------------------------------
-
-The following locomotion training environments declare an ``ovphysx`` physics
-preset. Their corresponding ``-Play`` variants support the same backend where
-available.
-
-* ``Isaac-Ant-Direct``
-* ``Isaac-Humanoid-Direct``
-* ``IsaacContrib-Velocity-Rough-AnymalB``
-* ``IsaacContrib-Velocity-Rough-AnymalC``
-* ``Isaac-Velocity-Flat-AnymalD``
-* ``Isaac-Velocity-Rough-AnymalD``
-* ``IsaacContrib-Velocity-Rough-UnitreeA1``
-* ``IsaacContrib-Velocity-Rough-UnitreeGo1``
-* ``Isaac-Velocity-Rough-UnitreeGo2``
-* ``Isaac-Velocity-Rough-Cassie``
-* ``Isaac-Velocity-Rough-G1``
-* ``Isaac-Velocity-Rough-H1``
-
-Status and follow-up
---------------------
-
-OvPhysX is still experimental, so the feature list above is intentionally
-conservative. Broader feature coverage and documentation parity are tracked in
-`issue #5634 <https://github.com/isaac-sim/IsaacLab/issues/5634>`_.
-
-For architectural context, see :doc:`../../multi_backend_architecture`.
-
-For raw ``TensorBinding`` access and :class:`~isaaclab_ov.sim.views.OvPhysxView`,
-see :doc:`../direct-api-access/ovphysx`.
+This page moved to :doc:`/source/concepts/ovphysx`.
diff --git a/docs/source/overview/core-concepts/physical-backends/physx/configuration.rst b/docs/source/overview/core-concepts/physical-backends/physx/configuration.rst
index 9dea7d4bc77c..25326b9f9d64 100644
--- a/docs/source/overview/core-concepts/physical-backends/physx/configuration.rst
+++ b/docs/source/overview/core-concepts/physical-backends/physx/configuration.rst
@@ -1,112 +1,10 @@
-PhysX Configuration
-===================
+:orphan:
 
-PhysX scene-level settings live on :class:`~isaaclab_physx.physics.PhysxCfg`,
-which replaces the Isaac Lab 2.x ``PhysxCfg`` imported from ``isaaclab.sim``.
-In Isaac Lab 3.0, import ``PhysxCfg`` from ``isaaclab_physx.physics`` instead.
-Per-actor settings (such as per-articulation iteration counts, contact
-filtering, or material properties) continue to be authored on the USD schema;
-see :doc:`../../schema_cfgs` for the schema-level configuration helpers.
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../concepts/solver-tuning/tune_physx.html
+   :name=robots: noindex
 
-The example below shows a representative ``PhysxCfg`` for a contact-rich
-manipulation task:
+Page Moved
+==========
 
-.. code-block:: python
-
-    from isaaclab.sim import SimulationCfg
-    from isaaclab_physx.physics import PhysxCfg
-
-    physx_cfg = PhysxCfg(
-        solver_type=1,                       # TGS
-        min_position_iteration_count=8,
-        max_position_iteration_count=64,
-        min_velocity_iteration_count=1,
-        max_velocity_iteration_count=4,
-        enable_ccd=False,
-        enable_stabilization=False,
-        bounce_threshold_velocity=0.2,
-        friction_offset_threshold=0.04,
-        friction_correlation_distance=0.025,
-    )
-
-    sim_cfg = SimulationCfg(dt=1 / 120, physics=physx_cfg)
-
-
-Common Parameters
------------------
-
-The following list highlights the parameters that most often need tuning. The
-full reference lives on :class:`~isaaclab_physx.physics.PhysxCfg`.
-
-Solver Selection
-^^^^^^^^^^^^^^^^
-
-* ``solver_type``: ``1`` for **TGS** (Temporal Gauss-Seidel, default) or ``0``
-  for **PGS** (Projective Gauss-Seidel). TGS is the recommended default for
-  articulated robots; PGS can be more forgiving on stiff legacy assets.
-* ``solve_articulation_contact_last``: alters the articulation solver order so
-  that dynamic contact is resolved at the end of the solve. Useful for stiff
-  gripping scenarios. For Isaac Lab 3.0, the supported Isaac Sim versions
-  include this feature; it depends on PhysX schema support introduced in
-  Isaac Sim 5.1.
-
-
-Solver Iterations
-^^^^^^^^^^^^^^^^^
-
-* ``min_position_iteration_count`` / ``max_position_iteration_count``: clamp
-  range applied to every actor's individual position-iteration count.
-* ``min_velocity_iteration_count`` / ``max_velocity_iteration_count``: clamp
-  range for velocity iterations.
-* ``enable_external_forces_every_iteration``: applies external forces on every
-  TGS position iteration. Reduces noisy velocity updates at additional
-  compute cost; ignored with the PGS solver.
-
-
-Contact and Stability
-^^^^^^^^^^^^^^^^^^^^^
-
-* ``enable_ccd``: continuous-collision detection for fast-moving bodies.
-* ``enable_stabilization``: extra solver stabilization pass; recommended only
-  for low-rate simulations, where the simulation timestep ``dt`` is larger
-  than about ``1 / 30`` seconds (below about 30 Hz). This pass can make
-  contact-sensor force magnitudes inaccurate, so keep it disabled if you rely
-  on the contact sensor for force observations.
-* ``bounce_threshold_velocity``: relative velocity threshold [m/s] above which
-  contacts bounce.
-* ``friction_offset_threshold``: contact point distance [m] at which friction
-  forces are applied.
-* ``friction_correlation_distance``: distance [m] used to merge nearby
-  contacts into a single friction anchor.
-
-
-GPU Buffer Sizing
-^^^^^^^^^^^^^^^^^
-
-PhysX on the GPU does **not** dynamically grow scene buffers, so undersized
-buffers crash or silently drop contacts. The ``gpu_*`` fields on
-:class:`~isaaclab_physx.physics.PhysxCfg` control these capacities. The
-defaults are tuned for a few-hundred-environment locomotion task; large
-multi-thousand-environment manipulation tasks usually need to raise:
-
-* ``gpu_max_rigid_contact_count``
-* ``gpu_max_rigid_patch_count``
-* ``gpu_found_lost_pairs_capacity``
-* ``gpu_found_lost_aggregate_pairs_capacity``
-* ``gpu_total_aggregate_pairs_capacity``
-* ``gpu_collision_stack_size``
-* ``gpu_heap_capacity``
-
-PhysX prints ``[PhysX]`` warnings when a buffer is exhausted; treat those as
-hard failures and re-tune.
-
-
-See Also
---------
-
-* :class:`~isaaclab_physx.physics.PhysxCfg` — full parameter reference.
-* :doc:`../../schema_cfgs` — schema-level configuration helpers.
-* :doc:`../../multi_backend_architecture` — how PhysX plugs into the backend
-  factory pattern.
-* PhysX 5 SDK documentation:
-  https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/classPxSceneDesc.html
+This page moved to :doc:`/source/concepts/solver-tuning/tune_physx`.
diff --git a/docs/source/overview/core-concepts/physical-backends/physx/index.rst b/docs/source/overview/core-concepts/physical-backends/physx/index.rst
index 15cc2faca261..1f59ca4f2be0 100644
--- a/docs/source/overview/core-concepts/physical-backends/physx/index.rst
+++ b/docs/source/overview/core-concepts/physical-backends/physx/index.rst
@@ -1,39 +1,10 @@
-PhysX Backend
-=============
+:orphan:
 
-`NVIDIA PhysX <https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html>`_
-is the historical default physics backend in Isaac Lab. It runs through
-`NVIDIA Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com>`_'s Omniverse Kit
-runtime and supports GPU-accelerated rigid-body, articulation, soft-body, and
-particle simulation. PhysX is the reference backend for behaviour parity in Isaac
-Lab — assets, sensors, and tasks have all been validated against it first, and the
-other backends are measured against PhysX behaviour.
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../concepts/physics_backends.html
+   :name=robots: noindex
 
-PhysX is selected via :class:`~isaaclab_physx.physics.PhysxCfg`:
+Page Moved
+==========
 
-.. code-block:: python
-
-    from isaaclab.sim import SimulationCfg
-    from isaaclab_physx.physics import PhysxCfg
-
-    sim_cfg = SimulationCfg(physics=PhysxCfg())
-
-The PhysX backend uses the Temporal Gauss-Seidel (TGS) solver by default and also
-exposes a Projective Gauss-Seidel (PGS) variant. Scene-level solver tuning, GPU
-buffer sizing, and contact-handling parameters live on
-:class:`~isaaclab_physx.physics.PhysxCfg`; per-actor settings remain on the USD
-schema. See :doc:`configuration` for the most common knobs.
-
-For an overview of how the multi-backend architecture works, see
-:doc:`../../multi_backend_architecture`.
-
-For native Tensor API access, see :doc:`../direct-api-access/physx`.
-
-
-.. toctree::
-  :maxdepth: 2
-  :titlesonly:
-
-  installation
-  configuration
-  supported-features
+This page moved to :ref:`physics-backends-physx`.
diff --git a/docs/source/overview/core-concepts/physical-backends/physx/installation.rst b/docs/source/overview/core-concepts/physical-backends/physx/installation.rst
index c3fbbf912e69..5b2810dfbdef 100644
--- a/docs/source/overview/core-concepts/physical-backends/physx/installation.rst
+++ b/docs/source/overview/core-concepts/physical-backends/physx/installation.rst
@@ -1,44 +1,10 @@
-Installation
-============
+:orphan:
 
-PhysX is installed as part of the standard Isaac Lab installation. It runs through
-`NVIDIA Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com>`_'s Omniverse Kit
-runtime, so Isaac Sim is a required dependency for the PhysX backend.
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../setup/installation/index.html
+   :name=robots: noindex
 
-Follow the :ref:`isaaclab-installation-root` guide for the full installation
-procedure. The short version:
+Page Moved
+==========
 
-1. Install Isaac Sim 6.0 (binary install or pip install — see the Isaac Sim
-   documentation for system requirements).
-2. Clone Isaac Lab and run ``./isaaclab.sh -i`` to install the Isaac Lab
-   extensions on top of Isaac Sim.
-
-No extra packages are required for the PhysX backend specifically — the PhysX
-runtime ships with Isaac Sim.
-
-
-Testing the Installation
-------------------------
-
-To verify the PhysX backend is working, run any classic Isaac Lab task with the
-default preset:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-          uv run python scripts/environments/zero_agent.py --task Isaac-Cartpole --num_envs 128
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-          ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole --num_envs 128
-
-Environments whose previous default was automatic PhysX selection now use the
-concrete ``isaacsim_physx`` variant by default. Existing explicit defaults, such
-as Newton, remain unchanged. Pass ``physics=physx`` explicitly to opt into
-automatic PhysX-family selection between Isaac Sim PhysX and OvPhysX on tasks
-that support both.
+This page moved to :doc:`/source/setup/installation/index`.
diff --git a/docs/source/overview/core-concepts/physical-backends/physx/supported-features.rst b/docs/source/overview/core-concepts/physical-backends/physx/supported-features.rst
index f94293f2d91b..1f59ca4f2be0 100644
--- a/docs/source/overview/core-concepts/physical-backends/physx/supported-features.rst
+++ b/docs/source/overview/core-concepts/physical-backends/physx/supported-features.rst
@@ -1,74 +1,10 @@
-Supported Features
-==================
+:orphan:
 
-PhysX is the broadest backend in Isaac Lab. It is the reference for behaviour
-parity and supports most public asset, sensor, and renderer surfaces in the
-framework. Tasks built before Isaac Lab 3.0 ran on PhysX. Environments whose
-previous default was automatic PhysX selection now use the concrete
-``isaacsim_physx`` preset by default; explicit backend defaults remain
-unchanged.
+.. meta::
+   :http-equiv=refresh: 0; url=../../../../concepts/physics_backends.html
+   :name=robots: noindex
 
-The summary below is intentionally coarse; consult each component's API
-documentation for fine-grained capability details.
+Page Moved
+==========
 
-Core Simulation
----------------
-
-* Articulation API (multi-link articulations, fixed-base and floating-base
-  articulations, single-body articulations modeled as rigid bodies)
-* Rigid Object and Rigid Object Collection APIs
-* Soft-body and particle simulation (legacy — not exposed through the
-  Isaac Lab asset surface but available through PhysX schemas)
-* Deformable Object API. Cable Object is not supported.
-* CPU and GPU pipelines; GPU is the default for the vectorized RL workloads
-
-
-Sensors
--------
-
-PhysX implements the following sensors directly under
-``isaaclab_physx/sensors/``:
-
-* Contact Sensor
-* IMU
-* Frame Transformer
-* Joint Wrench Sensor
-* PVA
-
-The following sensors are backend-agnostic (implemented in ``isaaclab`` core)
-and work transparently with PhysX:
-
-* Ray Caster
-* Camera — see :doc:`../../sensors/camera`
-
-
-Rendering
----------
-
-* RTX renderer (real-time rasterized; path tracing available through the
-  underlying Omniverse RTX pipeline)
-* Tiled rendering for vectorized RGB / depth / segmentation
-
-
-Tasks and Workflows
--------------------
-
-* Direct and Manager-based workflows
-* ``isaaclab_tasks`` environments that previously defaulted to automatic PhysX
-  selection now default to concrete Isaac Sim PhysX. Environments with an
-  explicit backend default, including Newton tasks, retain that default.
-* Imitation learning and motion-generation pipelines (Mimic, motion generators)
-
-
-Known Caveats
--------------
-
-* PhysX requires Isaac Sim and Omniverse Kit to be installed.
-* GPU buffer sizes are static and must be tuned per task — see
-  :doc:`configuration`.
-* ``enable_stabilization`` can make contact-force magnitudes reported through
-  the contact sensor inaccurate; disable it if you rely on the contact sensor
-  for force observations.
-* The PhysX TGS solver behaviour can differ from Newton's MJWarp solver on
-  stiff contact stacks; if you are porting a task to Newton, expect to retune
-  contact-handling parameters.
+This page moved to :ref:`physics-backends-physx`.
diff --git a/docs/source/overview/core-concepts/physical-backends/solver-comparison.rst b/docs/source/overview/core-concepts/physical-backends/solver-comparison.rst
index 045bb9285b18..171be11d1f5e 100644
--- a/docs/source/overview/core-concepts/physical-backends/solver-comparison.rst
+++ b/docs/source/overview/core-concepts/physical-backends/solver-comparison.rst
@@ -1,279 +1,10 @@
-Solver Comparison
-=================
+:orphan:
 
-This page summarizes the user-visible behavioural differences between the
-solvers shipped with the Isaac Lab physical backends. It's intended as a
-porting reference: most tasks reuse the same USD asset across backends, but
-contact, friction, and stabilization behave differently enough that retuning
-is usually required when moving from one solver to another.
+.. meta::
+   :http-equiv=refresh: 0; url=../../../concepts/solver_differences.html
+   :name=robots: noindex
 
-The solvers covered are:
+Page Moved
+==========
 
-* **PhysX TGS** — default solver for the :doc:`PhysX backend <physx/index>`
-  (Temporal Gauss-Seidel). PhysX also exposes a Projective Gauss-Seidel
-  (PGS) variant via :attr:`~isaaclab_physx.physics.PhysxCfg.solver_type`,
-  which behaves similarly for the purposes of this comparison.
-* **Newton MuJoCo-Warp (MJWarp)** — primary :doc:`Newton solver <newton/mjwarp-solver>`,
-  configured by :class:`~isaaclab_newton.physics.MJWarpSolverCfg`.
-* **Newton Kamino** — beta P-ADMM :doc:`Newton solver <newton/kamino-solver>`,
-  configured by :class:`~isaaclab_newton.physics.KaminoPADMMSolverCfg`.
-
-Newton additionally ships ``FeatherstoneSolverCfg`` and ``XPBDSolverCfg``;
-neither is wired into an Isaac Lab task at the time of writing and they
-are omitted from this comparison.
-
-
-Friction Model
---------------
-
-.. list-table::
-    :header-rows: 1
-    :widths: 25 75
-
-    * - Solver
-      - Friction handling
-    * - PhysX TGS
-      - Coulomb friction with **patch-based** anchors. Tangential forces are
-        merged across nearby contacts via
-        :attr:`~isaaclab_physx.physics.PhysxCfg.friction_correlation_distance`
-        and applied above
-        :attr:`~isaaclab_physx.physics.PhysxCfg.friction_offset_threshold`.
-        The friction cone is always pyramidal.
-    * - MJWarp
-      - MuJoCo's friction model. The friction cone shape is selectable via
-        :attr:`~isaaclab_newton.physics.MJWarpSolverCfg.cone`
-        (``"pyramidal"`` or ``"elliptic"``). The tangential-to-normal
-        impedance ratio is exposed as
-        :attr:`~isaaclab_newton.physics.MJWarpSolverCfg.impratio`.
-    * - Kamino
-      - Per-contact friction resolved inside the P-ADMM solve. Contact
-        warm-starting is selectable via
-        :attr:`~isaaclab_newton.physics.KaminoPADMMSolverCfg.dynamics_solver_cfg.contact_warmstart_method`;
-        the validated presets use ``"geom_pair_net_force"``.
-
-**Porting implication.** Tasks tuned for PhysX's patch friction can feel
-"grippier" than MJWarp's per-contact friction at the same friction
-coefficient. When moving a manipulation task from PhysX to MJWarp, expect to
-raise friction coefficients and consider switching ``cone`` to ``"elliptic"``
-for stiffer contact stacks.
-
-
-Contact Detection and Resolution
---------------------------------
-
-.. list-table::
-    :header-rows: 1
-    :widths: 25 75
-
-    * - Solver
-      - Collision pipeline
-    * - PhysX TGS
-      - PhysX's built-in broadphase + narrowphase, with optional continuous
-        collision detection via
-        :attr:`~isaaclab_physx.physics.PhysxCfg.enable_ccd`. Pre-sized GPU
-        buffers (``gpu_max_rigid_contact_count`` etc.) cap the number of
-        contacts per step; oversubscription is a hard error.
-    * - MJWarp
-      - Two modes selected by
-        :attr:`~isaaclab_newton.physics.MJWarpSolverCfg.use_mujoco_contacts`:
-        MuJoCo's internal contact pipeline (default) or Newton's
-        :class:`~isaaclab_newton.physics.NewtonCollisionPipelineCfg`. The two
-        are mutually exclusive. GJK/EPA iteration count is exposed via
-        :attr:`~isaaclab_newton.physics.MJWarpSolverCfg.ccd_iterations`.
-    * - Kamino
-      - Optionally uses Kamino's internal collision detector (``"primitive"``
-        or ``"unified"``) via
-        :attr:`~isaaclab_newton.physics.KaminoPADMMSolverCfg.use_collision_detector`,
-        otherwise falls back to Newton's :class:`CollisionPipeline`.
-        Contact penetration margin is set by
-        :attr:`~isaaclab_newton.physics.KaminoPADMMSolverCfg.constraints.delta`.
-
-**Porting implication.** A task that runs with ``--enable_ccd`` on PhysX
-won't get the same protection on MJWarp/Kamino at large ``dt`` — Newton's
-CCD is convex GJK/EPA, not the swept-shape CCD PhysX uses. The mitigation
-on Newton is shorter ``dt`` or higher
-:attr:`~isaaclab_newton.physics.NewtonCfg.num_substeps`.
-
-
-Restitution and Bounce
-----------------------
-
-.. list-table::
-    :header-rows: 1
-    :widths: 25 75
-
-    * - Solver
-      - Restitution
-    * - PhysX TGS
-      - Restitution coefficient is per-material on the USD shape. A global
-        velocity threshold
-        :attr:`~isaaclab_physx.physics.PhysxCfg.bounce_threshold_velocity`
-        suppresses restitution below ~0.5 m/s by default.
-    * - MJWarp
-      - Restitution follows the MJCF model translated from USD. There is no
-        bounce-threshold gate — small-velocity contacts can still bounce
-        unless you reduce the per-material restitution.
-    * - Kamino
-      - Restitution is contained in the contact constraint set; behaviour is
-        similar to MJWarp.
-
-**Porting implication.** Tasks that rely on PhysX's bounce-threshold to
-suppress jitter (e.g. footstep contact on flat ground) may show contact
-chatter on Newton until restitution coefficients are reduced.
-
-
-Constraint Stabilization
-------------------------
-
-.. list-table::
-    :header-rows: 1
-    :widths: 25 75
-
-    * - Solver
-      - Stabilization
-    * - PhysX TGS
-      - Implicit, via the TGS solver. An optional extra pass is enabled by
-        :attr:`~isaaclab_physx.physics.PhysxCfg.enable_stabilization` (note:
-        corrupts contact-sensor force magnitudes).
-    * - MJWarp
-      - Implicit, set by the MuJoCo solver's ``solref``/``solimp`` per
-        constraint. No top-level toggle.
-    * - Kamino
-      - Explicit Baumgarte stabilization with separate gains for joint
-        bilaterals (:attr:`~isaaclab_newton.physics.KaminoPADMMSolverCfg.constraints.alpha`),
-        joint-limit unilaterals
-        (:attr:`~isaaclab_newton.physics.KaminoPADMMSolverCfg.constraints.beta`),
-        and contact unilaterals
-        (:attr:`~isaaclab_newton.physics.KaminoPADMMSolverCfg.constraints.gamma`).
-
-
-Solver Convergence
-------------------
-
-.. list-table::
-    :header-rows: 1
-    :widths: 25 75
-
-    * - Solver
-      - Iteration model
-    * - PhysX TGS
-      - Two iteration counts, per actor: position
-        (``min/max_position_iteration_count``) and velocity
-        (``min/max_velocity_iteration_count``). The solver takes the largest
-        actor's count clamped to the scene range. No global convergence
-        tolerance.
-    * - MJWarp
-      - :attr:`~isaaclab_newton.physics.MJWarpSolverCfg.iterations` outer
-        Newton/CG iterations and
-        :attr:`~isaaclab_newton.physics.MJWarpSolverCfg.ls_iterations` line
-        searches per outer iteration. Convergence gate:
-        :attr:`~isaaclab_newton.physics.MJWarpSolverCfg.tolerance` (default
-        ``1e-6``). The line-search cap stops early when convergence is reached;
-        tune it together with the outer iteration count for the target runtime
-        and convergence behaviour.
-    * - Kamino
-      - P-ADMM with separate
-        :attr:`~isaaclab_newton.physics.KaminoPADMMSolverCfg.dynamics_solver_cfg.primal_tolerance`,
-        :attr:`~isaaclab_newton.physics.KaminoPADMMSolverCfg.dynamics_solver_cfg.dual_tolerance`,
-        and
-        :attr:`~isaaclab_newton.physics.KaminoPADMMSolverCfg.dynamics_solver_cfg.compl_tolerance`
-        gates, capped at
-        :attr:`~isaaclab_newton.physics.KaminoPADMMSolverCfg.dynamics_solver_cfg.max_iterations`.
-        Acceleration and warm-starting are tunable.
-
-
-Articulation Coordinates
-------------------------
-
-.. list-table::
-    :header-rows: 1
-    :widths: 25 75
-
-    * - Solver
-      - Coordinate representation
-    * - PhysX TGS
-      - **Reduced-coordinate** articulations (joint-space, Featherstone-like).
-        Joint state is the canonical truth; body transforms are derived via
-        forward kinematics.
-    * - MJWarp
-      - Reduced-coordinate, computed by the MuJoCo solver.
-    * - Kamino
-      - **Maximal-coordinate**: each body has its own free-body state,
-        constraints are enforced via Baumgarte stabilization. Resets go
-        through a dedicated FK pass (:attr:`~isaaclab_newton.physics.KaminoPADMMSolverCfg.use_fk_solver`)
-        so maximal body poses match the reduced joint state after a state
-        write.
-
-**Porting implication.** Kamino is more sensitive to inconsistent reset
-state — joint positions and body poses must agree, which Isaac Lab's asset
-write paths handle but custom reset code can break.
-
-
-Substepping and Timestep
-------------------------
-
-.. list-table::
-    :header-rows: 1
-    :widths: 25 75
-
-    * - Solver
-      - Substep model
-    * - PhysX TGS
-      - PhysX runs at the simulation ``dt``. No external substep counter;
-        internal substepping is per-actor.
-    * - MJWarp
-      - Top-level :attr:`~isaaclab_newton.physics.NewtonCfg.num_substeps`
-        controls how many solver substeps run per Isaac Lab step. Effective
-        solver ``dt`` is ``SimulationCfg.dt / num_substeps``.
-    * - Kamino
-      - Same :attr:`~isaaclab_newton.physics.NewtonCfg.num_substeps` knob.
-        Validated Kamino task presets typically use 1–2 substeps; expect to
-        raise this for contact-heavy tasks.
-
-
-GPU Buffers and Throughput
---------------------------
-
-.. list-table::
-    :header-rows: 1
-    :widths: 25 75
-
-    * - Solver
-      - Memory model
-    * - PhysX TGS
-      - Static GPU buffers sized at construction. Undersized buffers cause
-        crashes or dropped contacts at scale. See the
-        :doc:`PhysX configuration page <physx/configuration>` for the
-        ``gpu_*`` knobs.
-    * - MJWarp
-      - Pre-allocated per-environment limits:
-        :attr:`~isaaclab_newton.physics.MJWarpSolverCfg.njmax`
-        (constraint rows) and
-        :attr:`~isaaclab_newton.physics.MJWarpSolverCfg.nconmax` (contact
-        points). The remainder of state lives in dynamically-sized Warp
-        arrays.
-    * - Kamino
-      - Inherits MJWarp's pre-allocation pattern via Newton, plus its own
-        contact-pair allocator
-        (:attr:`~isaaclab_newton.physics.KaminoPADMMSolverCfg.collision_detector.max_contacts_per_pair`)
-        when using the internal collision detector.
-
-
-Porting Checklist
------------------
-
-When moving a task between solvers:
-
-1. **Re-validate contact behavior.** Run the task at the smallest
-   ``num_envs`` with a visualizer; watch for new penetration or jitter
-   before scaling up.
-2. **Retune friction.** PhysX patch friction and MJWarp per-contact friction
-   are not interchangeable at the same coefficient.
-3. **Retune restitution.** MJWarp/Kamino have no bounce-threshold gate;
-   reduce per-material restitution to suppress jitter.
-4. **Choose substeps.** PhysX → Newton typically needs at least 1–2
-   substeps for contact-heavy tasks; manipulation tasks may need more.
-5. **Watch for CCD differences.** Tasks that relied on PhysX swept CCD
-   should either reduce ``dt`` or raise ``num_substeps`` on Newton.
-6. **For Kamino specifically**, also validate reset behaviour and consider
-   Baumgarte gains if you see drift on joint or contact constraints.
+This page moved to :doc:`/source/concepts/solver_differences`.
diff --git a/docs/source/overview/core-concepts/renderers.rst b/docs/source/overview/core-concepts/renderers.rst
deleted file mode 100644
index 942b206fba93..000000000000
--- a/docs/source/overview/core-concepts/renderers.rst
+++ /dev/null
@@ -1,194 +0,0 @@
-.. _overview_renderers:
-
-Renderers
-=========
-
-Isaac Lab uses a pluggable renderer architecture to support different rendering backends for camera sensors.
-The :class:`~isaaclab.renderers.BaseRenderer` abstract base class defines the interface that all renderer
-implementations must follow.
-
-Isaac Lab supports three rendering backends:
-
-- **Isaac RTX renderer** (``IsaacRtxRendererCfg``) — NVIDIA's Omniverse RTX rendering pipeline
-  running inside Isaac Sim. Requires Isaac Sim. Best for photorealistic rendering, full camera
-  sensor support (RGB, depth, semantic segmentation, etc.), and production quality outputs.
-- **OVRTX renderer** (``OVRTXRendererCfg``) — A standalone RTX path-tracing renderer provided by
-  the ``isaaclab_ov`` extension. Delivers RTX-quality rendering.
-- **Newton Warp renderer** (``NewtonWarpRendererCfg``) — A lightweight GPU-accelerated renderer
-  built on NVIDIA Warp. Works with the Newton physics backend and does **not** require Isaac Sim
-  (kit-less mode). Ideal for training workflows where full RTX fidelity is not needed.
-
-Choosing a renderer backend
-----------------------------
-
-+---------------------+-------------------------------+---------------------------------+
-| Backend             | Requires Isaac Sim?           | Best For                        |
-+=====================+===============================+=================================+
-| Isaac RTX           | Yes                           | Full sensor fidelity, RTX       |
-|                     |                               | photorealism, PhysX backend     |
-+---------------------+-------------------------------+---------------------------------+
-| OVRTX               | No (kit-less; needs           | RTX-quality rendering without   |
-|                     | ``isaaclab_ov`` + ``ovrtx``)  | requiring Isaac Sim             |
-+---------------------+-------------------------------+---------------------------------+
-| Newton Warp         | No (kit-less)                 | Newton backend, fast training   |
-+---------------------+-------------------------------+---------------------------------+
-
-.. note::
-
-   Visualization markers are not yet supported by Newton-based renderer backends,
-   including the Newton Warp renderer. Use an RTX-based renderer, such as the
-   Isaac RTX renderer or OVRTX renderer, when marker visualization is needed.
-
-.. note::
-   **Temporal information for camera-based RL.** Unlike RTX modes with temporal
-   anti-aliasing (DLSS, DLAA, TAA), the Newton Warp renderer does not inject
-   prior-frame information into the current image. Camera-control tasks that depend
-   on velocity-like visual cues should add explicit temporal observations
-   (e.g. task-local frame stacking) rather than relying on renderer-specific artifacts.
-
-Per-environment Isaac RTX scene partitioning
----------------------------------------------
-
-The Isaac RTX renderer enables per-environment scene partitioning by default. It assigns
-matching scene-partition tokens to each ``/World/envs/env_<index>`` hierarchy and its
-camera so tiled views render only that environment's geometry.
-
-Configure the behavior through :class:`~isaaclab_physx.renderers.IsaacRtxRendererCfg`:
-
-.. code-block:: python
-
-   from isaaclab_physx.renderers import IsaacRtxRendererCfg
-
-   renderer_cfg = IsaacRtxRendererCfg(enable_scene_partitioning=False)
-
-Scene partitioning and the all-environment spectator view are separate controls.
-:class:`~isaaclab.app.AppLauncher` enables spectator support before RTX startup only
-when the Kit viewport is enabled or Kit visualization, recording, livestreaming, or XR
-is requested. Regular headless training and camera-sensor runs keep it disabled so
-tiled cameras are not exposed to the spectator mode's world-space layout constraints.
-
-``global_settings.show_all_partitions_by_default`` maps to that same process-global RTX
-setting; it is not a separate feature. Its default value of ``None`` preserves the
-launch-time choice made by :class:`~isaaclab.app.AppLauncher`. An explicit value overrides
-that setting when the Isaac RTX renderer is constructed. When enabled, environments must
-remain spatially separated because overlapping partition bounds can make content leak into
-another environment or disappear. When disabled, the Kit viewport displays only the
-selected environment.
-
-This setting does not affect OVRTX, which always partitions multi-environment scenes.
-
-Prims outside the environment hierarchies remain in the shared background partition.
-Environment-owned ``PointInstancer`` markers can carry one matching scene-partition
-token per instance; markers without that ownership information remain shared.
-
-.. warning::
-
-   Kit RTX sizes each partition from the bounding boxes of the prims it contains and never
-   refreshes the bounding box of an animated ``UsdGeom.BasisCurves`` prim, so cables can be
-   culled once they deform beyond their initial extent. See
-   :ref:`known-issues-animated-curve-scene-partition` for the workaround.
-
-Architecture Overview
----------------------
-
-The renderer system consists of:
-
-1. **BaseRenderer** — Abstract base class defining the rendering lifecycle and interface
-2. **RendererCfg** — Base configuration; each backend extends it with backend-specific options and declares
-   its implementation in ``class_type``
-3. **Concrete implementations** — Backend-specific renderers in extension packages
-4. **RenderContext** — A management class for instantiating and accessing renderer instances using a **RendererCfg**.
-   After instantiation, a config can then be used to acquire the instance of the renderer as needed.
-
-.. code-block:: python
-
-   import isaaclab.sim as sim_utils
-   from isaaclab.renderers import BaseRenderer
-   from isaaclab_newton.renderers import NewtonWarpRendererCfg
-
-   # Create a Newton Warp renderer (no Isaac Sim required)
-   sim_ctx = sim_utils.SimulationContext.instance()
-   # RenderContext.get_renderer constructs cfg.class_type(cfg)
-   # or return an existing renderer with a matching config
-   renderer: BaseRenderer = sim_ctx.render_context.get_renderer(NewtonWarpRendererCfg())
-   assert isinstance(renderer, BaseRenderer)
-
-For the RTX renderer (requires Isaac Sim):
-
-.. code-block:: python
-
-   import isaaclab.sim as sim_utils
-   from isaaclab.renderers import BaseRenderer
-   from isaaclab_physx.renderers import IsaacRtxRendererCfg
-
-   # Create an RTX renderer
-   sim_ctx = sim_utils.SimulationContext.instance()
-   # RenderContext.get_renderer constructs cfg.class_type(cfg)
-   # or return an existing renderer with a matching config
-   renderer: BaseRenderer = sim_ctx.render_context.get_renderer(IsaacRtxRendererCfg())
-
-For RTX renderer settings, see
-:doc:`/source/how-to/configure_rendering`.
-
-Core concepts
--------------
-
-- **Use the RenderContext**: Always acquire renderers via the RenderContext with a renderer-specific config class
-  (e.g. ``sim_ctx.render_context.get_renderer(IsaacRtxRendererCfg())``). Do not import or instantiate concrete backend classes
-  (e.g. ``IsaacRtxRenderer``, ``OVRTXRenderer``) directly—their names and package locations are
-  implementation details and may change without notice.
-
-- **Lightweight config imports**: Importing a renderer configuration class does not pull in backend-specific
-  dependencies. ``class_type`` is resolved lazily when the renderer is constructed, and construction may fail
-  if the backend is not installed.
-
-  .. code-block:: python
-
-     import isaaclab.sim as sim_utils
-     from isaaclab.renderers import BaseRenderer
-     # Lightweight: does not import OVRTX backend dependencies
-     from isaaclab_ov.renderers import OVRTXRendererCfg
-
-     # Lazily loads ovrtx when instantiated; may fail if isaaclab_ov / ovrtx is not installed
-     sim_ctx = sim_utils.SimulationContext.instance()
-     renderer: BaseRenderer = sim_ctx.render_context.get_renderer(OVRTXRendererCfg())
-
-Installing the OVRTX renderer
-------------------------------
-
-The OVRTX renderer is provided by the ``isaaclab_ov`` extension. The extension's
-source package ships with the core install, but the renderer's ``ovrtx`` runtime
-wheel (the `ovrtx <https://github.com/NVIDIA-Omniverse/ovrtx>`_ package, published
-on public PyPI) is **not** installed by default. You must request it
-explicitly — OVRTX does **not** require Isaac Sim.
-
-Install via the Isaac Lab CLI using the ``ov[ovrtx]`` token:
-
-.. code-block:: bash
-
-   # Install the ovrtx runtime wheel on top of an existing install
-   ./isaaclab.sh -i ov[ovrtx]
-
-.. note::
-
-   The bare ``ov`` token does **not** install any runtime wheel (the source
-   packages are already part of the core install). Use ``ov[ovrtx]`` (or ``ov[all]``)
-   to pull in the ``ovrtx`` dependency.
-
-Or install the public ``ovrtx`` package directly from PyPI:
-
-.. isaaclab-ovrtx-install::
-
-- **Opaque render data**: The render data object returned by :meth:`~isaaclab.renderers.BaseRenderer.create_render_data` is passed to
-  subsequent renderer methods. It should be completely opaque to the caller: inspecting or modifying it
-  via get/set attributes is an anti-pattern and breaks the API contract.
-
-.. note::
-
-   The :class:`~isaaclab.renderers.BaseRenderer` class is under active development and may change without notice.
-
-See Also
---------
-
-- :doc:`/source/concepts/scene_data_providers`: how scene data flows from physics backends to renderers
-- :doc:`/source/concepts/visualization` — lightweight visualizer backends for interactive feedback
diff --git a/docs/source/overview/core-concepts/sensors/camera.rst b/docs/source/overview/core-concepts/sensors/camera.rst
deleted file mode 100644
index 2986394f8d4b..000000000000
--- a/docs/source/overview/core-concepts/sensors/camera.rst
+++ /dev/null
@@ -1,579 +0,0 @@
-.. _overview_sensors_camera:
-
-.. currentmodule:: isaaclab
-
-Camera
-======
-
-Camera sensors in Isaac Lab are renderer-backed sensors: each :class:`~sensors.Camera` instance
-is coupled to a **renderer** that produces the image data. If multiple cameras use the same renderer
-type, only one renderer is instantiated and shared between them. The renderer and camera are intentionally
-isolated from each other — the camera defines *what* to capture (pose, resolution, field of view,
-data types), while the renderer defines *how* to render it (RTX ray-tracing, Newton Warp rasterizer,
-etc.). This separation allows the same camera configuration to run across different physics and
-rendering backends without code changes.
-
-For an overview of the available renderer backends and how to choose between them, see
-:ref:`overview_renderers`.
-
-Rendered images are unique among supported sensor data types due to their large bandwidth requirements.
-A single 800 × 600 image with 32-bit color clocks in at just under 2 MB. At 60 fps across thousands
-of parallel environments, this grows quickly. Isaac Lab's tiled rendering API specifically addresses
-these scaling challenges by batching all cameras into a single render pass.
-
-
-Renderer Backends
------------------
-
-The renderer used by a camera is configured via the ``renderer_cfg`` field on
-:class:`~sensors.CameraCfg`. The default is :class:`~isaaclab_physx.renderers.IsaacRtxRendererCfg`
-(NVIDIA RTX, requires Isaac Sim).
-
-.. list-table::
-   :header-rows: 1
-   :widths: 30 30
-
-   * - ``renderer_cfg``
-     - Requires Isaac Sim?
-   * - ``IsaacRtxRendererCfg`` *(default)*
-     - Yes
-   * - ``NewtonWarpRendererCfg``
-     - No (kit-less)
-   * - ``OVRTXRendererCfg``
-     - No (+ ``isaaclab_ov``)
-
-.. note::
-
-   Backends differ in which annotators they produce. See
-   :ref:`the support matrix <camera-supported-annotators>` below for the
-   per-annotator breakdown across the Isaac RTX, OVRTX, and Newton Warp renderers.
-
-
-Tiled Rendering
-~~~~~~~~~~~~~~~
-
-.. note::
-
-    This feature is available from Isaac Sim version 4.2.0 onwards (for the RTX renderer).
-    The Newton Warp renderer supports tiled rendering in kit-less mode.
-
-    Tiled rendering in combination with image processing networks require heavy memory resources,
-    especially at larger resolutions. We recommend running 512 cameras on RTX 4090 GPUs or similar
-    when using the RTX renderer.
-
-The Tiled Rendering API provides a vectorized interface for collecting image data from all environment
-clones in a single batched render pass. Instead of one render call per camera, all copies of a camera
-are composited into a single large tiled image, dramatically reducing host-device transfer overhead.
-
-Isaac Lab provides tiled rendering through :class:`~sensors.Camera`, configured via
-:class:`~sensors.CameraCfg`. The ``renderer_cfg`` field selects the rendering backend.
-
-
-CameraCfg with renderer_cfg
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-The renderer is specified via ``renderer_cfg`` on :class:`~sensors.CameraCfg`. The camera and
-renderer configurations are fully decoupled: you can swap renderers without changing any other camera
-parameters.
-
-**Default (RTX, requires Isaac Sim):**
-
-.. code-block:: python
-
-    from isaaclab.sensors import CameraCfg
-    import isaaclab.sim as sim_utils
-    # IsaacRtxRendererCfg is the default, no explicit import needed
-
-    tiled_camera: CameraCfg = CameraCfg(
-        prim_path="/World/envs/env_.*/Camera",
-        offset=CameraCfg.OffsetCfg(pos=(-7.0, 0.0, 3.0), rot=(0.9945, 0.0, 0.1045, 0.0), convention="world"),
-        data_types=["rgb"],
-        spawn=sim_utils.PinholeCameraCfg(
-            focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 20.0)
-        ),
-        width=80,
-        height=80,
-        # renderer_cfg defaults to IsaacRtxRendererCfg()
-    )
-
-**Newton Warp renderer (kit-less, no Isaac Sim required):**
-
-.. code-block:: python
-
-    from isaaclab.sensors import CameraCfg
-    from isaaclab_newton.renderers import NewtonWarpRendererCfg
-    import isaaclab.sim as sim_utils
-
-    tiled_camera: CameraCfg = CameraCfg(
-        prim_path="/World/envs/env_.*/Camera",
-        offset=CameraCfg.OffsetCfg(pos=(-7.0, 0.0, 3.0), rot=(0.9945, 0.0, 0.1045, 0.0), convention="world"),
-        data_types=["rgb", "depth"],  # see the support matrix below for all Newton-supported types
-        spawn=sim_utils.PinholeCameraCfg(
-            focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 20.0)
-        ),
-        width=80,
-        height=80,
-        renderer_cfg=NewtonWarpRendererCfg(),
-    )
-
-**Multi-backend preset (switches renderer alongside physics backend):**
-
-For environments that need to support both backends, use
-:class:`~isaaclab_tasks.utils.presets.MultiBackendRendererCfg` together with the
-:ref:`PresetCfg pattern <migrating-to-isaaclab-3-0>`:
-
-.. code-block:: python
-
-    from isaaclab.sensors import CameraCfg
-    from isaaclab_tasks.utils.presets import MultiBackendRendererCfg
-    import isaaclab.sim as sim_utils
-
-    tiled_camera: CameraCfg = CameraCfg(
-        prim_path="/World/envs/env_.*/Camera",
-        offset=CameraCfg.OffsetCfg(pos=(-7.0, 0.0, 3.0), rot=(0.9945, 0.0, 0.1045, 0.0), convention="world"),
-        data_types=["rgb"],
-        spawn=sim_utils.PinholeCameraCfg(
-            focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 20.0)
-        ),
-        width=80,
-        height=80,
-        renderer_cfg=MultiBackendRendererCfg(),  # selects RTX or Newton Warp via presets= CLI arg
-    )
-
-The active preset is selected at launch via ``physics=``, ``renderer=``, or ``presets=`` CLI arguments:
-
-.. code-block:: bash
-
-   # Use Newton Warp renderer
-   python train.py task=Isaac-Cartpole-Camera-Direct renderer=newton_renderer
-
-   # Use OVRTX renderer
-   python train.py task=Isaac-Cartpole-Camera-Direct renderer=ovrtx
-
-   # Use default (Isaac RTX)
-   python train.py task=Isaac-Cartpole-Camera-Direct
-
-
-Accessing camera data
-~~~~~~~~~~~~~~~~~~~~~
-
-.. code-block:: python
-
-    tiled_camera = Camera(cfg.tiled_camera)
-    data = tiled_camera.data.output["rgb"]  # shape: (num_cameras, H, W, 3), torch.uint8
-
-The returned data has shape ``(num_cameras, height, width, num_channels)``, ready to use directly
-as an observation in RL training.
-
-Camera rendering is enabled automatically when launching an RTX camera task:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: shell
-
-          uv run --extra rl-games isaaclab train --rl_library rl_games \
-              --task=Isaac-Cartpole-Camera-Direct
-
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: shell
-
-          ./isaaclab.sh train --rl_library rl_games \
-              --task=Isaac-Cartpole-Camera-Direct
-
-
-Annotators
-~~~~~~~~~~
-
-:class:`~sensors.Camera` exposes the following annotator data types. Not every
-backend produces every annotator — see the support matrix below.
-
-* ``"rgb"``: A 3-channel rendered color image.
-* ``"rgba"``: A 4-channel rendered color image with alpha channel.
-* ``"rgb_hdr"``: A 3-channel scene-linear HDR color image.
-* ``"distance_to_camera"``: Distance to the camera optical center per pixel.
-* ``"distance_to_image_plane"``: Distance along the camera's Z-axis per pixel.
-* ``"depth"``: Alias for ``"distance_to_image_plane"``.
-* ``"normals"``: Local surface normal vectors at each pixel.
-* ``"motion_vectors"``: Per-pixel motion vectors in image space.
-* ``"semantic_segmentation"``: Semantic segmentation labels.
-* ``"instance_segmentation"``: Per-instance segmentation labels for semantically-tagged prims.
-* ``"instance_id_segmentation_fast"``: Instance ID segmentation data.
-
-.. _camera-supported-annotators:
-
-Supported annotators by renderer backend
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-The following matrix shows which annotators each renderer backend can produce.
-``Isaac RTX`` is :class:`~isaaclab_physx.renderers.IsaacRtxRendererCfg`, ``OVRTX``
-is :class:`~isaaclab_ov.renderers.OVRTXRendererCfg`, and ``Newton Warp`` is
-:class:`~isaaclab_newton.renderers.NewtonWarpRendererCfg`.
-
-.. list-table::
-   :header-rows: 1
-   :widths: 40 20 20 20
-
-   * - Data type
-     - Isaac RTX
-     - OVRTX
-     - Newton Warp
-   * - ``rgb``
-     - ✅
-     - ✅
-     - ✅
-   * - ``rgba``
-     - ✅
-     - ✅
-     - ✅
-   * - ``rgb_hdr``
-     - ✅
-     - ✅
-     - ✅
-   * - ``distance_to_camera``
-     - ✅
-     - ✅
-     - ✅
-   * - ``distance_to_image_plane``
-     - ✅
-     - ✅
-     - ✅
-   * - ``depth``
-     - ✅
-     - ✅
-     - ✅
-   * - ``normals``
-     - ✅
-     - ✅
-     - ✅
-   * - ``motion_vectors``
-     - ✅
-     - ✅
-     - ❌
-   * - ``semantic_segmentation``
-     - ✅
-     - ✅
-     - ✅
-   * - ``instance_segmentation``
-     - ✅
-     - ✅
-     - ✅
-   * - ``instance_id_segmentation_fast``
-     - ✅
-     - ❌
-     - ❌
-
-RGB and RGBA
-~~~~~~~~~~~~
-
-.. figure:: ../../../_static/overview/sensors/camera_rgb.jpg
-    :align: center
-    :figwidth: 100%
-    :alt: A scene captured in RGB
-
-``rgb`` returns a 3-channel RGB image of type ``torch.uint8``, shape ``(B, H, W, 3)``.
-
-``rgba`` returns a 4-channel RGBA image of type ``torch.uint8``, shape ``(B, H, W, 4)``.
-
-To convert to ``torch.float32``, divide by 255.0.
-
-``rgb_hdr`` returns a 3-channel scene-linear HDR image of type ``torch.float32``, shape ``(B, H, W, 3)``.
-
-Post-render Camera ISP
-~~~~~~~~~~~~~~~~~~~~~~
-
-A camera Image Signal Processing (ISP) pipeline models the chain that maps
-the scene-linear radiance captured by a sensor to the LDR pixel values a
-downstream consumer sees.
-The camera ISP pipeline is usually part of the renderer.
-In Isaac Lab we expose a post-render camera ISP pipeline which is applied on top of the renderer's HDR scene-linear AOV.
-This makes it possible to implement additional post-render processing not currently supported by the renderer backends.
-The pass is configured via :attr:`~sensors.CameraCfg.isp_cfg`
-on every camera and runs once per render tick.
-
-PPISP
-^^^^^
-
-The shipped ISP implementation is **PPISP** (Physically Plausible Image
-Signal Processing), an NVIDIA Spatial Intelligence Lab pipeline designed
-to bring synthetic imagery — most notably 3D Gaussian splat reconstructions
-— closer to real-camera output without re-training the upstream model. See
-the project page: https://research.nvidia.com/labs/sil/projects/ppisp .
-
-PPISP is typically authored alongside a `ParticleField3DGaussianSplat
-<https://openusd.org/release/user_guides/schemas/usdVol/ParticleField3DGaussianSplat.html>`__
-USD asset: its camera prim authors ``ppisp:*`` attributes calibrated against
-the real capture rig that produced the splats. Configuring the camera with
-the matching PPISP coefficients makes the rendered tile match the calibration
-target.
-
-With static coefficients, the image pass applies, in order: responsivity →
-exposure → vignetting → color homography → camera response function → uint8
-clamp. It runs as a single Warp image kernel.
-
-When the camera also authors ``ppisp:controllerWeights``, Isaac Lab runs the
-exported PPISP controller before the image pass. The controller reads the
-current HDR image, prior exposure, and controller responsivity, then predicts
-``exposureOffset`` and the four color-latent pairs for each camera view. The
-image pass then uses those predicted exposure and color-latent values while
-static PPISP inputs still provide responsivity, vignetting, and CRF.
-
-Configuration
-^^^^^^^^^^^^^
-
-:attr:`~sensors.CameraCfg.isp_cfg` accepts three forms:
-
-* ``None`` (default) — ISP disabled.
-* :class:`~isaaclab_ppisp.PpispCfg` — explicit PPISP coefficients
-  (:attr:`~isaaclab_ppisp.PpispCfg.inputs`) and, optionally, controller
-  weights. Use :attr:`~isaaclab_ppisp.PpispCfg.camera_prim_path` to import
-  static coefficients and camera-authored controller weights from a USD camera
-  already on the stage.
-* :class:`~sensors.CameraISPMode` — auto-discover ISP camera attributes on the
-  stage (see below).
-
-The cfg applies once per Camera sensor batch. Static PPISP inputs are scalar
-coefficients shared by every cloned view in a tiled batch. When controller
-weights are present, the controller predicts per-view exposure and color-latent
-values from each HDR image, while responsivity, vignetting, and CRF remain
-shared by the batch.
-
-.. code-block:: python
-
-   from isaaclab.sensors.camera import CameraCfg, CameraISPMode
-   from isaaclab_ppisp import PpispCfg
-
-   # default — ISP disabled
-   cfg = CameraCfg(...)
-
-   # explicit coefficients
-   cfg = CameraCfg(..., isp_cfg=PpispCfg(inputs={"exposureOffset": 1.5}))
-
-   # import coefficients from a USD camera path
-   cfg = CameraCfg(..., isp_cfg=PpispCfg(camera_prim_path="/World/Camera_ppisp"))
-
-   # auto-discover from the stage
-   cfg = CameraCfg(..., isp_cfg=CameraISPMode.AUTO_ANY)
-
-Auto-discovery
-^^^^^^^^^^^^^^
-
-Auto-discovery is opt-in via :class:`~sensors.CameraISPMode`. Discovery runs
-once at camera construction using the first matched camera prim in the Camera
-sensor batch:
-
-1. Check the first matched camera prim for ``ppisp:*`` attributes.
-2. ``AUTO_ANY`` only, or when no camera path is available: fall back to the
-   first camera anywhere on the stage with ``ppisp:*`` attributes.
-3. Otherwise the ISP stays disabled for the whole Camera sensor batch.
-
-In practice this means: if the stage carries a ``ParticleField3DGaussianSplat``
-together with a camera that authors ``ppisp:*`` attributes, the Camera sensor
-picks up the matching ISP automatically, including controller weights when
-authored, and no Python-side coefficient authoring is required.
-
-``AUTO_CAMERA`` runs only the camera-local discovery steps — useful when the
-stage carries multiple PPISP cameras and you want the Camera sensor batch to use
-the attributes authored on its first matched camera prim.
-
-Renderer support
-^^^^^^^^^^^^^^^^
-
-All three shipped backends advertise the HDR AOV
-(:attr:`~renderers.RenderBufferKind.RGB_HDR`) and compose the ISP pipeline
-internally: the Isaac RTX renderer sources HDR from the Replicator
-``HdrColor`` annotator, the OVRTX renderer from its HDR render var, the
-Newton Warp renderer from its native scene-linear color buffer. Each
-backend allocates its own HDR scratch buffer when the user did not request
-``"rgb_hdr"`` in :attr:`~sensors.CameraCfg.data_types`, and dispatches the
-PPISP pipeline into ``rgb`` / ``rgba`` after every render tick. For controller
-configs, this is the controller pass followed by the PPISP image pass.
-
-Usage example
-^^^^^^^^^^^^^
-
-For a runnable usage example, see ``scripts/demos/sensors/ppisp_camera.py``.
-It loads a PPISP-authored USD or USDZ Gaussian scene, creates baseline and
-PPISP camera sensors for the selected camera, and saves baseline, PPISP, and
-absolute-difference images.
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-         uv run --extra isaacsim python scripts/demos/sensors/ppisp_camera.py \
-             --renderer newton_renderer --max_steps 60
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-         ./isaaclab.sh -p scripts/demos/sensors/ppisp_camera.py \
-             --renderer newton_renderer --max_steps 60
-
-Use ``--renderer isaac_rtx`` to run the same workflow with Isaac RTX. Pass
-``--input_scene`` for a custom scene and ``--camera_prim_path`` if the stage
-contains multiple cameras with PPISP attributes. If a config or command selects
-a visualizer, force-disable all visualizers with ``--visualizer none`` or
-``--viz none``. Images are written to
-``scripts/demos/sensors/output/ppisp_camera`` unless ``--output_dir`` is set.
-
-Known limitations
-^^^^^^^^^^^^^^^^^
-
-* The ISP writes back into the ``rgb`` / ``rgba`` buffers. If neither is
-  requested, configuring ``isp_cfg`` raises at camera init.
-* Static PPISP inputs and controller weights are fixed for the lifetime of the
-  camera. Animated USD camera attributes are collapsed to their first authored
-  time sample.
-* Static coefficients are global per Camera sensor batch — no per-pixel or
-  per-region authoring beyond the radial vignetting term.
-* PPISP is the only ISP implementation today. Other ISP families would
-  need a new config type and discoverer entry.
-* On the Isaac RTX and OVRTX backends, enabling ``isp_cfg`` forces RTX-side
-  tonemapping off (``/rtx/rtpt/gaussian/skipTonemapping/enabled=False``)
-  and authors a neutral ``OmniRtxCameraExposureAPI_1`` schema on each
-  camera prim so the post-render ISP is the only path that processes
-  color. Mixing this with RTX-side exposure authoring is not supported.
-* Auto-discovery resolves at camera construction; later authoring of
-  ``ppisp:*`` camera attributes on the stage is not picked up.
-
-Depth and Distances
-~~~~~~~~~~~~~~~~~~~
-
-.. figure:: ../../../_static/overview/sensors/camera_depth.jpg
-    :align: center
-    :figwidth: 100%
-    :alt: A scene captured as depth
-
-``distance_to_camera`` returns a single-channel depth image with distance to the camera optical
-center, shape ``(B, H, W, 1)``, type ``torch.float32``.
-
-``distance_to_image_plane`` returns distances of 3D points from the camera plane along the Z-axis,
-shape ``(B, H, W, 1)``, type ``torch.float32``.
-
-``depth`` is an alias for ``distance_to_image_plane``.
-
-Normals
-~~~~~~~
-
-.. figure:: ../../../_static/overview/sensors/camera_normals.jpg
-    :align: center
-    :figwidth: 100%
-    :alt: A scene captured with surface normals
-
-``normals`` returns local surface normal vectors at each pixel, shape ``(B, H, W, 3)`` containing
-``(x, y, z)``, type ``torch.float32``.
-
-Motion Vectors
-~~~~~~~~~~~~~~
-
-``motion_vectors`` returns per-pixel motion vectors in image space between frames.
-Shape ``(B, H, W, 2)``: ``x`` is horizontal motion (positive = left), ``y`` is vertical motion
-(positive = up). Type ``torch.float32``.
-
-Semantic Segmentation
-~~~~~~~~~~~~~~~~~~~~~
-
-.. figure:: ../../../_static/overview/sensors/camera_semantic.jpg
-    :align: center
-    :figwidth: 100%
-    :alt: A scene with semantic segmentation
-
-``semantic_segmentation`` outputs per-pixel semantic labels for entities with semantic annotations.
-An ``info`` dictionary is available via ``tiled_camera.data.info['semantic_segmentation']``.
-
-- If ``colorize_semantic_segmentation=True``: 4-channel RGBA image, shape ``(B, H, W, 4)``,
-  type ``torch.uint8``. The ``idToLabels`` dict maps color to semantic label.
-- If ``colorize_semantic_segmentation=False``: shape ``(B, H, W, 1)``, type ``torch.int32``,
-  containing semantic IDs. The ``idToLabels`` dict maps ID to label.
-
-Instance ID Segmentation
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. figure:: ../../../_static/overview/sensors/camera_instanceID.jpg
-    :align: center
-    :figwidth: 100%
-    :alt: A scene with instance ID segmentation
-
-``instance_id_segmentation_fast`` outputs per-pixel instance IDs, unique per USD prim path.
-An ``info`` dictionary is available via ``tiled_camera.data.info['instance_id_segmentation_fast']``.
-
-- If ``colorize_instance_id_segmentation=True``: shape ``(B, H, W, 4)``, type ``torch.uint8``.
-  The ``idToLabels`` dict maps color to USD prim path.
-- If ``colorize_instance_id_segmentation=False``: shape ``(B, H, W, 1)``, type ``torch.int32``.
-  The ``idToLabels`` dict maps instance ID to USD prim path.
-
-Instance Segmentation
-~~~~~~~~~~~~~~~~~~~~~
-
-.. figure:: ../../../_static/overview/sensors/camera_instance.jpg
-    :align: center
-    :figwidth: 100%
-    :alt: A scene with instance segmentation
-
-``instance_segmentation`` outputs instance segmentation, traversing down the prim hierarchy
-to the lowest level with semantic labels (unlike ``instance_id_segmentation_fast``, which always
-goes to the leaf prim).
-An ``info`` dictionary is available via ``tiled_camera.data.info['instance_segmentation']``.
-
-- If ``colorize_instance_segmentation=True``: shape ``(B, H, W, 4)``, type ``torch.uint8``.
-- If ``colorize_instance_segmentation=False``: shape ``(B, H, W, 1)``, type ``torch.int32``.
-
-Pixels belonging to prims with no assigned semantic label are rendered black
-(RGBA ``(0, 0, 0, 255)``) when ``colorize_instance_segmentation=True``. When
-``colorize_instance_segmentation=False``, those pixels instead carry the raw
-UNLABELLED instance ID (``1``) rather than a color value.
-
-The ``idToLabels`` dict maps color to USD prim path. The ``idToSemantics`` dict maps color to
-semantic label.
-
-Background Color
-~~~~~~~~~~~~~~~~
-
-By default, pixels that do not intersect any geometry use the renderer's built-in background:
-a dome-light sky on RTX backends, or a neutral gray on Newton Warp. You can override this with
-a solid color by setting :attr:`~sensors.CameraCfg.background_color` on :class:`~sensors.CameraCfg`:
-
-.. code-block:: python
-
-    from isaaclab.sensors import CameraCfg
-    import isaaclab.sim as sim_utils
-
-    tiled_camera = CameraCfg(
-        prim_path="/World/envs/env_.*/Camera",
-        data_types=["rgb"],
-        spawn=sim_utils.PinholeCameraCfg(
-            focal_length=24.0, focus_distance=400.0,
-            horizontal_aperture=20.955, clipping_range=(0.1, 20.0),
-        ),
-        width=80,
-        height=80,
-        background_color=(0.0, 0.0, 0.0),  # black background
-    )
-
-The color is a 3-tuple of normalized RGB floats in ``[0, 1]``. Setting it to ``None`` (the
-default) leaves the renderer's built-in background in place.
-
-Each camera is configured independently: cameras with ``background_color=None`` and cameras
-with a color set can coexist in the same scene. On the RTX backends (Isaac RTX and OVRTX) this
-is achieved by writing ``omni:rtx:background:source:type`` / ``omni:rtx:background:source:color``
-USD attributes directly on the render product, so no process-wide carb settings are modified.
-
-.. list-table::
-   :header-rows: 1
-   :widths: 30 70
-
-   * - Backend
-     - Behavior when ``background_color`` is set
-   * - ``IsaacRtxRendererCfg``
-     - Per-render-product USD attributes on the Replicator render product.
-   * - ``OVRTXRendererCfg``
-     - Per-render-product USD attributes authored in the render scope.
-   * - ``NewtonWarpRendererCfg``
-     - Packed ARGB clear color used to fill the framebuffer before rasterization.
diff --git a/docs/source/overview/core-concepts/sensors/contact_sensor.rst b/docs/source/overview/core-concepts/sensors/contact_sensor.rst
deleted file mode 100644
index 85d60397d8f2..000000000000
--- a/docs/source/overview/core-concepts/sensors/contact_sensor.rst
+++ /dev/null
@@ -1,114 +0,0 @@
-.. _overview_sensors_contact:
-
-.. currentmodule:: isaaclab
-
-Contact Sensor
-==============
-
-.. figure:: ../../../_static/overview/sensors/contact_diagram.jpg
-    :align: center
-    :figwidth: 100%
-    :alt: A contact sensor with filtering
-
-The contact sensor is designed to return contact forces acting on a given rigid body. The sensor is written to behave as a physical object, and so the "scope" of the contact sensor is limited to the body (or bodies) that defines it. There are multiple ways to define this scope, depending on your need to filter the forces coming from the contact.
-
-The aggregate normal force is reported as ``net_normal_forces_w``. When supported by the backend and enabled with ``track_friction_forces``, the aggregate friction force is reported as ``net_friction_forces_w``. The total contact force is therefore
-
-.. math::
-
-   \boldsymbol{f}_{total} = \boldsymbol{f}_{normal} + \boldsymbol{f}_{friction}.
-
-On Newton, ``net_forces_w`` is this total. PhysX and OVPhysX cannot compute a total contact force, so ``net_forces_w`` returns ``net_normal_forces_w`` and warns; this is a known limitation planned to be fixed in a later release. Use the explicit normal / friction properties when the split matters. History buffers are available for both normal and friction quantities (``net_normal_forces_w_history``, ``net_friction_forces_w_history``, ``normal_force_matrix_w_history``, and ``friction_force_matrix_w_history``).
-
-Your application may only care about contact forces due to specific objects. Retrieving contact forces from specific objects requires filtering. The per-filter normal and friction values are exposed as ``normal_force_matrix_w`` and ``friction_force_matrix_w``. Summing a force matrix over its filter dimension only reconstructs the corresponding net force when the filters cover every contacting object.
-
-PhysX does not expose an unfiltered aggregate friction force through its tensor API. Accessing ``net_friction_forces_w`` raises ``NotImplementedError``. ``friction_forces_w`` is that aggregate quantity; on PhysX it returns ``friction_force_matrix_w`` and warns. Newton exposes both aggregate and filtered friction forces.
-
-Consider a simple environment with an Anymal Quadruped and a block
-
-.. literalinclude:: ../../../../../scripts/demos/sensors/contact_sensor.py
-    :language: python
-    :lines: 40-90
-
-We define the sensors on the feet of the robot in two different ways.  The front feet are independent sensors (one sensor body per foot) and the "Cube" is placed under the left foot.  The hind feet are defined as a single sensor with multiple bodies.
-
-We can then run the scene and print the data from the sensors
-
-.. code-block:: python
-
-  def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
-    .
-    .
-    .
-    # Simulate physics
-    while simulation_app.is_running():
-      .
-      .
-      .
-      # print information from the sensors
-      print("-------------------------------")
-      print(scene["contact_forces_LF"])
-      print("Received force matrix of: ", scene["contact_forces_LF"].data.normal_force_matrix_w)
-      print("Received contact force of: ", scene["contact_forces_LF"].data.net_normal_forces_w)
-      print("-------------------------------")
-      print(scene["contact_forces_RF"])
-      print("Received force matrix of: ", scene["contact_forces_RF"].data.normal_force_matrix_w)
-      print("Received contact force of: ", scene["contact_forces_RF"].data.net_normal_forces_w)
-      print("-------------------------------")
-      print(scene["contact_forces_H"])
-      print("Received force matrix of: ", scene["contact_forces_H"].data.normal_force_matrix_w)
-      print("Received contact force of: ", scene["contact_forces_H"].data.net_normal_forces_w)
-
-Here, we print both the net contact force and the filtered force matrix for each contact sensor defined in the scene. The front left and front right feet report the following
-
-.. code-block:: bash
-
-  -------------------------------
-  Contact sensor @ '/World/envs/env_.*/Robot/LF_FOOT':
-          view type         : <class 'omni.physics.tensors.api.RigidBodyView'>
-          update period (s) : 0.0
-          number of bodies  : 1
-          body names        : ['LF_FOOT']
-
-  Received force matrix of:  tensor([[[[-1.3923e-05,  1.5727e-04,  1.1032e+02]]]], device='cuda:0')
-  Received contact force of:  tensor([[[-1.3923e-05,  1.5727e-04,  1.1032e+02]]], device='cuda:0')
-  -------------------------------
-  Contact sensor @ '/World/envs/env_.*/Robot/RF_FOOT':
-          view type         : <class 'omni.physics.tensors.api.RigidBodyView'>
-          update period (s) : 0.0
-          number of bodies  : 1
-          body names        : ['RF_FOOT']
-
-  Received force matrix of:  tensor([[[[0., 0., 0.]]]], device='cuda:0')
-  Received contact force of:  tensor([[[1.3529e-05, 0.0000e+00, 1.0069e+02]]], device='cuda:0')
-
-
-.. figure:: ../../../_static/overview/sensors/contact_visualization.jpg
-    :align: center
-    :figwidth: 100%
-    :alt: The contact sensor visualization
-
-
-Notice that even with filtering, both sensors report the net contact force acting on the foot. However, the "force matrix" on the right foot is zero because that foot isn't in contact with the filtered body, ``/World/envs/env_.*/Cube``. Now, checkout the data coming from the hind feet!
-
-.. code-block:: bash
-
-  -------------------------------
-  Contact sensor @ '/World/envs/env_.*/Robot/.*H_FOOT':
-          view type         : <class 'omni.physics.tensors.api.RigidBodyView'>
-          update period (s) : 0.0
-          number of bodies  : 2
-          body names        : ['LH_FOOT', 'RH_FOOT']
-
-  Received force matrix of:  None
-  Received contact force of:  tensor([[[9.7227e-06, 0.0000e+00, 7.2364e+01],
-          [2.4322e-05, 0.0000e+00, 1.8102e+02]]], device='cuda:0')
-
-In this case, the contact sensor has two bodies: the left and right hind feet.  When the force matrix is queried, the result is ``None`` because this is a many body sensor, and presently Isaac Lab only supports "many to one" contact force filtering. Unlike the single body contact sensor, the reported force tensor has multiple entries, with each "row" corresponding to the contact force on a single body of the sensor (matching the ordering at construction).
-
-.. dropdown:: Code for contact_sensor.py
-   :icon: code
-
-   .. literalinclude:: ../../../../../scripts/demos/sensors/contact_sensor.py
-      :language: python
-      :linenos:
diff --git a/docs/source/overview/core-concepts/sensors/frame_transformer.rst b/docs/source/overview/core-concepts/sensors/frame_transformer.rst
deleted file mode 100644
index 7ebe0020cdb1..000000000000
--- a/docs/source/overview/core-concepts/sensors/frame_transformer.rst
+++ /dev/null
@@ -1,111 +0,0 @@
-.. _overview_sensors_frame_transformer:
-
-.. currentmodule:: isaaclab
-
-Frame Transformer
-=================
-
-.. figure:: ../../../_static/overview/sensors/frame_transformer.jpg
-    :align: center
-    :figwidth: 100%
-    :alt: A diagram outlining the basic geometry of frame transformations
-
-..
-  Do YOU want to know where things are relative to other things at a glance?  Then the frame transformer is the sensor for you!*
-
-One of the most common operations that needs to be performed within a physics simulation is the frame transformation: rewriting a vector or quaternion in the basis of an arbitrary euclidean coordinate system. There are many ways to accomplish this within Isaac and USD, but these methods can be cumbersome to implement within Isaac Lab's GPU based simulation and cloned environments. To mitigate this problem, we have designed the Frame Transformer Sensor, that tracks and calculate the relative frame transformations for rigid bodies of interest to the scene.
-
-The sensory is minimally defined by a source frame and a list of target frames.  These definitions take the form of a prim path (for the source) and list of regex capable prim paths the rigid bodies to be tracked (for the targets).
-
-.. literalinclude:: ../../../../../scripts/demos/sensors/frame_transformer_sensor.py
-    :language: python
-    :lines: 38-86
-
-We can now run the scene and query the sensor for data
-
-.. code-block:: python
-
-  def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
-    .
-    .
-    .
-    # Simulate physics
-    while simulation_app.is_running():
-      .
-      .
-      .
-
-      # print information from the sensors
-      print("-------------------------------")
-      print(scene["specific_transforms"])
-      print("relative transforms:", scene["specific_transforms"].data.target_pos_source)
-      print("relative orientations:", scene["specific_transforms"].data.target_quat_source)
-      print("-------------------------------")
-      print(scene["cube_transform"])
-      print("relative transform:", scene["cube_transform"].data.target_pos_source)
-      print("-------------------------------")
-      print(scene["robot_transforms"])
-      print("relative transforms:", scene["robot_transforms"].data.target_pos_source)
-
-Let's take a look at the result for tracking specific objects. First, we can take a look at the data coming from the
-sensors on the feet
-
-.. code-block:: bash
-
-  -------------------------------
-  FrameTransformer @ '/World/envs/env_.*/Robot/base':
-          tracked body frames: ['base', 'LF_FOOT', 'RF_FOOT']
-          number of envs: 1
-          source body frame: base
-          target frames (count: ['LF_FOOT', 'RF_FOOT']): 2
-
-  relative transforms: tensor([[[ 0.4658,  0.3085, -0.4840],
-          [ 0.4487, -0.2959, -0.4828]]], device='cuda:0')
-  relative orientations: tensor([[[ 0.9623,  0.0072, -0.2717, -0.0020],
-          [ 0.9639,  0.0052, -0.2663, -0.0014]]], device='cuda:0')
-
-.. figure:: ../../../_static/overview/sensors/frame_transformer_visualizer.jpg
-    :align: center
-    :figwidth: 100%
-    :alt: The frame transformer visualizer
-
-By activating the visualizer, we can see that the frames of the feet are rotated "upward" slightly.
-We can also see the explicit relative positions and rotations by querying the sensor for data, which
-returns these values as a list with the same order as the tracked frames.  This becomes even more
-apparent if we examine the transforms specified by regex.
-
-.. code-block:: bash
-
-  -------------------------------
-  FrameTransformer @ '/World/envs/env_.*/Robot/base':
-          tracked body frames: ['base', 'LF_FOOT', 'LF_HIP', 'LF_SHANK', 'LF_THIGH', 'LH_FOOT', 'LH_HIP', 'LH_SHANK', 'LH_THIGH', 'RF_FOOT', 'RF_HIP', 'RF_SHANK', 'RF_THIGH', 'RH_FOOT', 'RH_HIP', 'RH_SHANK', 'RH_THIGH', 'base']
-          number of envs: 1
-          source body frame: base
-          target frames (count: ['LF_FOOT', 'LF_HIP', 'LF_SHANK', 'LF_THIGH', 'LH_FOOT', 'LH_HIP', 'LH_SHANK', 'LH_THIGH', 'RF_FOOT', 'RF_HIP', 'RF_SHANK', 'RF_THIGH', 'RH_FOOT', 'RH_HIP', 'RH_SHANK', 'RH_THIGH', 'base']): 17
-
-  relative transforms: tensor([[[ 4.6581e-01,  3.0846e-01, -4.8398e-01],
-          [ 2.9990e-01,  1.0400e-01, -1.7062e-09],
-          [ 2.1409e-01,  2.9177e-01, -2.4214e-01],
-          [ 3.5980e-01,  1.8780e-01,  1.2608e-03],
-          [-4.8813e-01,  3.0973e-01, -4.5927e-01],
-          [-2.9990e-01,  1.0400e-01,  2.7044e-09],
-          [-2.1495e-01,  2.9264e-01, -2.4198e-01],
-          [-3.5980e-01,  1.8780e-01,  1.5582e-03],
-          [ 4.4871e-01, -2.9593e-01, -4.8277e-01],
-          [ 2.9990e-01, -1.0400e-01, -2.7057e-09],
-          [ 1.9971e-01, -2.8554e-01, -2.3778e-01],
-          [ 3.5980e-01, -1.8781e-01, -9.1049e-04],
-          [-5.0090e-01, -2.9095e-01, -4.5746e-01],
-          [-2.9990e-01, -1.0400e-01,  6.3592e-09],
-          [-2.1860e-01, -2.8251e-01, -2.5163e-01],
-          [-3.5980e-01, -1.8779e-01, -1.8792e-03],
-          [ 0.0000e+00,  0.0000e+00,  0.0000e+00]]], device='cuda:0')
-
-Here, the sensor is tracking all rigid body children of ``Robot/base``, but this expression is **inclusive**, meaning that the source body itself is also a target. This can be seen both by examining the source and target list, where ``base`` appears twice, and also in the returned data, where the sensor returns the relative transform to itself, (0, 0, 0).
-
-.. dropdown:: Code for frame_transformer_sensor.py
-   :icon: code
-
-   .. literalinclude:: ../../../../../scripts/demos/sensors/frame_transformer_sensor.py
-      :language: python
-      :linenos:
diff --git a/docs/source/overview/core-concepts/sensors/imu.rst b/docs/source/overview/core-concepts/sensors/imu.rst
deleted file mode 100644
index 82e827ea2251..000000000000
--- a/docs/source/overview/core-concepts/sensors/imu.rst
+++ /dev/null
@@ -1,89 +0,0 @@
-.. _overview_sensors_imu:
-
-.. currentmodule:: isaaclab
-
-Inertial Measurement Unit (IMU)
-===================================
-
-.. figure:: ../../../_static/overview/sensors/imu_diagram.jpg
-    :align: center
-    :figwidth: 100%
-    :alt: A diagram outlining the basic force relationships for the IMU sensor
-
-Inertial Measurement Units (IMUs) are a type of sensor for measuring the acceleration of an object.  These sensors are traditionally designed report linear accelerations and angular velocities, and function on similar principles to that of a digital scale: They report accelerations derived from **net force acting on the sensor**.
-
-A naive implementation of an IMU would report a negative acceleration due to gravity while the sensor is at rest in some local gravitational field. This is not generally needed for most practical applications, and so most real IMU sensors often include a **gravity bias** and assume that the device is operating on the surface of the Earth.  The IMU we provide in Isaac Lab includes a similar bias term, which defaults to +g.  This means that if you add an IMU to your simulation, and do not change this bias term, you will detect an acceleration of :math:`+ 9.81 m/s^{2}` anti-parallel to gravity acceleration.
-
-Consider a simple environment with an Anymal Quadruped equipped with an IMU on each of its two front feet.
-
-.. literalinclude:: ../../../../../scripts/demos/sensors/imu_sensor.py
-  :language: python
-  :lines: 39-63
-
-Here we have explicitly removed the bias from one of the sensors, and we can see how this affects the reported values by visualizing the sensor when we run the sample script
-
-.. figure:: ../../../_static/overview/sensors/imu_visualizer.jpg
-    :align: center
-    :figwidth: 100%
-    :alt: IMU visualized
-
-Notice that the right front foot explicitly has a bias of (0,0,0).  In the visualization, you should see that the arrow indicating the acceleration from the right IMU rapidly changes over time, while the arrow visualizing the left IMU points constantly along the vertical axis.
-
-Retrieving values from the sensor is done in the usual way
-
-.. code-block:: python
-
-  def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
-    .
-    .
-    .
-    # Simulate physics
-    while simulation_app.is_running():
-      .
-      .
-      .
-      # print information from the sensors
-      print("-------------------------------")
-      print(scene["imu_LF"])
-      print("Received linear velocity: ", scene["imu_LF"].data.lin_vel_b)
-      print("Received angular velocity: ", scene["imu_LF"].data.ang_vel_b)
-      print("Received linear acceleration: ", scene["imu_LF"].data.lin_acc_b)
-      print("Received angular acceleration: ", scene["imu_LF"].data.ang_acc_b)
-      print("-------------------------------")
-      print(scene["imu_RF"])
-      print("Received linear velocity: ", scene["imu_RF"].data.lin_vel_b)
-      print("Received angular velocity: ", scene["imu_RF"].data.ang_vel_b)
-      print("Received linear acceleration: ", scene["imu_RF"].data.lin_acc_b)
-      print("Received angular acceleration: ", scene["imu_RF"].data.ang_acc_b)
-
-The oscillations in the values reported by the sensor are a direct result of how the sensor calculates the acceleration, which is through a finite difference approximation between adjacent ground truth velocity values as reported by the sim.  We can see this in the reported result (pay attention to the **linear acceleration**) because the acceleration from the right foot is small, but explicitly zero.
-
-.. code-block:: bash
-
-  Imu sensor @ '/World/envs/env_.*/Robot/LF_FOOT':
-          view type         : <class 'omni.physics.tensors.api.RigidBodyView'>
-          update period (s) : 0.0
-          number of sensors : 1
-
-  Received linear velocity:  tensor([[ 0.0203, -0.0054,  0.0380]], device='cuda:0')
-  Received angular velocity:  tensor([[-0.0104, -0.1189,  0.0080]], device='cuda:0')
-  Received linear acceleration:  tensor([[ 4.8344, -0.0205,  8.5305]], device='cuda:0')
-  Received angular acceleration:  tensor([[-0.0389, -0.0262, -0.0045]], device='cuda:0')
-  -------------------------------
-  Imu sensor @ '/World/envs/env_.*/Robot/RF_FOOT':
-          view type         : <class 'omni.physics.tensors.api.RigidBodyView'>
-          update period (s) : 0.0
-          number of sensors : 1
-
-  Received linear velocity:  tensor([[0.0244, 0.0077, 0.0431]], device='cuda:0')
-  Received angular velocity:  tensor([[ 0.0122, -0.1360, -0.0042]], device='cuda:0')
-  Received linear acceleration:  tensor([[-0.0018,  0.0010, -0.0032]], device='cuda:0')
-  Received angular acceleration:  tensor([[-0.0373, -0.0050, -0.0053]], device='cuda:0')
-  -------------------------------
-
-.. dropdown:: Code for imu_sensor.py
-   :icon: code
-
-   .. literalinclude:: ../../../../../scripts/demos/sensors/imu_sensor.py
-      :language: python
-      :linenos:
diff --git a/docs/source/overview/core-concepts/sensors/index.rst b/docs/source/overview/core-concepts/sensors/index.rst
deleted file mode 100644
index 436d11a81e47..000000000000
--- a/docs/source/overview/core-concepts/sensors/index.rst
+++ /dev/null
@@ -1,30 +0,0 @@
-.. _overview_sensors:
-
-Sensors
-=========
-
-.. seealso::
-
-   This section is the source of truth for the ``isaaclab-using-sensors-actuators`` agent skill
-   (`skills/user/use-sensors-actuators/ <../../../../../skills/user/use-sensors-actuators/SKILL.md>`__).
-   When you change these pages, update the skill so agent guidance stays in sync. See
-   :doc:`/source/overview/developer-guide/agent_skills`.
-
-In this section, we will overview the various sensor APIs provided by Isaac Lab.
-
-Every sensor in Isaac Lab inherits from the ``SensorBase`` abstract class that provides the core functionality inherent to all sensors, which is to provide access to "measurements" of the scene. These measurements can take many forms such as ray-casting results, camera rendered images, or even simply ground truth data queried directly from the simulation (such as poses). Whatever the data may be, we can think of the sensor as having a buffer that is periodically updated with measurements by querying the scene. This ``update_period`` is defined in "simulated" seconds, meaning that even if the flow of time in the simulation is dilated relative to the real world, the sensor will update at the appropriate rate. The ``SensorBase`` is also designed with vectorizability in mind, holding the buffers for all copies of the sensor across cloned environments.
-
-Updating the buffers is done by overriding the ``_update_buffers_impl`` abstract method of the ``SensorBase`` class. On every time-step of the simulation, ``dt``, all sensors are queried for an update. During this query, the total time since the last update is incremented by ``dt`` for every buffer managed by that particular sensor. If the total time is greater than or equal to the ``update_period`` for a buffer, then that buffer is flagged to be updated on the next query.
-
-The following pages describe the available sensors in more detail:
-
-.. toctree::
-    :maxdepth: 1
-
-    camera
-    contact_sensor
-    frame_transformer
-    imu
-    pva
-    joint_wrench_sensor
-    ray_caster
diff --git a/docs/source/overview/core-concepts/sensors/joint_wrench_sensor.rst b/docs/source/overview/core-concepts/sensors/joint_wrench_sensor.rst
deleted file mode 100644
index 9c441b215da8..000000000000
--- a/docs/source/overview/core-concepts/sensors/joint_wrench_sensor.rst
+++ /dev/null
@@ -1,42 +0,0 @@
-.. _overview_sensors_joint_wrench:
-
-.. currentmodule:: isaaclab
-
-Joint Wrench Sensor
-===================
-
-The joint wrench sensor reports incoming joint reaction wrenches for selected
-articulation bodies. It exposes force [N] and torque [N·m] buffers separately,
-with entries ordered by the sensor's :attr:`~isaaclab.sensors.JointWrenchSensor.body_names`.
-The default convention is ``incoming_joint_frame``, which expresses each wrench
-in the child-side joint frame at the child-side joint anchor.
-
-The sensor is configured on an articulation prim and can then be used directly
-or through manager terms such as :func:`~isaaclab.envs.mdp.body_incoming_wrench`.
-For example, the Ant environment adds a joint wrench sensor to the scene:
-
-.. literalinclude:: ../../../../../source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_manager_env_cfg.py
-  :language: python
-  :lines: 91-95
-
-The same environment uses :class:`~isaaclab.managers.SceneEntityCfg` to select
-the reported foot bodies for an observation term:
-
-.. literalinclude:: ../../../../../source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_manager_env_cfg.py
-  :language: python
-  :lines: 133-142
-
-Direct access to the sensor data follows the usual scene lookup pattern.
-
-.. code-block:: python
-
-  joint_wrench = scene["joint_wrench"]
-  foot_ids, _ = joint_wrench.find_bodies([".*foot"])
-
-  force = joint_wrench.data.force.torch[:, foot_ids]
-  torque = joint_wrench.data.torque.torch[:, foot_ids]
-  wrench = torch.cat((force, torque), dim=-1)
-
-The resulting ``wrench`` tensor has shape ``(num_envs, num_selected_bodies, 6)``
-and stores the force components followed by the torque components for each
-selected body.
diff --git a/docs/source/overview/core-concepts/sensors/pva.rst b/docs/source/overview/core-concepts/sensors/pva.rst
deleted file mode 100644
index 5061b38ea0f7..000000000000
--- a/docs/source/overview/core-concepts/sensors/pva.rst
+++ /dev/null
@@ -1,63 +0,0 @@
-.. _overview_sensors_pva:
-
-.. currentmodule:: isaaclab
-
-Pose Velocity Acceleration (PVA) Sensor
-=======================================
-
-The Pose Velocity Acceleration (PVA) sensor is a ground-truth sensor for reading
-the kinematic state of a frame in the simulation. It reports the sensor pose in
-the world frame, projected gravity, linear and angular velocities in the sensor
-frame, and coordinate accelerations in the sensor frame. Unlike
-:class:`~isaaclab.sensors.Imu`, the PVA sensor does not model proper
-acceleration from an accelerometer. Use the IMU sensor when the observation
-should include accelerometer-like gravity bias behavior.
-
-The sensor can be attached to a rigid body or to a child prim under a rigid-body
-ancestor. If the configured prim is not itself rigid, Isaac Lab queries the
-closest rigid ancestor and composes the fixed transform to the requested prim
-with the configured sensor offset.
-
-Consider a simple environment with an Anymal Quadruped equipped with PVA sensors
-on its front feet.
-
-.. literalinclude:: ../../../../../scripts/demos/sensors/pva_sensor.py
-  :language: python
-  :lines: 43-59
-
-Retrieving values from the sensor follows the same pattern as the other Isaac
-Lab sensors. The data fields are exposed as :class:`~isaaclab.utils.warp.ProxyArray`
-buffers and can be converted to Torch tensors with the ``torch`` property.
-
-.. code-block:: python
-
-  pva_data = scene["pva_LF"].data
-  print("Pose in world frame: ", pva_data.pose_w.torch)
-  print("Linear velocity in PVA frame: ", pva_data.lin_vel_b.torch)
-  print("Angular velocity in PVA frame: ", pva_data.ang_vel_b.torch)
-  print("Linear acceleration in PVA frame: ", pva_data.lin_acc_b.torch)
-  print("Angular acceleration in PVA frame: ", pva_data.ang_acc_b.torch)
-  print("Projected gravity in PVA frame: ", pva_data.projected_gravity_b.torch)
-
-The complete demo can be run with:
-
-.. tab-set::
-
-   .. tab-item:: uv (Recommended)
-
-      .. code-block:: bash
-
-        uv run --extra isaacsim python scripts/demos/sensors/pva_sensor.py
-
-   .. tab-item:: isaaclab.sh / isaaclab.bat
-
-      .. code-block:: bash
-
-        ./isaaclab.sh -p scripts/demos/sensors/pva_sensor.py
-
-.. dropdown:: Code for pva_sensor.py
-   :icon: code
-
-   .. literalinclude:: ../../../../../scripts/demos/sensors/pva_sensor.py
-      :language: python
-      :linenos:
diff --git a/docs/source/overview/developer-guide/development.rst b/docs/source/overview/developer-guide/development.rst
deleted file mode 100644
index 2f789ac01acd..000000000000
--- a/docs/source/overview/developer-guide/development.rst
+++ /dev/null
@@ -1,179 +0,0 @@
-Extension Development
-=======================
-
-Everything in Omniverse is either an extension or a collection of extensions (an application). They are
-modularized packages that form the atoms of the Omniverse ecosystem. Each extension
-provides a set of functionalities that can be used by other extensions or
-standalone applications. A folder is recognized as an extension if it contains
-an ``extension.toml`` file in the ``config`` directory. More information on extensions can be found in the
-`Omniverse documentation <https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/guide/extensions_basic.html>`__.
-
-Each extension in Isaac Lab is written as a python package and follows the following structure:
-
-.. code:: bash
-
-   <extension-name>
-   ├── config
-   │   └── extension.toml
-   ├── docs
-   │   ├── CHANGELOG.md
-   │   └── README.md
-   ├── <extension-name>
-   │   ├── __init__.py
-   │   ├── ....
-   │   └── scripts
-   ├── setup.py
-   └── tests
-
-The ``config/extension.toml`` file contains the metadata of the extension. This
-includes the name, version, description, dependencies, etc. This information is used
-by the Omniverse API to load the extension. The ``docs`` directory contains the documentation
-for the extension with more detailed information about the extension and a CHANGELOG
-file that contains the changes made to the extension in each version.
-
-The ``<extension-name>`` directory contains the main python package for the extension.
-It may also contain the ``scripts`` directory for keeping python-based applications
-that are loaded into Omniverse when the extension is enabled using the
-`Extension Manager <https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/guide/extensions_basic.html>`__.
-
-More specifically, when an extension is enabled, the python module specified in the
-``config/extension.toml`` file is loaded and scripts that contain children of the
-:class:`omni.ext.IExt` class are executed.
-
-.. code:: python
-
-   import omni.ext
-
-   class MyExt(omni.ext.IExt):
-      """My extension application."""
-
-      def on_startup(self, ext_id):
-         """Called when the extension is loaded."""
-         pass
-
-      def on_shutdown(self):
-         """Called when the extension is unloaded.
-
-         It releases all references to the extension and cleans up any resources.
-         """
-         pass
-
-While loading extensions into Omniverse happens automatically, using the python package
-in standalone applications requires additional steps. To simplify the build process and
-avoid the need to understand the `premake <https://premake.github.io/>`__
-build system used by Omniverse, we directly use the `setuptools <https://setuptools.pypa.io/en/latest/>`__
-python package to build the python module provided by the extensions. This is done by the
-``setup.py`` file in the extension directory.
-
-.. note::
-
-   The ``setup.py`` file is not required for extensions that are only loaded into Omniverse
-   using the `Extension Manager <https://docs.omniverse.nvidia.com/extensions/latest/ext_extension-manager.html>`__.
-
-Lastly, the ``tests`` directory contains the unit tests for the extension. These are written
-using the `unittest <https://docs.python.org/3/library/unittest.html>`__ framework. It is
-important to note that Omniverse also provides a similar
-`testing framework <https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/guide/testing_exts_python.html>`__.
-However, it requires going through the build process and does not support testing of the python module in
-standalone applications.
-
-Custom Extension Dependency Management
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Certain extensions may have dependencies which require the installation of additional packages before the extension
-can be used. Python dependencies are handled by the `setuptools <https://setuptools.pypa.io/en/latest/>`__
-package and specified in the ``setup.py`` file. Non-Python dependencies such as
-`ROS <https://www.ros.org/>`__ packages or `apt <https://en.wikipedia.org/wiki/APT_(software)>`__
-packages are not handled by setuptools. Handling these kinds of dependencies requires an additional procedure.
-
-There are three types of dependencies that can be specified in the ``extension.toml`` file
-under the ``isaac_lab_settings`` section:
-
-1. **apt_deps**: A list of apt packages that need to be installed. These are installed using the
-   `apt <https://ubuntu.com/server/docs/package-management>`__ package manager.
-2. **ros_ws**: The path to the ROS workspace that contains the ROS packages. These are installed using
-   the `rosdep <https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html>`__ dependency manager.
-3. **pip_upgrade_dependencies**: A list of ``install_requires`` dependency names that should be explicitly
-   upgraded after installing the extension with ``./isaaclab.sh --install``. List package names only. Version
-   ranges, extras, and platform markers are read from the installed extension metadata generated from ``setup.py``.
-
-As an example, the following ``extension.toml`` file specifies the dependencies for the extension:
-
-.. code-block:: toml
-
-   [isaac_lab_settings]
-   # apt dependencies
-   apt_deps = ["libboost-all-dev"]
-
-   # ROS workspace
-   # note: if this path is relative, it is relative to the extension directory's root
-   ros_ws = "/home/user/catkin_ws"
-
-   # Python dependency names to upgrade after installing this extension
-   pip_upgrade_dependencies = ["example_package"]
-
-The ``apt_deps`` and ``ros_ws`` dependencies are installed using the ``install_deps.py`` script provided in the
-``tools`` directory. To install all apt and ROS dependencies for all extensions, run the following command:
-
-.. code-block:: bash
-
-   # execute from the root of the repository
-   # the script expects the type of dependencies to install and the path to the extensions directory
-   # available types are: 'apt', 'rosdep' and 'all'
-   python tools/install_deps.py all ${ISAACLAB_PATH}/source
-
-.. note::
-   Currently, this script is automatically executed during the build process of the ``Dockerfile.base``
-   and ``Dockerfile.ros2``. This ensures that all the 'apt' and 'rosdep' dependencies are installed
-   before building the extensions respectively.
-
-The ``pip_upgrade_dependencies`` entries are handled by ``./isaaclab.sh --install`` after the extension's editable
-pip install completes.
-
-
-Standalone applications
-~~~~~~~~~~~~~~~~~~~~~~~
-
-In a typical Omniverse workflow, the simulator is launched first and then the extensions are
-enabled. The loading of python modules and other python applications happens automagically, under the hood, and while this is the recommended
-workflow, it is not always possible.
-
-For example, consider robot reinforcement learning. It is essential to have complete control over the simulation step
-and when things update instead of asynchronously waiting for the result. In
-such cases, we require direct control of the simulation, and so it is necessary to write a standalone application. These applications are functionally similar in that they launch the simulator using the :class:`~isaaclab.app.AppLauncher` and
-then control the simulation directly through the :class:`~isaaclab.sim.SimulationContext`. In these cases, python modules from extensions **must** be imported after the app is launched.  Doing so before the app is launched will cause missing module errors.
-
-The following snippet shows how to write a standalone application:
-
-.. code:: python
-
-   """Launch Isaac Sim Simulator first."""
-
-   from isaaclab.app import AppLauncher
-
-   # launch omniverse app
-   app_launcher = AppLauncher(headless=False)
-   simulation_app = app_launcher.app
-
-
-   """Rest everything follows."""
-
-   from isaaclab.sim import SimulationContext
-
-   if __name__ == "__main__":
-      # get simulation context
-      simulation_context = SimulationContext()
-      # reset and play simulation
-      simulation_context.reset()
-      # step simulation
-      simulation_context.step()
-      # stop simulation
-      simulation_context.stop()
-
-      # close the simulation
-      simulation_app.close()
-
-
-It is necessary to launch the simulator before running any other code because extensions are hot-loaded
-when the simulator starts. Many Omniverse modules become available only after the simulator is launched.
-For further details, we recommend exploring the Isaac Lab :ref:`tutorials`.
diff --git a/docs/source/overview/developer-guide/index.rst b/docs/source/overview/developer-guide/index.rst
deleted file mode 100644
index d006f1f8663e..000000000000
--- a/docs/source/overview/developer-guide/index.rst
+++ /dev/null
@@ -1,16 +0,0 @@
-Developer's Guide
-=================
-
-For development, we suggest using `Microsoft Visual Studio Code
-(VSCode) <https://code.visualstudio.com/>`__. This is also suggested by
-NVIDIA Omniverse and there exists tutorials on how to `debug Omniverse
-extensions <https://www.youtube.com/watch?v=Vr1bLtF1f4U&ab_channel=NVIDIAOmniverse>`__
-using VSCode.
-
-.. toctree::
-  :maxdepth: 1
-
-  VS Code <vs_code>
-  repo_structure
-  development
-  agent_skills
diff --git a/docs/source/overview/developer-guide/repo_structure.rst b/docs/source/overview/developer-guide/repo_structure.rst
deleted file mode 100644
index c95f01c92e25..000000000000
--- a/docs/source/overview/developer-guide/repo_structure.rst
+++ /dev/null
@@ -1,124 +0,0 @@
-Repository organization
------------------------
-
-.. code-block:: bash
-
-   IsaacLab
-   ├── .vscode
-   ├── CONTRIBUTING.md
-   ├── CONTRIBUTORS.md
-   ├── LICENSE
-   ├── isaaclab.bat
-   ├── isaaclab.sh
-   ├── pyproject.toml
-   ├── README.md
-   ├── docs
-   ├── docker
-   ├── source
-   │   ├── isaaclab                   # core framework
-   │   ├── isaaclab_physx             # PhysX backend (requires Isaac Sim)
-   │   ├── isaaclab_ov                # OVPhysX and OVRTX integrations
-   │   ├── isaaclab_newton            # Newton backend (kit-less)
-   │   ├── isaaclab_assets            # pre-configured robot & sensor assets
-   │   ├── isaaclab_tasks             # pre-built RL/IL environments
-   │   ├── isaaclab_tasks_experimental # Warp-accelerated environments
-   │   ├── isaaclab_rl                # RL library wrappers
-   │   ├── isaaclab_mimic             # imitation learning & data generation
-   │   ├── isaaclab_teleop            # teleoperation & XR
-   │   ├── isaaclab_visualizers       # external visualizer backends
-   │   ├── isaaclab_contrib           # community-contributed extensions
-   │   ├── isaaclab_experimental      # Warp-accelerated manager and environment variants
-   │   ├── extensions                 # legacy Omniverse extension wrappers
-   │   └── standalone                 # standalone tutorials & workflows
-   ├── scripts
-   │   ├── benchmarks
-   │   ├── demos
-   │   ├── environments
-   │   ├── imitation_learning
-   │   ├── reinforcement_learning
-   │   ├── tools
-   │   └── tutorials
-   ├── tools
-   └── VERSION
-
-Isaac Lab supports the **PhysX** and **Newton** physics engines through backend packages. The
-default PhysX path runs through Isaac Sim, while ``ovphysx`` supports standalone PhysX workflows
-without launching Isaac Sim and Newton provides a Warp-native kit-less backend. The ``source``
-directory contains all packages that compose Isaac Lab, while ``scripts`` contains standalone
-Python applications for training, evaluation, and tooling.
-See :doc:`/source/overview/core-concepts/multi_backend_architecture` for details on the backend
-system, and :doc:`/source/setup/ecosystem` for a full package-layer overview.
-
-Submodules
-~~~~~~~~~~
-
-The packages under ``source/`` are installed as Python packages using
-`setuptools <https://setuptools.readthedocs.io/en/latest/>`__. They are organized into three
-groups:
-
-**Core, physics backends, and renderers**
-
-* **isaaclab**: The core framework. Provides :mod:`~isaaclab.sim` (simulation context and
-  configuration), :class:`~isaaclab.scene.InteractiveScene`, asset and sensor base classes and
-  factory interfaces (:mod:`~isaaclab.assets`, :mod:`~isaaclab.sensors`), environment base
-  classes (:mod:`~isaaclab.envs`), the manager system (:mod:`~isaaclab.managers`), composable
-  MDP term library (:mod:`~isaaclab.envs.mdp`), actuator models (:mod:`~isaaclab.actuators`),
-  low-level controllers (:mod:`~isaaclab.controllers`), procedural terrain generation
-  (:mod:`~isaaclab.terrains`), and human-input device support (:mod:`~isaaclab.devices`).
-* **isaaclab_physx**: PhysX-backed implementations of articulations, rigid bodies, deformable
-  objects, Fabric views, the Isaac RTX renderer, and USD spawners. Requires Isaac Sim.
-* **isaaclab_ov**: Standalone PhysX backend variant using ``ovphysx`` and the
-  TensorBindingsAPI, plus the OVRTX renderer backend for RTX-based tiled camera rendering.
-  Requires the corresponding optional ``ovphysx`` or ``ovrtx`` runtime and can run
-  without Isaac Sim.
-* **isaaclab_newton**: Newton-backed implementations of articulations, rigid bodies, rigid
-  object collections, cameras, USD spawners, and the Warp renderer. Supports
-  :ref:`kit-less installation <isaaclab-installation-root>` without Isaac Sim.
-
-**Tasks and assets**
-
-* **isaaclab_assets**: Pre-configured :class:`~isaaclab.utils.configclass` dataclasses for a
-  wide range of robots (Franka, Unitree, ANYmal, Spot, Allegro, humanoids, quadcopters, and
-  more) and sensors (Velodyne, GelSight).
-* **isaaclab_tasks**: Registered `gymnasium <https://gymnasium.farama.org/>`__ environments for
-  reinforcement and imitation learning, organized as *manager-based* and *direct* tasks across
-  locomotion, manipulation, navigation, and classic control domains.
-* **isaaclab_tasks_experimental**: Experimental task implementations under active development,
-  not yet part of the stable task suite.
-
-**Optional Additions**
-
-* **isaaclab_rl**: Thin wrappers that adapt Isaac Lab environments to the interfaces expected
-  by `RSL-RL <https://github.com/leggedrobotics/rsl_rl>`__,
-  `skrl <https://skrl.readthedocs.io/>`__,
-  `Stable Baselines 3 <https://stable-baselines3.readthedocs.io/>`__, and
-  `RL Games <https://github.com/Denys88/rl_games>`__.
-* **isaaclab_mimic**: APIs and pre-configured environments for data generation and imitation
-  learning, including cuRobo-based motion planners and a dataset-generation pipeline.
-* **isaaclab_teleop**: Teleoperation session orchestration with OpenXR / CloudXR support,
-  device retargeters for manipulators and humanoids, and gamepad / spacemouse / keyboard input.
-* **isaaclab_visualizers**: Supplementary visualizer backends (Isaac Sim Kit, Newton, Rerun, Viser) that
-  work with any physics backend.
-* **isaaclab_contrib**: Community-contributed features: multirotor assets, TacSL
-  visuo-tactile sensors, drone thrust controllers, and more.
-* **isaaclab_experimental**: Pre-production core experiments including Warp-accelerated manager
-  and environment variants.
-
-
-Standalone
-~~~~~~~~~~
-
-The ``scripts`` directory contains standalone Python applications.
-They are structured as follows:
-
-* **benchmarks**: Scripts for benchmarking different framework components.
-* **demos**: Demo applications that showcase the core framework :mod:`isaaclab`.
-* **environments**: Scripts for running environments defined in :mod:`isaaclab_tasks` with
-  different agents (random policy, zero-action policy, teleoperation, scripted state machines).
-* **imitation_learning**: Applications for training and evaluating policies with imitation
-  learning libraries (e.g. robomimic).
-* **reinforcement_learning**: Applications for training and evaluating policies with RL
-  libraries (e.g. rsl_rl, rl_games, sb3, skrl).
-* **tools**: Applications for using framework tools such as converting assets and generating
-  datasets.
-* **tutorials**: Step-by-step tutorials for using the APIs provided by the framework.
diff --git a/docs/source/overview/developer-guide/vs_code.rst b/docs/source/overview/developer-guide/vs_code.rst
deleted file mode 100644
index 23ea18956bdc..000000000000
--- a/docs/source/overview/developer-guide/vs_code.rst
+++ /dev/null
@@ -1,121 +0,0 @@
-.. _setup-vs-code:
-
-Setting up Visual Studio Code
------------------------------
-
-**This is optional.  You do not need to use VScode to use Isaac Lab**
-
-`Visual Studio Code <https://code.visualstudio.com/>`_ has proven an invaluable tool for the development of Isaac Lab. The Isaac Lab repository includes the VSCode files for setting up your development environment. These are included in the ``.vscode`` directory and include the following files:
-
-.. code-block:: bash
-
-   .vscode
-   ├── tools
-   │   ├── launch.template.json
-   │   ├── settings.template.json
-   │   └── setup_vscode.py
-   ├── extensions.json
-   ├── launch.json  # <- this is generated by setup_vscode.py
-   ├── settings.json  # <- this is generated by setup_vscode.py
-   └── tasks.json
-
-
-.. attention::
-
-   The following instructions on setting up Visual Studio Code only work with
-   :ref:`Isaac Sim Binaries Installation <isaaclab-binaries-installation>` and not with
-   :ref:`Python Environment with Isaac Sim <installation-method-python-env>`.
-
-
-To setup the IDE, please follow these instructions:
-
-1. Open the ``IsaacLab`` directory on Visual Studio Code IDE
-2. Run VSCode `Tasks <https://code.visualstudio.com/docs/editor/tasks>`__, by
-   pressing ``Ctrl+Shift+P``, selecting ``Tasks: Run Task`` and running the
-   ``setup_python_env`` in the drop down menu.
-
-   .. image:: ../../_static/vscode_tasks.png
-      :width: 600px
-      :align: center
-      :alt: VSCode Tasks
-
-
-.. note::
-   If this is your first time running tasks in VS Code, you may be prompted to select how to handle warnings. Simply follow
-   the prompts until the task window closes.
-
-If everything executes correctly, it should create the following files:
-
-* ``.vscode/launch.json``: Contains the launch configurations for debugging python code.
-* ``.vscode/settings.json``: Contains the settings for the python interpreter and the python environment.
-
-For more information on VSCode support for Omniverse, please refer to the
-following links:
-
-* `Isaac Sim VSCode support <https://docs.isaacsim.omniverse.nvidia.com/latest/development_tools/vscode.html#visual-studio-code-vs-code>`__
-
-
-Attach to a Running ``debugpy`` Session
----------------------------------------
-
-The generated ``.vscode/launch.json`` includes a ``Python: Debugger Attach``
-configuration that starts to listen on port ``localhost:3000`` for the debugpy session.
-
-To use it:
-
-1. Set your breakpoints.
-2. Run your code under debugpy like so:
-
-   .. tab-set::
-
-      .. tab-item:: uv (Recommended)
-
-         .. code-block:: bash
-
-            uv run python -m debugpy --listen 3000 --wait-for-client -c "from isaaclab.cli import cli; cli()" [cli_args]
-
-      .. tab-item:: isaaclab.sh / isaaclab.bat
-
-         .. code-block:: bash
-
-            ./isaaclab.sh -p -m debugpy --listen 3000 --wait-for-client -c "from isaaclab.cli import cli; cli()" [cli_args]
-
-3. In VS Code, select the ``Python: Debugger Attach`` configuration from the Run and Debug panel
-   and press the green play button or ``F5``. VS Code will connect to the debugpy server
-   running on ``localhost:3000``.
-
-Configuring the python interpreter
-----------------------------------
-
-In the provided configuration, we set the default python interpreter to use the
-python executable provided by Omniverse. This is specified in the
-``.vscode/settings.json`` file:
-
-.. code-block:: json
-
-   {
-      "python.defaultInterpreterPath": "${workspaceFolder}/_isaac_sim/python.sh",
-   }
-
-If you want to use a different python interpreter (for instance, from your conda or uv environment),
-you need to change the python interpreter used by selecting and activating the python interpreter
-of your choice in the bottom left corner of VSCode, or opening the command palette (``Ctrl+Shift+P``)
-and selecting ``Python: Select Interpreter``.
-
-For more information on how to set python interpreter for VSCode, please
-refer to the `VSCode documentation <https://code.visualstudio.com/docs/python/environments#_working-with-python-interpreters>`_.
-
-
-Setting up formatting and linting
----------------------------------
-
-We use `ruff <https://github.com/astral-sh/ruff/>`_ as a formatter and linter.
-These are configured in the ``.vscode/settings.json`` file:
-
-.. code-block:: json
-
-   {
-      "ruff.configuration": "${workspaceFolder}/pyproject.toml",
-   }
-
-The ruff linter will show warnings and errors in your code to help you follow Python best practices and the project's coding standards.
diff --git a/docs/source/overview/showroom.rst b/docs/source/overview/showroom.rst
deleted file mode 100644
index d6ce87677a84..000000000000
--- a/docs/source/overview/showroom.rst
+++ /dev/null
@@ -1,720 +0,0 @@
-Showroom Demos
-==============
-
-The main core interface extension in Isaac Lab ``isaaclab`` provides
-the main modules for actuators, objects, robots and sensors. We provide
-a list of demo scripts and tutorials. These showcase how to use the provided
-interfaces within a code in a minimal way.
-
-A few quick showroom scripts to run and checkout:
-
-.. note::
-
-   The recommended automatic ``uv`` commands include ``--extra isaacsim`` because the showroom
-   scripts use Isaac Sim and default to its PhysX or Kit-backed runtime. A fresh checkout does not
-   install that optional dependency group unless the command requests it.
-
-   The canonical Newton visualizers are ``newton_gl`` and the experimental ``newton_rtx``.
-   The deprecated ``newton`` name remains an alias for ``newton_gl``.
-
-.. rst-class:: showroom-demo-list
-
--  Spawn different arms and apply random joint position commands:
-
-   **Physics:** ``isaacsim_physx``, ``newton_mjwarp``
-
-   **Visualizer:** ``none``, ``kit``, ``newton_gl``, ``newton_rtx``, ``rerun``, ``viser``
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. tab-set::
-
-            .. tab-item:: uv (Recommended)
-
-               .. code:: bash
-
-                  uv run --extra isaacsim python scripts/demos/arms.py
-
-            .. tab-item:: isaaclab.sh / isaaclab.bat
-
-               .. code:: bash
-
-                  ./isaaclab.sh -p scripts/demos/arms.py
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -p scripts\demos\arms.py
-
-   .. image:: ../_static/demos/arms.jpg
-      :width: 100%
-      :alt: Arms in Isaac Lab
-
-
--  Spawn different biped robots:
-
-   **Physics:** ``isaacsim_physx``, ``newton_mjwarp``
-
-   **Visualizer:** ``none``, ``kit``, ``newton_gl``, ``newton_rtx``, ``rerun``, ``viser``
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. tab-set::
-
-            .. tab-item:: uv (Recommended)
-
-               .. code:: bash
-
-                  uv run --extra isaacsim python scripts/demos/bipeds.py
-
-            .. tab-item:: isaaclab.sh / isaaclab.bat
-
-               .. code:: bash
-
-                  ./isaaclab.sh -p scripts/demos/bipeds.py
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -p scripts\demos\bipeds.py
-
-   .. image:: ../_static/demos/bipeds.jpg
-      :width: 100%
-      :alt: Biped robots in Isaac Lab
-
-
--  Spawn a pile of cables that collide and settle on each other:
-
-   **Physics:** ``newton_vbd`` only
-
-   **Visualizer:** ``none``, ``kit``, ``newton_gl``, ``newton_rtx``, ``rerun``, ``viser``
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. tab-set::
-
-            .. tab-item:: uv (Recommended)
-
-               .. code:: bash
-
-                  uv run --extra isaacsim python scripts/demos/cables.py
-
-            .. tab-item:: isaaclab.sh / isaaclab.bat
-
-               .. code:: bash
-
-                  ./isaaclab.sh -p scripts/demos/cables.py
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -p scripts\demos\cables.py
-
-   Select the listed options with ``--physics`` and ``--visualizer``. Use ``--num_cables`` and
-   ``--num_segments`` to change the pile size and cable resolution. Cables are a Newton-only asset;
-   see :doc:`core-concepts/physical-backends/newton/using-cables`.
-
-   .. image:: ../_static/demos/cables.jpg
-      :width: 100%
-      :alt: Cable pile simulated with the Newton VBD backend in Isaac Lab
-
-
--  Spawn different deformable objects and let them fall from a height:
-
-   **Physics:** ``isaacsim_physx``, ``newton_vbd``, ``ovphysx``
-
-   **Visualizer:** ``none`` for every physics backend; ``kit`` with Isaac Sim
-   PhysX and Newton VBD; ``newton_gl``, ``newton_rtx``, ``rerun``, and ``viser`` with Newton VBD only
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. tab-set::
-
-            .. tab-item:: uv (Recommended)
-
-               .. code:: bash
-
-                  uv run --extra isaacsim --extra tetrahedralization python scripts/demos/deformables.py
-
-            .. tab-item:: isaaclab.sh / isaaclab.bat
-
-               .. code:: bash
-
-                  ./isaaclab.sh -i tetrahedralization
-
-                  ./isaaclab.sh -p scripts/demos/deformables.py
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -i tetrahedralization
-
-            isaaclab.bat -p scripts\demos\deformables.py
-
-   .. image:: ../_static/demos/deformables.jpg
-      :width: 100%
-      :alt: Deformable primitive-shaped objects in Isaac Lab
-
-
--  Fill a Utah teapot with water particles, then tilt it to pour the fluid into a bowl:
-
-   **Physics:** ``newton_mpm`` only
-
-   **Visualizer:** ``none``, ``kit``, ``newton_gl``, ``newton_rtx``, ``rerun``, ``viser``
-
-   This demo shows how to sample particles inside a hollow mesh and simulate the resulting
-   fluid with Newton's experimental implicit Material Point Method (MPM) backend.
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. code:: bash
-
-            uv run python scripts/demos/mpm/teapot_fill.py --device cuda:0 --visualizer newton_gl
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            uv run python scripts\demos\mpm\teapot_fill.py --device cuda:0 --visualizer newton_gl
-
-   .. image:: ../_static/demos/teapot_fill.jpg
-      :width: 100%
-      :alt: Utah teapot pouring Newton MPM water particles into a bowl in Isaac Lab
-
-
--  Interactive inference of trained H1 rough terrain locomotion policy:
-
-   **Physics:** ``isaacsim_physx`` only
-
-   **Visualizer:** ``kit`` only
-
-   This demo downloads a policy and requires interactive input.
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. tab-set::
-
-            .. tab-item:: uv (Recommended)
-
-               .. code:: bash
-
-                  uv run --extra isaacsim python scripts/demos/h1_locomotion.py
-
-            .. tab-item:: isaaclab.sh / isaaclab.bat
-
-               .. code:: bash
-
-                  ./isaaclab.sh -p scripts/demos/h1_locomotion.py
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -p scripts\demos\h1_locomotion.py
-
-   .. image:: ../_static/demos/h1_locomotion.jpg
-      :width: 100%
-      :alt: H1 locomotion in Isaac Lab
-
-   This is an interactive demo that can be run using the mouse and keyboard.
-   To enter third-person perspective, click on a humanoid character in the scene.
-   Once entered into third-person view, the humanoid can be controlled by keyboard using:
-
-   * ``UP``: go forward
-   * ``LEFT``: turn left
-   * ``RIGHT``: turn right
-   * ``DOWN``: stop
-   * ``C``: switch between third-person and perspective views
-   * ``ESC``: exit current third-person view
-
-   If a misclick happens outside of the humanoid bodies when selecting a humanoid,
-   a message is printed to console indicating the error, such as
-   ``The selected prim was not a H1 robot`` or
-   ``Multiple prims are selected. Please only select one!``.
-
-
--  Spawn different hands and command them to open and close:
-
-   **Physics:** ``isaacsim_physx``, ``newton_mjwarp``
-
-   **Visualizer:** ``none``, ``kit``, ``newton_gl``, ``newton_rtx``, ``rerun``, ``viser``
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. tab-set::
-
-            .. tab-item:: uv (Recommended)
-
-               .. code:: bash
-
-                  uv run --extra isaacsim python scripts/demos/hands.py
-
-            .. tab-item:: isaaclab.sh / isaaclab.bat
-
-               .. code:: bash
-
-                  ./isaaclab.sh -p scripts/demos/hands.py
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -p scripts\demos\hands.py
-
-   .. image:: ../_static/demos/hands.jpg
-      :width: 100%
-      :alt: Dexterous hands in Isaac Lab
-
-
--  Define multiple markers that are useful for visualizations:
-
-   **Physics:** ``isaacsim_physx`` only
-
-   **Visualizer:** ``none``, ``kit``, ``newton_gl``, ``newton_rtx``, ``rerun``, ``viser``
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. tab-set::
-
-            .. tab-item:: uv (Recommended)
-
-               .. code:: bash
-
-                  uv run --extra isaacsim python scripts/demos/markers.py
-
-            .. tab-item:: isaaclab.sh / isaaclab.bat
-
-               .. code:: bash
-
-                  ./isaaclab.sh -p scripts/demos/markers.py
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -p scripts\demos\markers.py
-
-   .. image:: ../_static/demos/markers.jpg
-      :width: 100%
-      :alt: Markers in Isaac Lab
-
-
--  Use the interactive scene and spawn varying assets in individual environments:
-
-   **Physics:** ``isaacsim_physx``, ``newton_mjwarp``
-
-   **Visualizer:** ``none``, ``kit``, ``newton_gl``, ``newton_rtx``, ``rerun``, ``viser``
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. tab-set::
-
-            .. tab-item:: uv (Recommended)
-
-               .. code:: bash
-
-                  uv run --extra isaacsim python scripts/demos/multi_asset.py
-
-            .. tab-item:: isaaclab.sh / isaaclab.bat
-
-               .. code:: bash
-
-                  ./isaaclab.sh -p scripts/demos/multi_asset.py
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -p scripts\demos\multi_asset.py
-
-   .. image:: ../_static/demos/multi_asset.jpg
-      :width: 100%
-      :alt: Multiple assets managed through the same simulation handles
-
-
--  Compose task scenes into one heterogeneous simulation using clone combinations:
-
-   **Physics:** ``isaacsim_physx`` only
-
-   **Visualizer:** ``none``, ``kit``, ``newton_gl``, ``newton_rtx``, ``rerun``, ``viser``
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. tab-set::
-
-            .. tab-item:: uv (Recommended)
-
-               .. code:: bash
-
-                  uv run --extra isaacsim python scripts/demos/heterogeneous_scene.py
-
-            .. tab-item:: isaaclab.sh / isaaclab.bat
-
-               .. code:: bash
-
-                  ./isaaclab.sh -p scripts/demos/heterogeneous_scene.py
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -p scripts\demos\heterogeneous_scene.py
-
-   .. image:: ../_static/demos/heterogeneous_scene.jpg
-      :width: 100%
-      :alt: Task scenes composed into one heterogeneous cloned simulation
-
-   The demo resolves a curated selection of PhysX task scenes that share a flat
-   floor at height zero, folds them into a single scene with
-   :func:`~isaaclab.scene.add`, and clones the combined scene so each
-   environment hosts one task's assets. Use ``--num_task`` and ``--num_envs``
-   to run a smaller composition.
-
-
--  Use the RigidObjectCollection spawn and view manipulation to demonstrate bin-packing example:
-
-   **Physics:** ``isaacsim_physx``
-
-   **Visualizer:** ``none``, ``kit``, ``newton_gl``, ``newton_rtx``, ``rerun``, ``viser``
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. tab-set::
-
-            .. tab-item:: uv (Recommended)
-
-               .. code:: bash
-
-                  uv run --extra isaacsim python scripts/demos/bin_packing.py
-
-            .. tab-item:: isaaclab.sh / isaaclab.bat
-
-               .. code:: bash
-
-                  ./isaaclab.sh -p scripts/demos/bin_packing.py
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -p scripts\demos\bin_packing.py
-
-   .. image:: ../_static/demos/bin_packing.jpg
-      :width: 100%
-      :alt: Bins holding a different random subset of grocery objects in every environment
-
-
-
--  Use the interactive scene and spawn a simple parallel robot for pick and place:
-
-   **Physics:** ``isaacsim_physx`` only
-
-   **Visualizer:** ``kit`` only
-
-   This demo requires interactive input and uses the CPU-only PhysX surface
-   gripper. Newton physics is not supported.
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. tab-set::
-
-            .. tab-item:: uv (Recommended)
-
-               .. code:: bash
-
-                  uv run --extra isaacsim python scripts/demos/pick_and_place.py
-
-            .. tab-item:: isaaclab.sh / isaaclab.bat
-
-               .. code:: bash
-
-                  ./isaaclab.sh -p scripts/demos/pick_and_place.py
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -p scripts\demos\pick_and_place.py
-
-   .. image:: ../_static/demos/pick_and_place.jpg
-      :width: 100%
-      :alt: User controlled pick and place with a parallel robot
-
-   This is an interactive demo that can be run using the mouse and keyboard.
-   Your goal is pick up the purple cube and to drop it on the red sphere!
-   Use the following controls to interact with the simulation:
-
-   * Hold the ``A`` key to have the gripper track the cube position.
-   * Hold the ``D`` key to have the gripper track the target position
-   * Press the ``W`` or ``S`` keys to move the gantry UP or DOWN respectively
-   * Press ``Q`` or ``E`` to OPEN or CLOSE the gripper respectively
-
-
-
--  Teleoperate a Franka Panda robot using Haply haptic device with force feedback:
-
-   **Physics:** ``isaacsim_physx``, ``newton_mjwarp``
-
-   **Visualizer:** ``none``, ``kit``, ``newton_gl``, ``newton_rtx``, ``rerun``, ``viser``
-
-   Haply hardware is required.
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. tab-set::
-
-            .. tab-item:: uv (Recommended)
-
-               .. code:: bash
-
-                  uv run --extra isaacsim python scripts/demos/haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65
-
-            .. tab-item:: isaaclab.sh / isaaclab.bat
-
-               .. code:: bash
-
-                  ./isaaclab.sh -p scripts/demos/haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -p scripts\demos\haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65
-
-   .. image:: ../_static/demos/haply_teleop_franka.jpg
-      :width: 100%
-      :alt: Haply teleoperation with force feedback
-
-   This demo requires Haply Inverse3 and VerseGrip devices.
-   The goal of this demo is to pick up the cube or touch it with the end-effector.
-   The Haply devices provide:
-
-   * 3 dimensional position tracking for end-effector control
-   * Directional force feedback for contact sensing
-   * Button inputs for gripper and end-effector rotation control
-
-   See :ref:`haply-teleoperation` for detailed setup instructions.
-
-
-
--  Create and spawn procedurally generated terrains with different configurations:
-
-   **Physics:** ``isaacsim_physx`` only
-
-   **Visualizer:** ``none``, ``kit``, ``newton_gl``, ``newton_rtx``, ``rerun``, ``viser``
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. tab-set::
-
-            .. tab-item:: uv (Recommended)
-
-               .. code:: bash
-
-                  uv run --extra isaacsim python scripts/demos/procedural_terrain.py
-
-            .. tab-item:: isaaclab.sh / isaaclab.bat
-
-               .. code:: bash
-
-                  ./isaaclab.sh -p scripts/demos/procedural_terrain.py
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -p scripts\demos\procedural_terrain.py
-
-   .. image:: ../_static/demos/procedural_terrain.jpg
-      :width: 100%
-      :alt: Procedural Terrains in Isaac Lab
-
-
-
--  Spawn a quadcopter in the default environment:
-
-   **Physics:** ``isaacsim_physx``, ``newton_mjwarp``
-
-   **Visualizer:** ``none``, ``kit``, ``newton_gl``, ``newton_rtx``, ``rerun``, ``viser``
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. tab-set::
-
-            .. tab-item:: uv (Recommended)
-
-               .. code:: bash
-
-                  uv run --extra isaacsim python scripts/demos/quadcopter.py
-
-            .. tab-item:: isaaclab.sh / isaaclab.bat
-
-               .. code:: bash
-
-                  ./isaaclab.sh -p scripts/demos/quadcopter.py
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -p scripts\demos\quadcopter.py
-
-   .. image:: ../_static/demos/quadcopter.jpg
-      :width: 100%
-      :alt: Quadcopter in Isaac Lab
-
-
--  Spawn different quadrupeds and make robots stand using position commands:
-
-   **Physics:** ``isaacsim_physx``, ``newton_mjwarp``
-
-   **Visualizer:** ``none``, ``kit``, ``newton_gl``, ``newton_rtx``, ``rerun``, ``viser``
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. tab-set::
-
-            .. tab-item:: uv (Recommended)
-
-               .. code:: bash
-
-                  uv run --extra isaacsim python scripts/demos/quadrupeds.py
-
-            .. tab-item:: isaaclab.sh / isaaclab.bat
-
-               .. code:: bash
-
-                  ./isaaclab.sh -p scripts/demos/quadrupeds.py
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -p scripts\demos\quadrupeds.py
-
-   .. image:: ../_static/demos/quadrupeds.jpg
-      :width: 100%
-      :alt: Quadrupeds in Isaac Lab
-
-
--  Spawn a multi-mesh ray caster that uses Warp kernels for raycasting
-
-   **Physics:** ``isaacsim_physx``, ``newton_mjwarp``
-
-   **Visualizer:** ``none``, ``newton_gl``, ``newton_rtx``, ``rerun``, ``viser`` with either physics
-   backend; ``kit`` with PhysX only
-
-   .. tab-set::
-      :sync-group: os
-
-      .. tab-item:: :icon:`fa-brands fa-linux` Linux
-         :sync: linux
-
-         .. tab-set::
-
-            .. tab-item:: uv (Recommended)
-
-               .. code:: bash
-
-                  uv run --extra isaacsim python scripts/demos/sensors/multi_mesh_raycaster.py --num_envs 16 --asset_type objects
-
-            .. tab-item:: isaaclab.sh / isaaclab.bat
-
-               .. code:: bash
-
-                  ./isaaclab.sh -p scripts/demos/sensors/multi_mesh_raycaster.py --num_envs 16 --asset_type objects
-
-      .. tab-item:: :icon:`fa-brands fa-windows` Windows
-         :sync: windows
-
-         .. code:: batch
-
-            isaaclab.bat -p scripts\demos\sensors\multi_mesh_raycaster.py --num_envs 16 --asset_type objects
-
-   .. image:: ../_static/demos/multi-mesh-raycast.jpg
-      :width: 100%
-      :alt: Multi-mesh raycaster in Isaac Lab
diff --git a/docs/source/policy_deployment/05_leapp/deploying_exported_policies_with_leapp.rst b/docs/source/policy_deployment/05_leapp/deploying_exported_policies_with_leapp.rst
index dab68fbc6c0c..f3a47a712f10 100644
--- a/docs/source/policy_deployment/05_leapp/deploying_exported_policies_with_leapp.rst
+++ b/docs/source/policy_deployment/05_leapp/deploying_exported_policies_with_leapp.rst
@@ -8,7 +8,7 @@ simulation without the training infrastructure. This is the Isaac Lab deployment
 LEAPP-exported policies and is useful for validating that the packaged policy still behaves
 correctly when driven through the deployment stack instead of the training stack.
 
-Run the deployment script with the task name and the exported LEAPP ``.yaml`` file. Use the
+Run the deployment command with the task name and the exported LEAPP ``.yaml`` file. Use the
 same backend extra and backend selector that you used for training and export, and pass a
 ``--viz`` option when you want a viewport:
 
@@ -18,111 +18,50 @@ same backend extra and backend selector that you used for training and export, a
    .. tab-item:: :icon:`fa-brands fa-linux` Linux
       :sync: linux
 
-      .. tab-set::
-
-         .. tab-item:: uv (Recommended)
-
-            .. code-block:: bash
-
-               # Newton backend (kitless)
-               uv run --extra leapp python \
-                   scripts/reinforcement_learning/leapp/deploy.py \
-                   --task <TASK_NAME> \
-                   --leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> \
-                   --viz newton_gl physics=newton_mjwarp
-
-               # OV PhysX backend
-               uv run --extra ovphysx,leapp python \
-                   scripts/reinforcement_learning/leapp/deploy.py \
-                   --task <TASK_NAME> \
-                   --leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> \
-                   --viz kit physics=ovphysx
-
-               # Isaac Sim PhysX backend
-               OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y uv run --extra isaacsim,leapp python \
-                   scripts/reinforcement_learning/leapp/deploy.py \
-                   --task <TASK_NAME> \
-                   --leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> \
-                   --viz kit physics=isaacsim_physx
-
-         .. tab-item:: isaaclab.sh / isaaclab.bat
-
-            .. code-block:: bash
-
-               # Newton backend (kitless)
-               ./isaaclab.sh -p \
-                   scripts/reinforcement_learning/leapp/deploy.py \
-                   --task <TASK_NAME> \
-                   --leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> \
-                   --viz newton_gl physics=newton_mjwarp
-
-               # OV PhysX backend
-               ./isaaclab.sh -p \
-                   scripts/reinforcement_learning/leapp/deploy.py \
-                   --task <TASK_NAME> \
-                   --leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> \
-                   --viz kit physics=ovphysx
-
-               # Isaac Sim PhysX backend
-               OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y ./isaaclab.sh -p \
-                   scripts/reinforcement_learning/leapp/deploy.py \
-                   --task <TASK_NAME> \
-                   --leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> \
-                   --viz kit physics=isaacsim_physx
+      .. code-block:: bash
 
-   .. tab-item:: :icon:`fa-brands fa-windows` Windows
-      :sync: windows
-
-      .. tab-set::
-
-         .. tab-item:: uv (Recommended)
-
-            .. code-block:: batch
+         # Newton backend (kitless)
+         uv run --extra leapp isaaclab leapp deploy \
+             --task <TASK_NAME> \
+             --pipeline <PATH_TO_EXPORTED_LEAPP_YAML> \
+             --viz newton_gl physics=newton_mjwarp
 
-               :: Newton backend (kitless)
-               uv run --extra leapp python scripts\reinforcement_learning\leapp\deploy.py ^
-                   --task <TASK_NAME> ^
-                   --leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> ^
-                   --viz newton_gl physics=newton_mjwarp
+         # OV PhysX backend
+         uv run --extra ovphysx --extra leapp isaaclab leapp deploy \
+             --task <TASK_NAME> \
+             --pipeline <PATH_TO_EXPORTED_LEAPP_YAML> \
+             --viz kit physics=ovphysx
 
-               :: OV PhysX backend
-               uv run --extra ovphysx,leapp python scripts\reinforcement_learning\leapp\deploy.py ^
-                   --task <TASK_NAME> ^
-                   --leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> ^
-                   --viz kit physics=ovphysx
+         # Isaac Sim PhysX backend
+         OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y uv run --extra isaacsim --extra leapp isaaclab leapp deploy \
+             --task <TASK_NAME> \
+             --pipeline <PATH_TO_EXPORTED_LEAPP_YAML> \
+             --viz kit physics=isaacsim_physx
 
-               :: Isaac Sim PhysX backend
-               set OMNI_KIT_ACCEPT_EULA=Y
-               set ACCEPT_EULA=Y
-               uv run --extra isaacsim,leapp python scripts\reinforcement_learning\leapp\deploy.py ^
-                   --task <TASK_NAME> ^
-                   --leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> ^
-                   --viz kit physics=isaacsim_physx
-
-         .. tab-item:: isaaclab.sh / isaaclab.bat
-
-            .. code-block:: batch
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
 
-               :: Newton backend (kitless)
-               isaaclab.bat -p scripts\reinforcement_learning\leapp\deploy.py ^
-                   --task <TASK_NAME> ^
-                   --leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> ^
-                   --viz newton_gl physics=newton_mjwarp
+      .. code-block:: batch
 
-               :: OV PhysX backend
-               isaaclab.bat -p scripts\reinforcement_learning\leapp\deploy.py ^
-                   --task <TASK_NAME> ^
-                   --leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> ^
-                   --viz kit physics=ovphysx
+         :: Newton backend (kitless)
+         uv run --extra leapp isaaclab leapp deploy ^
+             --task <TASK_NAME> ^
+             --pipeline <PATH_TO_EXPORTED_LEAPP_YAML> ^
+             --viz newton_gl physics=newton_mjwarp
 
-               :: Isaac Sim PhysX backend
-               set OMNI_KIT_ACCEPT_EULA=Y
-               set ACCEPT_EULA=Y
-               isaaclab.bat -p scripts\reinforcement_learning\leapp\deploy.py ^
-                   --task <TASK_NAME> ^
-                   --leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> ^
-                   --viz kit physics=isaacsim_physx
+         :: OV PhysX backend
+         uv run --extra ovphysx --extra leapp isaaclab leapp deploy ^
+             --task <TASK_NAME> ^
+             --pipeline <PATH_TO_EXPORTED_LEAPP_YAML> ^
+             --viz kit physics=ovphysx
 
+         :: Isaac Sim PhysX backend
+         set OMNI_KIT_ACCEPT_EULA=Y
+         set ACCEPT_EULA=Y
+         uv run --extra isaacsim --extra leapp isaaclab leapp deploy ^
+             --task <TASK_NAME> ^
+             --pipeline <PATH_TO_EXPORTED_LEAPP_YAML> ^
+             --viz kit physics=isaacsim_physx
 
 What the Deployment Environment Does
 ------------------------------------
@@ -137,7 +76,7 @@ entities.
 Match the Training and Export Configuration
 -------------------------------------------
 
-The deployment script rebuilds the task configuration from ``--task``. It cannot infer the
+The deployment command rebuilds the task configuration from ``--task``. It cannot infer the
 training configuration from the checkpoint or LEAPP YAML, so you must provide the same
 configuration selections used for training and export. The task name, LEAPP YAML, and
 checkpoint must describe the same policy.
@@ -158,10 +97,9 @@ For example, append the preset after the deployment options:
 
 .. code-block:: bash
 
-   uv run --extra leapp python \
-       scripts/reinforcement_learning/leapp/deploy.py \
+   uv run --extra leapp isaaclab leapp deploy \
        --task Isaac-Humanoid \
-       --leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> \
+       --pipeline <PATH_TO_EXPORTED_LEAPP_YAML> \
        --viz newton_gl \
        presets=newton_mjwarp
 
diff --git a/docs/source/policy_deployment/05_leapp/exporting_direct_workflow_policies_with_leapp.rst b/docs/source/policy_deployment/05_leapp/exporting_direct_workflow_policies_with_leapp.rst
index 0d1c0fde24e7..ef908f980237 100644
--- a/docs/source/policy_deployment/05_leapp/exporting_direct_workflow_policies_with_leapp.rst
+++ b/docs/source/policy_deployment/05_leapp/exporting_direct_workflow_policies_with_leapp.rst
@@ -19,7 +19,7 @@ environment code. During export, LEAPP traces the annotated tensors and builds a
 intermediate representation of the full policy pipeline. These annotations remain
 dormant during normal environment execution and only add a small amount of
 overhead until export time. They are activated by
-``scripts/reinforcement_learning/leapp/rsl_rl/export.py`` when you run the export flow.
+``isaaclab leapp export --rl_library rsl_rl`` when you run the export flow.
 
 This tutorial uses ``scripts/tutorials/06_deploy/anymal_c_env.py`` as a concrete
 example of adding LEAPP annotations to a Direct workflow environment. Apply the same
@@ -65,61 +65,32 @@ For example, on Isaac Sim PhysX:
    .. tab-item:: :icon:`fa-brands fa-linux` Linux
       :sync: linux
 
-      .. tab-set::
-
-         .. tab-item:: uv (Recommended)
-
-            .. code-block:: bash
-
-               # Newton:     uv run --extra leapp python ... physics=newton_mjwarp
-               # OV PhysX:   uv run --extra ovphysx,leapp python ... physics=ovphysx
-               # Isaac Sim:
-               OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y uv run --extra isaacsim,leapp python \
-                   scripts/reinforcement_learning/leapp/rsl_rl/export.py \
-                   --task <TASK_NAME> \
-                   --checkpoint <PATH_TO_CHECKPOINT> \
-                   --export_save_path <EXPORT_PATH> \
-                   physics=isaacsim_physx
-
-         .. tab-item:: isaaclab.sh / isaaclab.bat
-
-            .. code-block:: bash
+      .. code-block:: bash
 
-               ./isaaclab.sh -p scripts/reinforcement_learning/leapp/rsl_rl/export.py \
-                   --task <TASK_NAME> \
-                   --checkpoint <PATH_TO_CHECKPOINT> \
-                   --export_save_path <EXPORT_PATH> \
-                   physics=isaacsim_physx
+         # Newton:     uv run --extra leapp isaaclab leapp export --rl_library rsl_rl ... physics=newton_mjwarp
+         # OV PhysX:   uv run --extra ovphysx --extra leapp isaaclab leapp export --rl_library rsl_rl ... physics=ovphysx
+         # Isaac Sim:
+         OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y uv run --extra isaacsim --extra leapp isaaclab leapp export --rl_library rsl_rl \
+             --task <TASK_NAME> \
+             --checkpoint <PATH_TO_CHECKPOINT> \
+             --export_save_path <EXPORT_PATH> \
+             physics=isaacsim_physx
 
    .. tab-item:: :icon:`fa-brands fa-windows` Windows
       :sync: windows
 
-      .. tab-set::
-
-         .. tab-item:: uv (Recommended)
-
-            .. code-block:: batch
-
-               :: Newton:   uv run --extra leapp python ... physics=newton_mjwarp
-               :: OV PhysX: uv run --extra ovphysx,leapp python ... physics=ovphysx
-               :: Isaac Sim:
-               set OMNI_KIT_ACCEPT_EULA=Y
-               set ACCEPT_EULA=Y
-               uv run --extra isaacsim,leapp python scripts\reinforcement_learning\leapp\rsl_rl\export.py ^
-                   --task <TASK_NAME> ^
-                   --checkpoint <PATH_TO_CHECKPOINT> ^
-                   --export_save_path <EXPORT_PATH> ^
-                   physics=isaacsim_physx
-
-         .. tab-item:: isaaclab.sh / isaaclab.bat
-
-            .. code-block:: batch
+      .. code-block:: batch
 
-               isaaclab.bat -p scripts\reinforcement_learning\leapp\rsl_rl\export.py ^
-                   --task <TASK_NAME> ^
-                   --checkpoint <PATH_TO_CHECKPOINT> ^
-                   --export_save_path <EXPORT_PATH> ^
-                   physics=isaacsim_physx
+         :: Newton:   uv run --extra leapp isaaclab leapp export --rl_library rsl_rl ... physics=newton_mjwarp
+         :: OV PhysX: uv run --extra ovphysx --extra leapp isaaclab leapp export --rl_library rsl_rl ... physics=ovphysx
+         :: Isaac Sim:
+         set OMNI_KIT_ACCEPT_EULA=Y
+         set ACCEPT_EULA=Y
+         uv run --extra isaacsim --extra leapp isaaclab leapp export --rl_library rsl_rl ^
+             --task <TASK_NAME> ^
+             --checkpoint <PATH_TO_CHECKPOINT> ^
+             --export_save_path <EXPORT_PATH> ^
+             physics=isaacsim_physx
 
 The ``--task`` argument is the registered task name, such as
 ``IsaacContrib-Velocity-Rough-AnymalC-Direct``. The ``--checkpoint`` argument
@@ -140,7 +111,7 @@ exported artifacts. If you omit it, the export is written next to the checkpoint
 
    This tutorial covers exporting direct rl policies only. direct rl
    policies are not currently supported by
-   ``scripts/reinforcement_learning/leapp/deploy.py``.
+   ``isaaclab leapp deploy``.
 
 For more information on the export arguments, see the
 :doc:`standard LEAPP deployment workflow <exporting_policies_with_leapp>`.
@@ -185,8 +156,8 @@ collects the tensors that are passed to the policy.
 ``annotate.input_tensors()`` wraps a tensor so LEAPP can trace all downstream
 operations that depend on it. The function takes two important arguments:
 
-- ``self.spec.id`` identifies the node that owns the tensor. When you use
-  ``export.py``, this ID matches the exported policy node.
+- ``self.spec.id`` identifies the node that owns the tensor. When you run
+  ``isaaclab leapp export``, this ID matches the exported policy node.
 - The second argument is a dictionary that maps a unique tensor name to the
   tensor itself. LEAPP uses these names in the exported metadata and for
   debugging.
diff --git a/docs/source/policy_deployment/05_leapp/exporting_policies_with_leapp.rst b/docs/source/policy_deployment/05_leapp/exporting_policies_with_leapp.rst
index ca864dadce68..d1752232cde4 100644
--- a/docs/source/policy_deployment/05_leapp/exporting_policies_with_leapp.rst
+++ b/docs/source/policy_deployment/05_leapp/exporting_policies_with_leapp.rst
@@ -61,8 +61,8 @@ Select extras the same way as ``isaaclab train``: add ``--extra leapp`` on every
 integration available; ``physics=...`` selects it for the task:
 
 - **Newton** (kitless): ``--extra leapp`` (no Isaac Sim extra)
-- **OV PhysX**: ``--extra ovphysx,leapp`` with ``physics=ovphysx``
-- **Isaac Sim PhysX**: ``--extra isaacsim,leapp`` with ``physics=isaacsim_physx``
+- **OV PhysX**: ``--extra ovphysx --extra leapp`` with ``physics=ovphysx``
+- **Isaac Sim PhysX**: ``--extra isaacsim --extra leapp`` with ``physics=isaacsim_physx``
 
 See :ref:`uv-run-training` and :ref:`installation-optional-extras` for the full
 extras model used by training and play.
@@ -75,14 +75,12 @@ Export a trained policy, then launch the exported policy in Isaac Lab:
 
 .. code-block:: bash
 
-   uv run --extra leapp python \
-       scripts/reinforcement_learning/leapp/<RL_LIBRARY>/export.py \
+   uv run --extra leapp isaaclab leapp export --rl_library <RL_LIBRARY> \
        --task <TASK_NAME> physics=newton_mjwarp
 
-   uv run --extra leapp python \
-       scripts/reinforcement_learning/leapp/deploy.py \
+   uv run --extra leapp isaaclab leapp deploy \
        --task <TASK_NAME> \
-       --leapp_model <PATH_TO_EXPORTED_LEAPP_YAML> \
+       --pipeline <PATH_TO_EXPORTED_LEAPP_YAML> \
        --viz newton_gl physics=newton_mjwarp
 
 Continue with the sections below to select a different RL library, configure the
@@ -92,12 +90,12 @@ export, and validate the generated artifacts.
 Why Export with LEAPP
 ---------------------
 
-Running the export script generates a self-contained export directory alongside your
+Running the export command generates a self-contained export directory alongside your
 checkpoint (or at a custom path). The directory contains:
 
 - **Exported model files** — ``.onnx`` (default) or ``.pt`` depending on the chosen backend.
 - **Export metadata** — LEAPP records the semantic information and wiring needed by downstream
-  deployment runtimes.
+  deployment runtimes, including the policy execution frequency.
 - **Initial values** — a ``.safetensors`` file for any feedback state, such as recurrent hidden
   state or last action.
 - **A graph visualization** — a ``.png`` diagram of the pipeline (can be disabled).
@@ -119,13 +117,13 @@ Exporting a Policy
    Export requires a trained checkpoint. Normally you train a policy first — follow
    :ref:`uv-run-training` and
    :doc:`/source/concepts/reinforcement_learning` — and the export
-   script then discovers the newest matching local run automatically. To get started
+   command then discovers the newest matching local run automatically. To get started
    without training, RSL-RL can pass ``--checkpoint pretrained`` to download a published
    policy for a supported core task and backend combination (availability is limited;
    see :ref:`pretrained-checkpoints`).
 
-Use the export script for the RL library that produced the checkpoint. The available script
-directories are ``rsl_rl``, ``rl_games``, ``skrl``, and ``sb3``. Export runs headless by default.
+Use ``--rl_library`` to select the RL library that produced the checkpoint. The supported
+libraries are ``rsl_rl``, ``rl_games``, ``skrl``, and ``sb3``. Export runs headless by default.
 Use the same backend extra and ``physics=...`` selector that you used for training. For Isaac Sim
 Kit launches in non-interactive shells, set the EULA variables so startup does not prompt:
 
@@ -135,86 +133,39 @@ Kit launches in non-interactive shells, set the EULA variables so startup does n
    .. tab-item:: :icon:`fa-brands fa-linux` Linux
       :sync: linux
 
-      .. tab-set::
+      .. code-block:: bash
 
-         .. tab-item:: uv (Recommended)
+         # Newton backend (kitless)
+         uv run --extra leapp isaaclab leapp export --rl_library <rl_library> \
+             --task <TASK_NAME> physics=newton_mjwarp
 
-            .. code-block:: bash
+         # OV PhysX backend
+         uv run --extra ovphysx --extra leapp isaaclab leapp export --rl_library <rl_library> \
+             --task <TASK_NAME> physics=ovphysx
 
-               # Newton backend (kitless)
-               uv run --extra leapp python \
-                   scripts/reinforcement_learning/leapp/<rl_library>/export.py \
-                   --task <TASK_NAME> physics=newton_mjwarp
-
-               # OV PhysX backend
-               uv run --extra ovphysx,leapp python \
-                   scripts/reinforcement_learning/leapp/<rl_library>/export.py \
-                   --task <TASK_NAME> physics=ovphysx
-
-               # Isaac Sim PhysX backend
-               OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y uv run --extra isaacsim,leapp python \
-                   scripts/reinforcement_learning/leapp/<rl_library>/export.py \
-                   --task <TASK_NAME> physics=isaacsim_physx
-
-         .. tab-item:: isaaclab.sh / isaaclab.bat
-
-            .. code-block:: bash
-
-               # Newton backend (kitless)
-               ./isaaclab.sh -p \
-                   scripts/reinforcement_learning/leapp/<rl_library>/export.py \
-                   --task <TASK_NAME> physics=newton_mjwarp
-
-               # OV PhysX backend
-               ./isaaclab.sh -p \
-                   scripts/reinforcement_learning/leapp/<rl_library>/export.py \
-                   --task <TASK_NAME> physics=ovphysx
-
-               # Isaac Sim PhysX backend
-               OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y ./isaaclab.sh -p \
-                   scripts/reinforcement_learning/leapp/<rl_library>/export.py \
-                   --task <TASK_NAME> physics=isaacsim_physx
+         # Isaac Sim PhysX backend
+         OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y uv run --extra isaacsim --extra leapp isaaclab leapp export \
+             --rl_library <rl_library> \
+             --task <TASK_NAME> physics=isaacsim_physx
 
    .. tab-item:: :icon:`fa-brands fa-windows` Windows
       :sync: windows
 
-      .. tab-set::
-
-         .. tab-item:: uv (Recommended)
-
-            .. code-block:: batch
-
-               :: Newton backend (kitless)
-               uv run --extra leapp python scripts\reinforcement_learning\leapp\<rl_library>\export.py ^
-                   --task <TASK_NAME> physics=newton_mjwarp
-
-               :: OV PhysX backend
-               uv run --extra ovphysx,leapp python scripts\reinforcement_learning\leapp\<rl_library>\export.py ^
-                   --task <TASK_NAME> physics=ovphysx
-
-               :: Isaac Sim PhysX backend
-               set OMNI_KIT_ACCEPT_EULA=Y
-               set ACCEPT_EULA=Y
-               uv run --extra isaacsim,leapp python scripts\reinforcement_learning\leapp\<rl_library>\export.py ^
-                   --task <TASK_NAME> physics=isaacsim_physx
+      .. code-block:: batch
 
-         .. tab-item:: isaaclab.sh / isaaclab.bat
+         :: Newton backend (kitless)
+         uv run --extra leapp isaaclab leapp export --rl_library <rl_library> ^
+             --task <TASK_NAME> physics=newton_mjwarp
 
-            .. code-block:: batch
+         :: OV PhysX backend
+         uv run --extra ovphysx --extra leapp isaaclab leapp export --rl_library <rl_library> ^
+             --task <TASK_NAME> physics=ovphysx
 
-               :: Newton backend (kitless)
-               isaaclab.bat -p scripts\reinforcement_learning\leapp\<rl_library>\export.py ^
-                   --task <TASK_NAME> physics=newton_mjwarp
-
-               :: OV PhysX backend
-               isaaclab.bat -p scripts\reinforcement_learning\leapp\<rl_library>\export.py ^
-                   --task <TASK_NAME> physics=ovphysx
-
-               :: Isaac Sim PhysX backend
-               set OMNI_KIT_ACCEPT_EULA=Y
-               set ACCEPT_EULA=Y
-               isaaclab.bat -p scripts\reinforcement_learning\leapp\<rl_library>\export.py ^
-                   --task <TASK_NAME> physics=isaacsim_physx
+         :: Isaac Sim PhysX backend
+         set OMNI_KIT_ACCEPT_EULA=Y
+         set ACCEPT_EULA=Y
+         uv run --extra isaacsim --extra leapp isaaclab leapp export --rl_library <rl_library> ^
+             --task <TASK_NAME> physics=isaacsim_physx
 
 When ``--checkpoint`` is omitted, the exporter uses the selected task's agent configuration to
 find the default checkpoint in the newest matching local run. This avoids hardcoding the
@@ -229,46 +180,21 @@ For example, to export a Humanoid policy trained with RSL-RL on Isaac Sim PhysX:
    .. tab-item:: :icon:`fa-brands fa-linux` Linux
       :sync: linux
 
-      .. tab-set::
-
-         .. tab-item:: uv (Recommended)
-
-            .. code-block:: bash
-
-               OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y uv run --extra isaacsim,leapp python \
-                   scripts/reinforcement_learning/leapp/rsl_rl/export.py \
-                   --task Isaac-Humanoid physics=isaacsim_physx
-
-         .. tab-item:: isaaclab.sh / isaaclab.bat
+      .. code-block:: bash
 
-            .. code-block:: bash
-
-               OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y ./isaaclab.sh -p \
-                   scripts/reinforcement_learning/leapp/rsl_rl/export.py \
-                   --task Isaac-Humanoid physics=isaacsim_physx
+         OMNI_KIT_ACCEPT_EULA=Y ACCEPT_EULA=Y uv run --extra isaacsim --extra leapp isaaclab leapp export \
+             --rl_library rsl_rl \
+             --task Isaac-Humanoid physics=isaacsim_physx
 
    .. tab-item:: :icon:`fa-brands fa-windows` Windows
       :sync: windows
 
-      .. tab-set::
-
-         .. tab-item:: uv (Recommended)
-
-            .. code-block:: batch
-
-               set OMNI_KIT_ACCEPT_EULA=Y
-               set ACCEPT_EULA=Y
-               uv run --extra isaacsim,leapp python scripts\reinforcement_learning\leapp\rsl_rl\export.py ^
-                   --task Isaac-Humanoid physics=isaacsim_physx
-
-         .. tab-item:: isaaclab.sh / isaaclab.bat
-
-            .. code-block:: batch
+      .. code-block:: batch
 
-               set OMNI_KIT_ACCEPT_EULA=Y
-               set ACCEPT_EULA=Y
-               isaaclab.bat -p scripts\reinforcement_learning\leapp\rsl_rl\export.py ^
-                   --task Isaac-Humanoid physics=isaacsim_physx
+         set OMNI_KIT_ACCEPT_EULA=Y
+         set ACCEPT_EULA=Y
+         uv run --extra isaacsim --extra leapp isaaclab leapp export --rl_library rsl_rl ^
+             --task Isaac-Humanoid physics=isaacsim_physx
 
 By default, the export artifacts are saved in the same directory as the checkpoint. The
 exported graph is named after the task.
@@ -277,7 +203,7 @@ exported graph is named after the task.
 CLI Options
 ^^^^^^^^^^^
 
-The export scripts accept the following common LEAPP-specific arguments in addition to
+The export command accepts the following common LEAPP-specific arguments in addition to
 backend-specific and AppLauncher arguments:
 
 .. list-table::
@@ -325,7 +251,7 @@ backend-specific and AppLauncher arguments:
 How It Works (High Level)
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
-The export script performs the following steps:
+The export command performs the following steps:
 
 1. **Creates the environment** with ``num_envs=1`` and loads the trained checkpoint.
 2. **Patches the environment** for export. This step injects annotations into the environment
@@ -382,7 +308,7 @@ For details on ONNX, JIT, and PT2 export formats, see the
 Recurrent Policies
 ^^^^^^^^^^^^^^^^^^
 
-LSTM recurrent policies are supported automatically. The export scripts detect actor-side LSTM
+LSTM recurrent policies are supported automatically. The exporters detect actor-side LSTM
 state for RSL-RL, RL-Games, skrl, and Stable-Baselines3 policies, register it as LEAPP feedback
 state, and ensure it appears in the ``feedback_flow`` section of the output YAML. The initial
 hidden state values are saved in the ``.safetensors`` file. Other recurrent architectures are
diff --git a/docs/source/refs/contributing.rst b/docs/source/refs/contributing.rst
index 29ec5961d098..57b12ddc28b6 100644
--- a/docs/source/refs/contributing.rst
+++ b/docs/source/refs/contributing.rst
@@ -9,7 +9,7 @@ Contribution Guidelines
    `skills/developer/pr-workflow/ <../../../skills/developer/pr-workflow/SKILL.md>`__,
    `skills/developer/changelog-fragments/ <../../../skills/developer/changelog-fragments/SKILL.md>`__).
    When you change this page, update those skills so agent guidance stays in sync. See
-   :doc:`/source/overview/developer-guide/agent_skills`.
+   :doc:`/source/developer-tools/agent_skills`.
 
 We wholeheartedly welcome contributions to the project to make the framework more mature
 and useful for everyone. These may happen in forms of:
@@ -514,7 +514,7 @@ to avoid importing it:
    from __future__ import annotations
    import typing
 
-   from isaaclab.utils.configclass import configclass
+   from isaaclab.utils import configclass
 
    if typing.TYPE_CHECKING:
        from .sensor import Sensor
diff --git a/docs/source/refs/issues.rst b/docs/source/refs/issues.rst
index 4e2afe313879..8d17d43e06cc 100644
--- a/docs/source/refs/issues.rst
+++ b/docs/source/refs/issues.rst
@@ -16,6 +16,16 @@ apply to the others unless it says so.
 PhysX backends
 --------------
 
+Surface grippers require CPU simulation
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+**Affects:** ``physics=isaacsim_physx`` surface-gripper tasks.
+
+Surface grippers require CPU simulation. This includes the UR10 Long/Short Suction stacking tasks,
+the Galbot Right Arm Suction stacking task, and its relative and absolute Mimic variants.
+Pass ``--device cpu`` when running teleoperation. Zero and random agents preserve these tasks'
+CPU defaults when ``--device`` is omitted; an explicit GPU override is unsupported.
+
 Sensor readings are stale immediately after a reset
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
@@ -108,22 +118,13 @@ OpenUSD provider that contains the fix or to Isaac Sim 6.1 or later.
 
 .. _known-issues-closed-loop-newton:
 
-Closed-loop articulations are not available on Newton (e.g. Agility Digit)
+Closed-loop articulations are not validated on Kamino (e.g. Agility Digit)
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-**Affects:** ``physics=newton_mjwarp``, ``physics=newton_kamino``.
+**Affects:** ``physics=newton_kamino``.
 
 Robots whose USD encodes a closed kinematic loop — such as the achilles rod and toe push-rods
-on the Agility Digit — are not currently validated on the Newton backends. The Digit-based
-contrib tasks are PhysX-only and do not expose a Newton preset at all:
-
-* ``IsaacContrib-Velocity-Flat-Digit``
-* ``IsaacContrib-Velocity-Rough-Digit``
-* ``IsaacContrib-Tracking-LocoManip-Digit``
-
-Passing ``presets=newton_mjwarp`` to these tasks is rejected, because the preset never
-selected a Newton backend on them; it only stripped a center-of-mass randomization from a
-PhysX run. Use the default PhysX configuration for Digit-based environments.
+on the Agility Digit — are not validated on ``newton_kamino``.
 
 
 Renderers
@@ -196,6 +197,30 @@ There are two workarounds:
   ``False`` to opt out of partitioning entirely, at the cost of the per-environment
   culling.
 
+.. _known-issues-scene-partition-count-cap:
+
+Scene partitioning is capped at 15625 partitions
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+**Affects:** ``renderer=isaacsim_rtx`` with scene partitioning enabled, and ``renderer=ovrtx``.
+
+The underlying ``rtx.scenedb.plugin`` allocates a fixed-size pool of scene partitions and
+caps it at 15625, regardless of which renderer requests them. Isaac Lab assigns one scene
+partition per environment when
+:attr:`~isaaclab_physx.renderers.IsaacRtxRendererCfg.enable_scene_partitioning` is enabled
+for the Isaac RTX renderer, and OVRTX always assigns one scene partition per environment, so
+runs with more than 15625 environments exceed the pool on either backend. Once the cap is
+hit, ``rtx.scenedb.plugin`` logs a warning and discards the remaining partitions:
+
+.. code-block:: text
+
+    [Warning] [rtx.scenedb.plugin] SceneDbContext : Maximum number of scene partitions
+    (15625) reached. Additional scene partitions will be discarded.
+
+Environments beyond the cap are left without their own partition and end up sharing one
+with another environment, so their tiled camera views can render another environment's
+geometry instead of their own.
+
 Using instanceable assets for markers
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
diff --git a/docs/source/refs/release_notes.rst b/docs/source/refs/release_notes.rst
index 8f26b762b0a1..4085d9610b41 100644
--- a/docs/source/refs/release_notes.rst
+++ b/docs/source/refs/release_notes.rst
@@ -271,6 +271,11 @@ Known Limitations
   release. We anticipate the branch will stabilize towards a final Isaac Lab 3.0 release in the coming 1-2 months.
 * Newton remains under active development. Some features, task presets, and surface gripper workflows remain
   backend-specific or unsupported.
+* Surface grippers require CPU simulation with ``physics=isaacsim_physx``, including the UR10 Long/Short Suction
+  and Galbot Right Arm Suction stacking tasks and the Galbot Mimic variants. Pass ``--device cpu`` for teleoperation;
+  zero and random agents preserve the tasks' CPU defaults when ``--device`` is omitted.
+* Pink IK dependencies are provided by the standard installation only on Linux x86_64 and aarch64. The Windows
+  uv/pip installation does not provide Pinocchio, so Pink IK tasks cannot run with that installation.
 * OVRTX and OVPhysX require their optional runtime wheels. Isaac Lab now reports clearer install guidance when those
   wheels are missing, but those backends are still optional installs.
 
diff --git a/docs/source/refs/troubleshooting.rst b/docs/source/refs/troubleshooting.rst
index d20d2716b7a2..16f171bcd463 100644
--- a/docs/source/refs/troubleshooting.rst
+++ b/docs/source/refs/troubleshooting.rst
@@ -6,7 +6,7 @@ Tricks and Troubleshooting
    This page is the source of truth for the ``isaaclab-setup-troubleshooting`` agent skill
    (`skills/user/setup-troubleshooting/ <../../../skills/user/setup-troubleshooting/SKILL.md>`__).
    When you change this page, update the skill so agent guidance stays in sync. See
-   :doc:`/source/overview/developer-guide/agent_skills`.
+   :doc:`/source/developer-tools/agent_skills`.
 
 .. note::
 
@@ -198,7 +198,7 @@ sync:
 .. code:: python
 
     from isaaclab.physics import PhysxAutoCfg
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
     from isaaclab_ov.physics import OvPhysxCfg
     from isaaclab_physx.physics import PhysxCfg
     from isaaclab_tasks.utils import PresetCfg
@@ -248,7 +248,7 @@ CPU configuration, consult the maintained upstream guides:
   <https://docs.omniverse.nvidia.com/kit/docs/omni_physics/latest/dev_guide/guides/physics-performance.html>`_
 
 For Newton-specific performance and solver parameters, see the
-:doc:`Newton physics documentation <../overview/core-concepts/physical-backends/newton/index>`.
+:ref:`Newton physics documentation <physics-backends-newton>`.
 
 
 Joints actuate in PhysX but not in a Newton-based backend
@@ -306,6 +306,47 @@ URL; the default port is ``8080``, configurable through
 ``viser`` extra.
 
 
+Livestreaming and WebRTC
+------------------------
+
+``NVST_R_BUSY`` / ``NVST_R_INTERNAL_ERROR`` on ``LIVESTREAM=1`` or ``LIVESTREAM=2``
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+:class:`~isaaclab.app.AppLauncher` pins TCP port ``49100`` for WebRTC signaling whenever
+``LIVESTREAM=1`` (public network) or ``LIVESTREAM=2`` (private network) is set. If a
+previous livestream process is still bound to that port, the new session fails to start
+with:
+
+.. code:: text
+
+   [Error] [omni.kit.livestream.webrtc.plugin] NVST Error: NVST_R_BUSY
+
+or, less commonly, ``NVST_R_INTERNAL_ERROR`` while binding the signaling socket. Identify
+the process holding port 49100, confirm it is safe to stop, then terminate it and relaunch:
+
+.. tab-set::
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code-block:: bash
+
+         ss -tlnp | grep 49100    # or: lsof -i :49100
+         kill $(lsof -ti tcp:49100)       # SIGTERM first
+         kill -9 $(lsof -ti tcp:49100)    # only if it is still running
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code-block:: powershell
+
+         netstat -ano | findstr ":49100"
+         taskkill /PID <pid> /F
+
+On Windows, ``netstat`` prints the owning PID as the last column of the matching line;
+substitute it for ``<pid>``.
+
+
 Distributed training
 --------------------
 
diff --git a/docs/source/setup/demos.rst b/docs/source/setup/demos.rst
new file mode 100644
index 000000000000..de2030b56315
--- /dev/null
+++ b/docs/source/setup/demos.rst
@@ -0,0 +1,196 @@
+.. Copyright (c) 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
+
+.. _demos:
+
+Demos
+=====
+
+Explore focused scripts that demonstrate Isaac Lab's robots, objects, sensors, and simulation features.
+Choose a demo card, then select a supported physics backend and visualizer to build a ready-to-run command.
+The command automatically includes the optional dependency groups required by the selection.
+
+Command Builder
+---------------
+
+.. raw:: html
+
+   <div class="environment-browser demo-browser" data-demo-browser>
+     <section class="environment-command-panel" aria-label="Isaac Lab demo command builder">
+       <div class="environment-command-row environment-command-row-primary demo-command-row">
+         <span class="environment-command-prefix" aria-hidden="true">uv run</span>
+         <strong class="demo-command-selection" data-demo-name>Arms</strong>
+         <label class="environment-selector environment-selector-physics">
+           <span>--physics</span>
+           <select data-demo-field="physics" aria-label="Physics backend"></select>
+         </label>
+         <label class="environment-selector environment-selector-renderer">
+           <span>--viz</span>
+           <select data-demo-field="visualizer" aria-label="Visualizer"></select>
+         </label>
+       </div>
+       <p class="demo-command-description" data-demo-description></p>
+       <div class="environment-command-output">
+         <code data-command-output></code>
+         <div class="environment-command-actions">
+           <span class="environment-copy-status" data-copy-status aria-live="polite"></span>
+           <button type="button" class="environment-copy-button" data-copy-command
+                   aria-label="Copy command" title="Copy command">
+             <i class="fa-regular fa-copy" aria-hidden="true"></i>
+           </button>
+         </div>
+       </div>
+     </section>
+
+     <div class="demo-card-grid" data-demo-list>
+       <button type="button" class="demo-card is-selected" aria-pressed="true"
+               data-demo-name="Arms" data-demo-path="scripts/demos/arms.py"
+               data-demo-physics="isaacsim_physx,newton_mjwarp"
+               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-description="Spawn different robot arms and apply random joint-position commands.">
+         <img src="../../_static/demos/arms.jpg" alt="Robot arms in Isaac Lab" loading="lazy">
+         <span>Arms</span>
+       </button>
+       <button type="button" class="demo-card" aria-pressed="false"
+               data-demo-name="Bipeds" data-demo-path="scripts/demos/bipeds.py"
+               data-demo-physics="isaacsim_physx,newton_mjwarp"
+               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-description="Spawn a collection of biped robots.">
+         <img src="../../_static/demos/bipeds.jpg" alt="Biped robots in Isaac Lab" loading="lazy">
+         <span>Bipeds</span>
+       </button>
+       <button type="button" class="demo-card" aria-pressed="false"
+               data-demo-name="Cables" data-demo-path="scripts/demos/cables.py"
+               data-demo-physics="newton_vbd"
+               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-description="Simulate a pile of colliding cables with Newton VBD.">
+         <img src="../../_static/demos/cables.jpg" alt="Cable pile simulated with Newton VBD" loading="lazy">
+         <span>Cables</span>
+       </button>
+       <button type="button" class="demo-card" aria-pressed="false"
+               data-demo-name="Deformable Objects" data-demo-path="scripts/demos/deformables.py"
+               data-demo-physics="isaacsim_physx,newton_vbd,ovphysx"
+               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-visualizers-isaacsim-physx="none,kit"
+               data-demo-visualizers-newton-vbd="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-visualizers-ovphysx="none" data-demo-extras="tetrahedralization"
+               data-demo-description="Drop deformable primitive shapes from a height.">
+         <img src="../../_static/demos/deformables.jpg" alt="Deformable objects in Isaac Lab" loading="lazy">
+         <span>Deformable Objects</span>
+       </button>
+       <button type="button" class="demo-card" aria-pressed="false"
+               data-demo-name="Teapot Fill" data-demo-path="scripts/demos/mpm/teapot_fill.py"
+               data-demo-physics="newton_mpm" data-demo-fixed-physics="true"
+               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-args="--device cuda:0"
+               data-demo-description="Fill a Utah teapot with MPM water particles and pour them into a bowl.">
+         <img src="../../_static/demos/teapot_fill.jpg" alt="Utah teapot pouring simulated water" loading="lazy">
+         <span>Teapot Fill</span>
+       </button>
+       <button type="button" class="demo-card" aria-pressed="false"
+               data-demo-name="H1 Locomotion" data-demo-path="scripts/demos/h1_locomotion.py"
+               data-demo-physics="isaacsim_physx" data-demo-visualizers="kit"
+               data-demo-description="Interactively control a trained H1 rough-terrain locomotion policy with the keyboard.">
+         <img src="../../_static/demos/h1_locomotion.jpg" alt="H1 locomotion in Isaac Lab" loading="lazy">
+         <span>H1 Locomotion</span>
+       </button>
+       <button type="button" class="demo-card" aria-pressed="false"
+               data-demo-name="Dexterous Hands" data-demo-path="scripts/demos/hands.py"
+               data-demo-physics="isaacsim_physx,newton_mjwarp"
+               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-description="Spawn dexterous hands and command them to open and close.">
+         <img src="../../_static/demos/hands.jpg" alt="Dexterous hands in Isaac Lab" loading="lazy">
+         <span>Dexterous Hands</span>
+       </button>
+       <button type="button" class="demo-card" aria-pressed="false"
+               data-demo-name="Markers" data-demo-path="scripts/demos/markers.py"
+               data-demo-physics="isaacsim_physx"
+               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-description="Create reusable visualization markers.">
+         <img src="../../_static/demos/markers.jpg" alt="Visualization markers in Isaac Lab" loading="lazy">
+         <span>Markers</span>
+       </button>
+       <button type="button" class="demo-card" aria-pressed="false"
+               data-demo-name="Multi-Asset Scene" data-demo-path="scripts/demos/multi_asset.py"
+               data-demo-physics="isaacsim_physx,newton_mjwarp"
+               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-description="Spawn varying assets in separate environments of one interactive scene.">
+         <img src="../../_static/demos/multi_asset.jpg" alt="Multiple assets in one simulation" loading="lazy">
+         <span>Multi-Asset Scene</span>
+       </button>
+       <button type="button" class="demo-card" aria-pressed="false"
+               data-demo-name="Heterogeneous Scene" data-demo-path="scripts/demos/heterogeneous_scene.py"
+               data-demo-physics="isaacsim_physx"
+               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-description="Compose several task scenes into one heterogeneous cloned simulation.">
+         <img src="../../_static/demos/heterogeneous_scene.jpg" alt="Heterogeneous task scenes in Isaac Lab" loading="lazy">
+         <span>Heterogeneous Scene</span>
+       </button>
+       <button type="button" class="demo-card" aria-pressed="false"
+               data-demo-name="Bin Packing" data-demo-path="scripts/demos/bin_packing.py"
+               data-demo-physics="isaacsim_physx"
+               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-description="Demonstrate bin packing with a rigid-object collection.">
+         <img src="../../_static/demos/bin_packing.jpg" alt="Randomized objects in bins" loading="lazy">
+         <span>Bin Packing</span>
+       </button>
+       <button type="button" class="demo-card" aria-pressed="false"
+               data-demo-name="Pick and Place" data-demo-path="scripts/demos/pick_and_place.py"
+               data-demo-physics="isaacsim_physx" data-demo-visualizers="kit"
+               data-demo-description="Interactively pick up a cube with a parallel robot and place it on a target.">
+         <img src="../../_static/demos/pick_and_place.jpg" alt="Interactive pick and place demo" loading="lazy">
+         <span>Pick and Place</span>
+       </button>
+       <button type="button" class="demo-card" aria-pressed="false"
+               data-demo-name="Haply Teleoperation" data-demo-path="scripts/demos/haply_teleoperation.py"
+               data-demo-physics="isaacsim_physx,newton_mjwarp"
+               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-extras="teleop"
+               data-demo-args="--websocket_uri ws://localhost:10001 --pos_sensitivity 1.65"
+               data-demo-description="Teleoperate a Franka Panda with Haply Inverse3 and VerseGrip hardware.">
+         <img src="../../_static/demos/haply_teleop_franka.jpg" alt="Haply teleoperation with force feedback" loading="lazy">
+         <span>Haply Teleoperation</span>
+       </button>
+       <button type="button" class="demo-card" aria-pressed="false"
+               data-demo-name="Procedural Terrain" data-demo-path="scripts/demos/procedural_terrain.py"
+               data-demo-physics="isaacsim_physx"
+               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-description="Create and spawn procedurally generated terrain configurations.">
+         <img src="../../_static/demos/procedural_terrain.jpg" alt="Procedurally generated terrain" loading="lazy">
+         <span>Procedural Terrain</span>
+       </button>
+       <button type="button" class="demo-card" aria-pressed="false"
+               data-demo-name="Quadcopter" data-demo-path="scripts/demos/quadcopter.py"
+               data-demo-physics="isaacsim_physx,newton_mjwarp"
+               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-description="Spawn a quadcopter in the default environment.">
+         <img src="../../_static/demos/quadcopter.jpg" alt="Quadcopter in Isaac Lab" loading="lazy">
+         <span>Quadcopter</span>
+       </button>
+       <button type="button" class="demo-card" aria-pressed="false"
+               data-demo-name="Quadrupeds" data-demo-path="scripts/demos/quadrupeds.py"
+               data-demo-physics="isaacsim_physx,newton_mjwarp"
+               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-description="Spawn quadruped robots and hold standing poses with position commands.">
+         <img src="../../_static/demos/quadrupeds.jpg" alt="Quadruped robots in Isaac Lab" loading="lazy">
+         <span>Quadrupeds</span>
+       </button>
+       <button type="button" class="demo-card" aria-pressed="false"
+               data-demo-name="Multi-Mesh Ray Caster" data-demo-path="scripts/demos/sensors/multi_mesh_raycaster.py"
+               data-demo-physics="isaacsim_physx,newton_mjwarp"
+               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-visualizers-isaacsim-physx="none,kit,newton_gl,newton_rtx,rerun,viser"
+               data-demo-visualizers-newton-mjwarp="none,newton_gl,newton_rtx,rerun,viser"
+               data-demo-args="--num_envs 16 --asset_type objects"
+               data-demo-description="Cast rays against multiple meshes with Warp kernels.">
+         <img src="../../_static/demos/multi-mesh-raycast.jpg" alt="Multi-mesh ray casting in Isaac Lab" loading="lazy">
+         <span>Multi-Mesh Ray Caster</span>
+       </button>
+     </div>
+   </div>
+
+The H1 locomotion and pick-and-place demos require interactive keyboard or mouse input. Haply teleoperation requires
+Inverse3 and VerseGrip devices and a running Haply WebSocket service. Cables are a Newton-only asset; see
+:doc:`../concepts/deformables` for details.
diff --git a/docs/source/setup/ecosystem.rst b/docs/source/setup/ecosystem.rst
index c8ff3941acfa..3a3160ad1b0b 100644
--- a/docs/source/setup/ecosystem.rst
+++ b/docs/source/setup/ecosystem.rst
@@ -25,7 +25,7 @@ Isaac Lab supports two physics engines through multiple backend packages:
 
 A factory pattern dispatches every asset and sensor instantiation to the correct backend at
 runtime, so user code stays unchanged regardless of which backend is active. See
-:doc:`/source/overview/core-concepts/multi_backend_architecture` for details.
+:doc:`/source/concepts/backend_architecture` for details.
 
 .. image:: ../_static/setup/ecosystem-light.svg
     :class: only-light
diff --git a/docs/source/setup/environments.rst b/docs/source/setup/environments.rst
index 1ca42117394c..c19f7f280062 100644
--- a/docs/source/setup/environments.rst
+++ b/docs/source/setup/environments.rst
@@ -31,11 +31,6 @@ Command Builder
            <span>--task</span>
            <select data-environment-field="task" aria-label="Task"></select>
          </label>
-         <div class="environment-scope-switch" role="group" aria-label="Task collection">
-           <button type="button" class="is-active" data-task-scope="core" aria-pressed="true">Core</button>
-           <button type="button" data-task-scope="contrib" aria-pressed="false">Contrib</button>
-           <button type="button" data-task-scope="warp" aria-pressed="false">Warp</button>
-         </div>
        </div>
        <div class="environment-command-row environment-command-row-options">
          <label class="environment-selector environment-selector-physics">
@@ -60,6 +55,9 @@ Command Builder
          This environment does not support RL training or playback. The command runs it with the
          zero-action agent instead.
        </p>
+       <p class="environment-backend-warning" data-backend-warning role="status" hidden>
+         OV and Isaac Sim can't be mixed. Choose matching physics and renderer backends.
+       </p>
        <div class="environment-command-output">
          <code data-command-output></code>
          <div class="environment-command-actions">
@@ -82,7 +80,9 @@ Task Preview
      <section class="environment-preview-panel" aria-live="polite">
        <div class="environment-preview-stage">
          <video data-preview-video muted autoplay loop playsinline preload="metadata" hidden></video>
-         <img data-preview-image src="../../_images/cartpole.jpg" alt="Isaac-Cartpole preview">
+         <img data-preview-image
+              src="https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/tasks/classic/cartpole.jpg"
+              alt="Isaac-Cartpole preview">
          <div class="environment-preview-caption">
            <span class="environment-preview-label">Selected task</span>
            <strong data-preview-task>Isaac-Cartpole</strong>
@@ -105,24 +105,35 @@ Benchmarks
 .. raw:: html
 
    <div class="environment-browser" data-environment-benchmarks
-        data-benchmark-source="../../_static/environment-performance.csv">
+        data-benchmark-release-source="../../_static/benchmarks/environment-performance-release.csv"
+        data-benchmark-develop-source="../../_static/benchmarks/environment-performance-develop.csv"
+        data-benchmark-release-dates="2026-09-09"
+        data-benchmark-develop-dates="2026-08-28,2026-09-09">
      <section class="environment-benchmark-panel">
        <div class="environment-benchmark-toolbar">
-         <div class="environment-benchmark-legend" aria-label="Benchmark series"></div>
+         <div class="environment-benchmark-switch" role="group" aria-label="Benchmark channel">
+           <button type="button" class="is-active" data-benchmark-channel="release" aria-pressed="true">Release</button>
+           <button type="button" data-benchmark-channel="develop" aria-pressed="false">Develop</button>
+         </div>
+         <div class="environment-benchmark-count"><code>num_envs = 8192</code></div>
          <div class="environment-benchmark-switch" role="group" aria-label="Benchmark workload">
-           <button type="button" class="is-active" data-benchmark-workload="runtime" aria-pressed="true">Collection</button>
+           <button type="button" class="is-active" data-benchmark-workload="collection" aria-pressed="true">Collection</button>
            <button type="button" data-benchmark-workload="training" aria-pressed="false">Training</button>
          </div>
        </div>
-       <div class="environment-benchmark-chart" data-benchmark-chart></div>
+       <div class="environment-benchmark-legend" aria-label="Benchmark series"></div>
+       <div class="environment-benchmark-results">
+         <div class="environment-benchmark-chart" data-benchmark-chart></div>
+         <div class="environment-benchmark-table" data-benchmark-table tabindex="0"
+              role="region" aria-label="Benchmark FPS measurements, scroll for more configurations" hidden></div>
+       </div>
        <div class="environment-benchmark-stub" data-benchmark-empty hidden>
          <i class="fa-solid fa-chart-line" aria-hidden="true"></i>
          <div>
            <strong>Benchmark data is not available yet</strong>
-           <p>Performance history will appear here when benchmark collection is enabled.</p>
          </div>
        </div>
-       <p class="environment-benchmark-error" data-benchmark-error hidden>Benchmark data could not be loaded.</p>
+       <div class="environment-benchmark-error" data-benchmark-error hidden>Benchmark data could not be loaded.</div>
      </section>
    </div>
 
@@ -135,8 +146,8 @@ Available Tasks
      <div class="environment-task-toolbar">
        <label class="environment-task-search">
          <i class="fa-solid fa-magnifying-glass" aria-hidden="true"></i>
-         <span class="visually-hidden">Search tasks</span>
-         <input type="search" data-task-search placeholder="Search tasks" autocomplete="off">
+         <span class="visually-hidden">Search tasks and capabilities</span>
+         <input type="search" data-task-search placeholder="Search tasks or capabilities" autocomplete="off">
        </label>
        <label class="environment-task-filter">
          <span class="visually-hidden">Task category</span>
@@ -147,6 +158,11 @@ Available Tasks
            <option value="locomotion">Locomotion</option>
          </select>
        </label>
+       <div class="environment-scope-switch" role="group" aria-label="Task collection">
+         <button type="button" class="is-active" data-task-scope="core" aria-pressed="true">Core</button>
+         <button type="button" data-task-scope="contrib" aria-pressed="false">Contrib</button>
+         <button type="button" data-task-scope="warp" aria-pressed="false">Warp</button>
+       </div>
        <span class="environment-task-count" data-task-count></span>
      </div>
      <div class="environment-task-list" data-task-list></div>
diff --git a/docs/source/setup/installation/index.rst b/docs/source/setup/installation/index.rst
index a5d056c6c16f..f9c7a3006036 100644
--- a/docs/source/setup/installation/index.rst
+++ b/docs/source/setup/installation/index.rst
@@ -3,9 +3,9 @@
 Installation
 ============
 
-.. image:: https://img.shields.io/badge/IsaacSim-6.0.0-silver.svg
+.. image:: https://img.shields.io/badge/IsaacSim-6.1.0-silver.svg
    :target: https://developer.nvidia.com/isaac-sim
-   :alt: Isaac Sim 6.0.0
+   :alt: Isaac Sim 6.1.0
 
 .. image:: https://img.shields.io/badge/python-3.12-blue.svg
    :target: https://www.python.org/downloads/release/python-3120/
@@ -90,7 +90,7 @@ require additional VRAM. Confirm your machine against the `Isaac Sim system requ
 `Omniverse technical requirements
 <https://docs.omniverse.nvidia.com/materials-and-rendering/latest/common/technical-requirements.html>`__.
 
-Isaac Sim 5.1 and older are not supported. Use Isaac Sim 6.0 with Python 3.12.
+Isaac Sim 5.1 and older are not supported. Use Isaac Sim 6.1 with Python 3.12.
 
 Use the latest NVIDIA production branch driver. Version ``580.95.05`` or later is recommended on
 Linux x86_64 and aarch64, ``580.142`` on DGX Spark, and ``581.42.00`` on Windows. If a new GPU or
@@ -201,8 +201,7 @@ Install ``uv``, clone Isaac Lab, and start a workflow:
 
          powershell -ExecutionPolicy ByPass -c "irm https://astral.sh/uv/install.ps1 | iex"
 
-      .. isaaclab-clone-https::
-         :platform: windows
+      .. isaaclab-clone-commands::
 
       .. code-block:: batch
 
@@ -240,6 +239,11 @@ See :ref:`installation-optional-extras` for the available extras.
 ``uv run --extra <name> <command>`` syncs the selected extra into the project environment
 and then runs the command.
 
+The source checkout selects PyTorch's CUDA build through platform-specific indexes: CUDA 12.8 on
+Linux x86_64 and Windows, and CUDA 13.0 on Linux aarch64. No additional command flags are needed.
+The published wheel pins the PyTorch versions, but downstream uv projects must configure their own
+PyTorch indexes because uv does not inherit a dependency project's ``tool.uv.sources`` settings.
+
 Head over to the :doc:`/source/setup/quickstart`, which starts with your first task and
 introduces the available commands, RL libraries, backends, and visualizers.
 
@@ -658,12 +662,12 @@ have dedicated commands below.
      - Both OV backends: OV PhysX and OV RTX.
    * - ``ovphysx`` / ``ovrtx``
      - OV PhysX only / OV RTX only.
-   * - ``rl-games`` / ``sb3`` / ``skrl`` / ``rsl-rl`` / ``rlinf``
+   * - ``sb3`` / ``skrl`` / ``rsl-rl`` / ``rlinf``
      - The corresponding RL framework.
    * - ``rerun`` / ``viser``
      - The corresponding visualizer.
    * - ``mimic`` / ``teleop``
-     - Imitation learning / XR teleoperation.
+     - Isaac Lab Mimic / XR teleoperation. The wheel's ``mimic`` extra does not include Robomimic.
    * - ``tetrahedralization`` / ``video``
      - Mesh tetrahedralization / video recording.
    * - ``leapp``
@@ -671,7 +675,7 @@ have dedicated commands below.
    * - ``importers``
      - Standalone URDF and MJCF conversion without Isaac Sim.
    * - ``all``
-     - The curated ``ov``, ``rl-games``, ``sb3``, ``skrl``, ``rsl-rl``, ``rerun``, and ``viser``
+     - The curated ``ov``, ``sb3``, ``skrl``, ``rsl-rl``, ``rerun``, and ``viser``
        extras. Isaac Sim is not included.
    * - ``test``
      - Developer test and documentation tooling.
@@ -680,6 +684,13 @@ Use ``all`` for the curated list above. Isaac Sim, standalone importers, special
 (``rlinf``, ``mimic``, ``teleop``, ``tetrahedralization``, ``video``, ``leapp``), and the
 developer ``test`` tooling remain opt-in.
 
+.. note::
+
+   RL-Games and Robomimic are not included in the published wheel metadata because the versions
+   used by Isaac Lab are installed from Git and do not provide package-index wheels. To use either
+   integration, install Isaac Lab from a source checkout and select the ``rl-games`` or ``mimic``
+   extra there.
+
 .. note::
 
    On Linux, the ``mimic`` extra may build its ``egl-probe`` dependency from source. Install
@@ -702,7 +713,7 @@ Install this extra to convert URDF and MJCF files without Isaac Sim.
 Installing the ``isaacsim`` extra
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-Isaac Sim 6.0 pins dependencies that conflict with Isaac Lab. Install the ``isaacsim`` extra with
+Isaac Sim 6.1 pins dependencies that conflict with Isaac Lab. Install the ``isaacsim`` extra with
 the tested overrides:
 
 .. isaaclab-uv-isaacsim-wheel-install::
@@ -721,12 +732,12 @@ Install the CUDA-enabled PyTorch build appropriate for your system architecture:
    .. tab-item:: :icon:`fa-brands fa-linux` Linux (x86_64)
       :sync: linux-x86_64
 
-      .. isaaclab-torch-install:: cu128 pip
+      .. isaaclab-torch-install:: cu128
 
    .. tab-item:: :icon:`fa-brands fa-windows` Windows (x86_64)
       :sync: windows-x86_64
 
-      .. isaaclab-torch-install:: cu128 pip
+      .. isaaclab-torch-install:: cu128
 
    .. tab-item:: :icon:`fa-brands fa-linux` Linux (aarch64)
       :sync: linux-aarch64
@@ -741,7 +752,7 @@ Install the CUDA-enabled PyTorch build appropriate for your system architecture:
             sudo apt install python3.12-dev libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev \
                libxinerama-dev libxrandr-dev
 
-      .. isaaclab-torch-install:: cu130 pip
+      .. isaaclab-torch-install:: cu130
 
       .. note::
 
@@ -771,16 +782,17 @@ The first launch downloads Isaac Sim extensions and can take more than ten minut
 you to accept the NVIDIA Omniverse EULA; set ``OMNI_KIT_ACCEPT_EULA=yes`` for a non-interactive
 environment. Run a project script with ``python my_script.py``.
 
-Generate VS Code settings for the current workspace with:
+Generate VS Code or Cursor settings for the current workspace with:
 
 .. code-block:: bash
 
-   python -m isaaclab --generate-vscode-settings
+   uv run isaaclab --editor
 
 .. warning::
 
-   This command generates ``.vscode/settings.json`` in the workspace. If the file already exists,
-   it asks before overwriting it.
+   This command generates ``.vscode/settings.json`` and ``pyrightconfig.json`` in the workspace.
+   The Pyright configuration inherits an existing ``[tool.pyright]`` table and adds paths discovered
+   from the active Python environment.
 
 .. _installation-method-binary:
 .. _isaaclab-binaries-installation:
@@ -1192,4 +1204,4 @@ issue through the `Isaac Sim forums
    Installation docs are the source of truth for the ``isaaclab-setup-troubleshooting`` agent skill
    (`skills/user/setup-troubleshooting/ <../../../../skills/user/setup-troubleshooting/SKILL.md>`__).
    When you change this page, update the skill so agent guidance stays in sync. See
-   :doc:`/source/overview/developer-guide/agent_skills`.
+   :doc:`/source/developer-tools/agent_skills`.
diff --git a/docs/source/setup/quickstart.rst b/docs/source/setup/quickstart.rst
index 78c8bf563cb8..a663655c7948 100644
--- a/docs/source/setup/quickstart.rst
+++ b/docs/source/setup/quickstart.rst
@@ -36,6 +36,26 @@ Training outputs, including checkpoints, are saved under ``logs/``. Add
 
    uv run isaaclab train --help
 
+Configure an editor (optional)
+------------------------------
+
+To enable import completion and debugging in VS Code or Cursor, generate the
+machine-local editor configuration from the repository root:
+
+.. code-block:: bash
+
+   uv run isaaclab --editor
+
+If you use the ``isaacsim`` extra, include it so the command can discover the
+Isaac Sim extensions:
+
+.. code-block:: bash
+
+   uv run --extra isaacsim isaaclab --editor
+
+VS Code uses Pylance. Cursor users should install basedpyright instead. See
+:ref:`setup-vs-code` for complete editor and troubleshooting instructions.
+
 .. The quickstart media is generated by tools/docs/media/generate_quickstart.sh.
 
 .. figure:: https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/quickstart_task_categories.gif
@@ -312,5 +332,5 @@ Next steps
 - Browse registered environments and build a command: :doc:`/source/setup/environments`
 - Learn how backends and presets fit together: :doc:`/source/concepts/backends_and_presets`
 - Learn how to override task configuration: :doc:`/source/features/hydra`
-- Follow a guided environment-building tutorial: :doc:`/source/tutorials/index`
+- Find tutorials and task-focused documentation: :doc:`/source/how-to/index`
 - Read the installation options and troubleshooting guide: :ref:`isaaclab-installation-root`
diff --git a/docs/source/tutorials/00_sim/create_empty.rst b/docs/source/tutorials/00_sim/create_empty.rst
index 7755588fdeff..7fb8248f1ca0 100644
--- a/docs/source/tutorials/00_sim/create_empty.rst
+++ b/docs/source/tutorials/00_sim/create_empty.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 Creating an empty scene
 =======================
 
diff --git a/docs/source/tutorials/00_sim/launch_app.rst b/docs/source/tutorials/00_sim/launch_app.rst
index 181c07056354..113da2021e0f 100644
--- a/docs/source/tutorials/00_sim/launch_app.rst
+++ b/docs/source/tutorials/00_sim/launch_app.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 Deep-dive into AppLauncher
 ==========================
 
@@ -171,18 +173,66 @@ The Code Execution
 We will now run the example script:
 
 .. tab-set::
+   :sync-group: os
 
-   .. tab-item:: uv (Recommended)
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux x86_64
+      :sync: linux-x86_64
 
-      .. code-block:: console
+      .. tab-set::
 
-         LIVESTREAM=2 uv run python scripts/tutorials/00_sim/launch_app.py --size 0.5
+         .. tab-item:: uv (Recommended)
 
-   .. tab-item:: isaaclab.sh / isaaclab.bat
+            .. code-block:: console
 
-      .. code-block:: console
+               LIVESTREAM=2 uv run python scripts/tutorials/00_sim/launch_app.py --size 0.5
+
+         .. tab-item:: isaaclab.sh / isaaclab.bat
+
+            .. code-block:: console
+
+               LIVESTREAM=2 ./isaaclab.sh -p scripts/tutorials/00_sim/launch_app.py --size 0.5
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux aarch64 (DGX Spark)
+      :sync: linux-aarch64
+
+      .. tab-set::
+
+         .. tab-item:: uv (Recommended)
+
+            .. code-block:: console
+
+               LIVESTREAM=2 LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1 uv run python scripts/tutorials/00_sim/launch_app.py --size 0.5
+
+         .. tab-item:: isaaclab.sh / isaaclab.bat
+
+            .. code-block:: console
+
+               LIVESTREAM=2 LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1 ./isaaclab.sh -p scripts/tutorials/00_sim/launch_app.py --size 0.5
+
+      .. note::
+
+         Direct Python commands that import Isaac Sim on aarch64 require the
+         ``LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1`` prefix shown above. See
+         :ref:`installation-method-uv`.
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
 
-         LIVESTREAM=2 ./isaaclab.sh -p scripts/tutorials/00_sim/launch_app.py --size 0.5
+      .. tab-set::
+
+         .. tab-item:: uv (Recommended)
+
+            .. code-block:: powershell
+
+               $env:LIVESTREAM = "2"
+               uv run python scripts\tutorials\00_sim\launch_app.py --size 0.5
+
+         .. tab-item:: isaaclab.sh / isaaclab.bat
+
+            .. code-block:: powershell
+
+               $env:LIVESTREAM = "2"
+               .\isaaclab.bat -p scripts\tutorials\00_sim\launch_app.py --size 0.5
 
 This will spawn a 0.5m\ :sup:`3` volume cuboid in the simulation. No GUI will appear, equivalent
 to omitting ``--visualizer`` in this setup because headlessness is implied by our ``LIVESTREAM``
@@ -198,18 +248,66 @@ process can be killed by pressing ``Ctrl+C`` in the launching terminal.
 Now, let's look at how :class:`~app.AppLauncher` handles conflicting commands:
 
 .. tab-set::
+   :sync-group: os
 
-   .. tab-item:: uv (Recommended)
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux x86_64
+      :sync: linux-x86_64
 
-      .. code-block:: console
+      .. tab-set::
 
-         LIVESTREAM=0 uv run python scripts/tutorials/00_sim/launch_app.py --size 0.5 --livestream 2
+         .. tab-item:: uv (Recommended)
 
-   .. tab-item:: isaaclab.sh / isaaclab.bat
+            .. code-block:: console
 
-      .. code-block:: console
+               LIVESTREAM=0 uv run python scripts/tutorials/00_sim/launch_app.py --size 0.5 --livestream 2
+
+         .. tab-item:: isaaclab.sh / isaaclab.bat
+
+            .. code-block:: console
+
+               LIVESTREAM=0 ./isaaclab.sh -p scripts/tutorials/00_sim/launch_app.py --size 0.5 --livestream 2
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux aarch64 (DGX Spark)
+      :sync: linux-aarch64
+
+      .. tab-set::
+
+         .. tab-item:: uv (Recommended)
+
+            .. code-block:: console
+
+               LIVESTREAM=0 LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1 uv run python scripts/tutorials/00_sim/launch_app.py --size 0.5 --livestream 2
 
-         LIVESTREAM=0 ./isaaclab.sh -p scripts/tutorials/00_sim/launch_app.py --size 0.5 --livestream 2
+         .. tab-item:: isaaclab.sh / isaaclab.bat
+
+            .. code-block:: console
+
+               LIVESTREAM=0 LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1 ./isaaclab.sh -p scripts/tutorials/00_sim/launch_app.py --size 0.5 --livestream 2
+
+      .. note::
+
+         Direct Python commands that import Isaac Sim on aarch64 require the
+         ``LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1`` prefix shown above. See
+         :ref:`installation-method-uv`.
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. tab-set::
+
+         .. tab-item:: uv (Recommended)
+
+            .. code-block:: powershell
+
+               $env:LIVESTREAM = "0"
+               uv run python scripts\tutorials\00_sim\launch_app.py --size 0.5 --livestream 2
+
+         .. tab-item:: isaaclab.sh / isaaclab.bat
+
+            .. code-block:: powershell
+
+               $env:LIVESTREAM = "0"
+               .\isaaclab.bat -p scripts\tutorials\00_sim\launch_app.py --size 0.5 --livestream 2
 
 This will cause the same behavior as in the previous run, because although we have set ``LIVESTREAM=0``
 in our envars, CLI args such as ``--livestream`` take precedence in determining behavior. The process can
@@ -219,18 +317,66 @@ Finally, we will examine passing arguments to :class:`~isaacsim.simulation_app.S
 :class:`~app.AppLauncher`:
 
 .. tab-set::
+   :sync-group: os
 
-   .. tab-item:: uv (Recommended)
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux x86_64
+      :sync: linux-x86_64
 
-      .. code-block:: console
+      .. tab-set::
 
-         LIVESTREAM=2 uv run python scripts/tutorials/00_sim/launch_app.py --size 0.5 --width 1920 --height 1080
+         .. tab-item:: uv (Recommended)
 
-   .. tab-item:: isaaclab.sh / isaaclab.bat
+            .. code-block:: console
 
-      .. code-block:: console
+               LIVESTREAM=2 uv run python scripts/tutorials/00_sim/launch_app.py --size 0.5 --width 1920 --height 1080
+
+         .. tab-item:: isaaclab.sh / isaaclab.bat
+
+            .. code-block:: console
+
+               LIVESTREAM=2 ./isaaclab.sh -p scripts/tutorials/00_sim/launch_app.py --size 0.5 --width 1920 --height 1080
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux aarch64 (DGX Spark)
+      :sync: linux-aarch64
+
+      .. tab-set::
+
+         .. tab-item:: uv (Recommended)
+
+            .. code-block:: console
+
+               LIVESTREAM=2 LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1 uv run python scripts/tutorials/00_sim/launch_app.py --size 0.5 --width 1920 --height 1080
+
+         .. tab-item:: isaaclab.sh / isaaclab.bat
+
+            .. code-block:: console
+
+               LIVESTREAM=2 LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1 ./isaaclab.sh -p scripts/tutorials/00_sim/launch_app.py --size 0.5 --width 1920 --height 1080
+
+      .. note::
+
+         Direct Python commands that import Isaac Sim on aarch64 require the
+         ``LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1`` prefix shown above. See
+         :ref:`installation-method-uv`.
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. tab-set::
+
+         .. tab-item:: uv (Recommended)
+
+            .. code-block:: powershell
+
+               $env:LIVESTREAM = "2"
+               uv run python scripts\tutorials\00_sim\launch_app.py --size 0.5 --width 1920 --height 1080
+
+         .. tab-item:: isaaclab.sh / isaaclab.bat
+
+            .. code-block:: powershell
 
-         LIVESTREAM=2 ./isaaclab.sh -p scripts/tutorials/00_sim/launch_app.py --size 0.5 --width 1920 --height 1080
+               $env:LIVESTREAM = "2"
+               .\isaaclab.bat -p scripts\tutorials\00_sim\launch_app.py --size 0.5 --width 1920 --height 1080
 
 This will cause the same behavior as before, but now the viewport will be rendered at 1920x1080p resolution.
 This can be useful when we want to gather high-resolution video, or we can specify a lower resolution if we
diff --git a/docs/source/tutorials/00_sim/spawn_prims.rst b/docs/source/tutorials/00_sim/spawn_prims.rst
index c6a0298d76c7..898d092c7f45 100644
--- a/docs/source/tutorials/00_sim/spawn_prims.rst
+++ b/docs/source/tutorials/00_sim/spawn_prims.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _tutorial-spawn-prims:
 
 
diff --git a/docs/source/tutorials/01_assets/add_new_robot.rst b/docs/source/tutorials/01_assets/add_new_robot.rst
index a4d258f82c15..53c8bba4cb3a 100644
--- a/docs/source/tutorials/01_assets/add_new_robot.rst
+++ b/docs/source/tutorials/01_assets/add_new_robot.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _tutorial-add-new-robot:
 
 Adding a New Robot to Isaac Lab
diff --git a/docs/source/tutorials/01_assets/run_articulation.rst b/docs/source/tutorials/01_assets/run_articulation.rst
index a572dd5e7125..2ac09c26b53f 100644
--- a/docs/source/tutorials/01_assets/run_articulation.rst
+++ b/docs/source/tutorials/01_assets/run_articulation.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _tutorial-interact-articulation:
 
 Interacting with an articulation
diff --git a/docs/source/tutorials/01_assets/run_deformable_object.rst b/docs/source/tutorials/01_assets/run_deformable_object.rst
index f5ce4aed08ba..63fb718cdc28 100644
--- a/docs/source/tutorials/01_assets/run_deformable_object.rst
+++ b/docs/source/tutorials/01_assets/run_deformable_object.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _tutorial-interact-deformable-object:
 
 
diff --git a/docs/source/tutorials/01_assets/run_rigid_object.rst b/docs/source/tutorials/01_assets/run_rigid_object.rst
index 2b651f86cf55..ad606bd79847 100644
--- a/docs/source/tutorials/01_assets/run_rigid_object.rst
+++ b/docs/source/tutorials/01_assets/run_rigid_object.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _tutorial-interact-rigid-object:
 
 
diff --git a/docs/source/tutorials/01_assets/run_surface_gripper.rst b/docs/source/tutorials/01_assets/run_surface_gripper.rst
index 0414a320c992..7d3c411db5be 100644
--- a/docs/source/tutorials/01_assets/run_surface_gripper.rst
+++ b/docs/source/tutorials/01_assets/run_surface_gripper.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _tutorial-interact-surface-gripper:
 
 Interacting with a surface gripper
@@ -8,8 +10,8 @@ Interacting with a surface gripper
 
 This tutorial shows how to interact with an articulated robot with a surface gripper attached to its end-effector in
 the simulation. It is a continuation of the :ref:`tutorial-interact-articulation` tutorial, where we learned how to
-interact with an articulated robot. Note that as of IsaacSim 5.0 the surface gripper are only supported on the cpu
-backend.
+interact with an articulated robot. In Isaac Lab 3.0 with Isaac Sim 6.x, surface grippers support only CPU
+simulation. Run this tutorial with ``--device cpu``.
 
 
 The Code
diff --git a/docs/source/tutorials/02_scene/create_scene.rst b/docs/source/tutorials/02_scene/create_scene.rst
index 2e79353edac9..217d2b3c1754 100644
--- a/docs/source/tutorials/02_scene/create_scene.rst
+++ b/docs/source/tutorials/02_scene/create_scene.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _tutorial-interactive-scene:
 
 Using the Interactive Scene
diff --git a/docs/source/tutorials/03_envs/configuring_rl_training.rst b/docs/source/tutorials/03_envs/configuring_rl_training.rst
index 358e5a0237a4..2cd9708efc3a 100644
--- a/docs/source/tutorials/03_envs/configuring_rl_training.rst
+++ b/docs/source/tutorials/03_envs/configuring_rl_training.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _tutorial-configure-rl-training:
 
 Configuring an RL Agent
diff --git a/docs/source/tutorials/03_envs/create_direct_rl_env.rst b/docs/source/tutorials/03_envs/create_direct_rl_env.rst
index 15c6dbd22c08..b8d642db6995 100644
--- a/docs/source/tutorials/03_envs/create_direct_rl_env.rst
+++ b/docs/source/tutorials/03_envs/create_direct_rl_env.rst
@@ -1,9 +1,11 @@
+:orphan:
+
 .. seealso::
 
    This tutorial is the source of truth for the ``isaaclab-randomizing-with-events`` agent skill
    (`skills/user/domain-randomization-events/ <../../../../skills/user/domain-randomization-events/SKILL.md>`__).
    When you change this page, update the skill so agent guidance stays in sync. See
-   :doc:`/source/overview/developer-guide/agent_skills`.
+   :doc:`/source/developer-tools/agent_skills`.
 
 .. _tutorial-create-direct-rl-env:
 
diff --git a/docs/source/tutorials/03_envs/create_manager_base_env.rst b/docs/source/tutorials/03_envs/create_manager_base_env.rst
index 147f20fe5753..6f77d2ee72f3 100644
--- a/docs/source/tutorials/03_envs/create_manager_base_env.rst
+++ b/docs/source/tutorials/03_envs/create_manager_base_env.rst
@@ -1,9 +1,11 @@
+:orphan:
+
 .. seealso::
 
    This tutorial is the source of truth for the ``isaaclab-randomizing-with-events`` agent skill
    (`skills/user/domain-randomization-events/ <../../../../skills/user/domain-randomization-events/SKILL.md>`__).
    When you change this page, update the skill so agent guidance stays in sync. See
-   :doc:`/source/overview/developer-guide/agent_skills`.
+   :doc:`/source/developer-tools/agent_skills`.
 
 .. _tutorial-create-manager-base-env:
 
diff --git a/docs/source/tutorials/03_envs/create_manager_rl_env.rst b/docs/source/tutorials/03_envs/create_manager_rl_env.rst
index f3bfc6faeced..6aee66b1de8a 100644
--- a/docs/source/tutorials/03_envs/create_manager_rl_env.rst
+++ b/docs/source/tutorials/03_envs/create_manager_rl_env.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _tutorial-create-manager-rl-env:
 
 
diff --git a/docs/source/tutorials/03_envs/modify_direct_rl_env.rst b/docs/source/tutorials/03_envs/modify_direct_rl_env.rst
index bf8db0f5a315..d1c65ce18d79 100644
--- a/docs/source/tutorials/03_envs/modify_direct_rl_env.rst
+++ b/docs/source/tutorials/03_envs/modify_direct_rl_env.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _tutorial-modify-direct-rl-env:
 
 
diff --git a/docs/source/tutorials/03_envs/policy_inference_in_usd.rst b/docs/source/tutorials/03_envs/policy_inference_in_usd.rst
index 7a5fd500372c..e2d6133176f5 100644
--- a/docs/source/tutorials/03_envs/policy_inference_in_usd.rst
+++ b/docs/source/tutorials/03_envs/policy_inference_in_usd.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _tutorial-policy-inference-in-usd:
 
 
diff --git a/docs/source/tutorials/03_envs/register_rl_env_gym.rst b/docs/source/tutorials/03_envs/register_rl_env_gym.rst
index 9a74b841047e..92897b555ccb 100644
--- a/docs/source/tutorials/03_envs/register_rl_env_gym.rst
+++ b/docs/source/tutorials/03_envs/register_rl_env_gym.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _tutorial-register-rl-env-gym:
 
 Registering an Environment
diff --git a/docs/source/tutorials/03_envs/run_rl_training.rst b/docs/source/tutorials/03_envs/run_rl_training.rst
index 7ae9eb404281..72a425d8291a 100644
--- a/docs/source/tutorials/03_envs/run_rl_training.rst
+++ b/docs/source/tutorials/03_envs/run_rl_training.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _tutorial-run-rl-training:
 
 Training with an RL Agent
diff --git a/docs/source/tutorials/04_sensors/add_sensors_on_robot.rst b/docs/source/tutorials/04_sensors/add_sensors_on_robot.rst
index 3004b4533681..e34ab9bbd8f0 100644
--- a/docs/source/tutorials/04_sensors/add_sensors_on_robot.rst
+++ b/docs/source/tutorials/04_sensors/add_sensors_on_robot.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 .. _tutorial-add-sensors-on-robot:
 
 Adding sensors on a robot
diff --git a/docs/source/tutorials/05_controllers/run_diff_ik.rst b/docs/source/tutorials/05_controllers/run_diff_ik.rst
index 0b2531a0e207..0c6092673d09 100644
--- a/docs/source/tutorials/05_controllers/run_diff_ik.rst
+++ b/docs/source/tutorials/05_controllers/run_diff_ik.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 Using a task-space controller
 =============================
 
diff --git a/docs/source/tutorials/05_controllers/run_osc.rst b/docs/source/tutorials/05_controllers/run_osc.rst
index a491d52f0c8b..8dad67eb31cc 100644
--- a/docs/source/tutorials/05_controllers/run_osc.rst
+++ b/docs/source/tutorials/05_controllers/run_osc.rst
@@ -1,3 +1,5 @@
+:orphan:
+
 Using an operational space controller
 =====================================
 
diff --git a/docs/source/tutorials/index.rst b/docs/source/tutorials/index.rst
index f1096e6c05b0..1e4a68befe1c 100644
--- a/docs/source/tutorials/index.rst
+++ b/docs/source/tutorials/index.rst
@@ -1,110 +1,7 @@
-.. _tutorials:
+:orphan:
 
-Tutorials
-=========
+Tutorials Have Moved
+====================
 
-Welcome to the Isaac Lab tutorials! These tutorials provide a step-by-step guide to help you understand
-and use various features of the framework. All the tutorials are written as Python scripts. You can
-find the source code for each tutorial in the ``scripts/tutorials`` directory of the Isaac Lab
-repository.
-
-.. note::
-
-    We would love to extend the tutorials to cover more topics and use cases, so please let us know if
-    you have any suggestions.
-
-We recommend that you go through the tutorials in the order they are listed here.
-
-
-Setting up a Simple Simulation
--------------------------------
-
-These tutorials show you how to launch the simulation with different settings and spawn objects in the
-simulated scene. They cover the following APIs: :class:`~isaaclab.app.AppLauncher`,
-:class:`~isaaclab.sim.SimulationContext`, and :class:`~isaaclab.sim.spawners`.
-
-.. toctree::
-    :maxdepth: 1
-    :titlesonly:
-
-    00_sim/create_empty
-    00_sim/spawn_prims
-    00_sim/launch_app
-
-Interacting with Assets
------------------------
-
-Having spawned objects in the scene, these tutorials show you how to create physics handles for these
-objects and interact with them. These revolve around the :class:`~isaaclab.assets.AssetBase`
-class and its derivatives such as :class:`~isaaclab.assets.RigidObject`,
-:class:`~isaaclab.assets.Articulation` and :class:`~isaaclab.assets.DeformableObject`.
-
-.. toctree::
-    :maxdepth: 1
-    :titlesonly:
-
-    01_assets/add_new_robot
-    01_assets/run_rigid_object
-    01_assets/run_articulation
-    01_assets/run_deformable_object
-    01_assets/run_surface_gripper
-
-Creating a Scene
-----------------
-
-With the basic concepts of the framework covered, the tutorials move to a more intuitive scene
-interface that uses the :class:`~isaaclab.scene.InteractiveScene` class. This class
-provides a higher level abstraction for creating scenes easily.
-
-.. toctree::
-    :maxdepth: 1
-    :titlesonly:
-
-    02_scene/create_scene
-
-Designing an Environment
-------------------------
-
-The following tutorials introduce the concept of manager-based environments: :class:`~isaaclab.envs.ManagerBasedEnv`
-and its derivative :class:`~isaaclab.envs.ManagerBasedRLEnv`, as well as the direct workflow base class
-:class:`~isaaclab.envs.DirectRLEnv`. These environments bring-in together
-different aspects of the framework to create a simulation environment for agent interaction.
-
-.. toctree::
-    :maxdepth: 1
-    :titlesonly:
-
-    03_envs/create_manager_base_env
-    03_envs/create_manager_rl_env
-    03_envs/create_direct_rl_env
-    03_envs/register_rl_env_gym
-    03_envs/run_rl_training
-    03_envs/configuring_rl_training
-    03_envs/modify_direct_rl_env
-    03_envs/policy_inference_in_usd
-
-Integrating Sensors
--------------------
-
-The following tutorial shows you how to integrate sensors into the simulation environment. The
-tutorials introduce the :class:`~isaaclab.sensors.SensorBase` class and its derivatives
-such as :class:`~isaaclab.sensors.Camera` and :class:`~isaaclab.sensors.RayCaster`.
-
-.. toctree::
-    :maxdepth: 1
-    :titlesonly:
-
-    04_sensors/add_sensors_on_robot
-
-Using motion generators
------------------------
-
-While the robots in the simulation environment can be controlled at the joint-level, the following
-tutorials show you how to use motion generators to control the robots at the task-level.
-
-.. toctree::
-    :maxdepth: 1
-    :titlesonly:
-
-    05_controllers/run_diff_ik
-    05_controllers/run_osc
+Tutorials and task-focused documentation are now collected in one searchable page. Continue to the
+:doc:`How-to Guides </source/how-to/index>`.
diff --git a/isaaclab.sh b/isaaclab.sh
index b8ef54d9fa67..5119d1a4c176 100755
--- a/isaaclab.sh
+++ b/isaaclab.sh
@@ -8,6 +8,8 @@
 # Exit on error.
 set -e
 
+echo "[WARNING] isaaclab.sh is deprecated and will be removed in Isaac Lab 3.1. Use 'uv run isaaclab' instead." >&2
+
 # Get repo directory.
 export ISAACLAB_PATH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
 
diff --git a/pyproject.toml b/pyproject.toml
index d868dff524f0..0d499b6246b6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -38,9 +38,9 @@ dependencies = [
     "isaaclab-visualizers",
     # ----- generic -----
     "numpy>=2",
-    "torch>=2.11",
-    "torchvision>=0.26.0",
-    "torchaudio>=2.11",
+    "torch==2.11.0",
+    "torchvision==0.26.0",
+    "torchaudio==2.11.0",
     "onnx>=1.18.0",
     "prettytable>=3.3.0",
     "psutil",
@@ -49,15 +49,15 @@ dependencies = [
     "gymnasium>=1.2.0",
     "trimesh>=4.6.8",  # lower bound inherited from newton[importers]
     "pyglet>=2.1.6,<3",
-    "transformers==4.57.6",
+    "transformers==5.10.4",
     "einops",
     "warp-lang==1.17.0",
     "matplotlib>=3.10.3",
     # pillow: floor, not exact — an exact pin below Isaac Sim's prebundled version forces a
     # downgrade that deletes the prebundled copy other extensions symlink into (nvbugs 6410989).
-    "pillow>=12.1.1",
+    "pillow>=12.3.0",
     "botocore",  # omni.replicator.core S3 backend
-    "starlette>=0.46.0,<0.50",  # livestream; range coexists with isaacsim 6.0
+    "starlette>=1.3.1",  # livestream; minimum patched for current security advisories
     "omniverseclient==2.72.3",
     "filelock",
     "lazy_loader>=0.4",
@@ -71,7 +71,7 @@ dependencies = [
     # OpenUSD (kit-less mode). Use the same provider required by the URDF and MJCF importer
     # packages so another complete ``pxr`` runtime cannot co-install with it. Two providers in
     # one environment overwrite each other's files, and removing either then breaks ``pxr``.
-    # usd-exchange 2.3.0 vendors USD 25.5, matching the Isaac Sim 6.0 wheel stack.
+    # usd-exchange 2.3.0 vendors USD 25.5, matching the supported Isaac Sim wheel stack.
     "usd-exchange==2.3.0",
     # avoid broken hf-xet pre-release cached on NVIDIA Artifactory
     "hf-xet>=1.4.1,<2.0.0 ; platform_machine == 'x86_64' or platform_machine == 'AMD64' or platform_machine == 'aarch64'",
@@ -84,14 +84,11 @@ dependencies = [
     "packaging",
     "rich",
     "tqdm>=4.67.1",
-    "rsl-rl-lib==5.4.1",  # default RL framework
-    "onnxscript>=0.5",
+    "rsl-rl-lib==5.5.1",  # default RL framework
+    "gitpython>=3.1.59",  # used by RL training and experiment logging
     # ----- newton (default physics engine) -----
-    # Pin the Newton release used by both workspace and wheel installs until 1.6.0 final.
-    # [tool.uv].override-dependencies only reaches uv sync, so a wheel built from this
-    # metadata would otherwise resolve the newest stable (1.5.1) and miss newton#4017:
-    # 1.6.0rc1 is a prerelease, which a default resolve skips.
-    "newton[sim]==1.6.0rc1",
+    # Pin the Newton release used by both workspace and wheel installs.
+    "newton[sim]==1.6.0",
     # Import and mesh-processing packages used by Newton, including the ones that honoring
     # USD-authored ``physics:approximation`` requires. Keep these explicit instead of selecting
     # newton[importers], whose standalone USD dependency would overlap with usd-exchange.
@@ -119,7 +116,7 @@ tetrahedralization = ["pytetwild[all]>=0.3.0,<0.4"]
 video = ["moviepy>=1.0.3,<2.0.0.dev0"]
 
 importers = [
-    "isaacsim-asset-isolated>=6.0,<6.1",
+    "isaacsim-asset-isolated==6.1.0.0",
     "tinyobjloader==2.0.0rc13",
 ]
 
@@ -156,22 +153,24 @@ sb3 = ["stable-baselines3>=2.6", "tqdm", "rich"]
 skrl = ["skrl>=2.1.0"]
 
 rl-games = [
-    "aiohttp>=3.12.14",
-    "rl-games @ git+https://github.com/isaac-sim/rl_games.git@python3.11",
+    "aiohttp==3.14.1",  # match isaacsim-kernel 6.1
+    "rl-games @ git+https://github.com/isaac-sim/rl_games.git@5cf4f9ff07e9a01bbefd167cf19b6804b294b51c",
     "gym",
     "standard-distutils",
 ]
 
-rsl-rl = ["rsl-rl-lib==5.4.1", "onnxscript>=0.5"]
+wandb = ["wandb>=0.13.11"]
+
+rsl-rl = ["rsl-rl-lib==5.5.1"]
 
 viser = ["viser>=1.0.16"]
 
 rerun = [
     "rerun-sdk>=0.29.0",
-    "pyarrow==22.0.0",  # match rerun-sdk's Arrow stack
+    "pyarrow==23.0.1",
 ]
 
-isaacsim = ["isaacsim[all,extscache]==6.0.1.0"]
+isaacsim = ["isaacsim[all,extscache]==6.1.0.0"]
 
 ov = ["ovphysx==0.5.11", "ovrtx==0.4.1.364340", "ovstage==0.1.1.355824"]
 ovphysx = ["ovphysx==0.5.11", "ovstage==0.1.1.355824"]
@@ -217,7 +216,7 @@ all = [
 # the extras above, and [tool.uv].override-dependencies mirror these values;
 # ``test_version_single_source`` fails CI if they drift.
 [tool.isaaclab.versions]
-isaacsim = "6.0.1.0"
+isaacsim = "6.1.0.0"
 usd_exchange = "2.3.0"
 torch = "2.11.0"
 torchvision = "0.26.0"
@@ -328,6 +327,11 @@ exclude = [
     ".vscode",
 ]
 
+# Make the in-repo packages resolvable by the language server (Pylance / basedpyright)
+# without an editable install, so imports like ``isaaclab.assets`` work out of the box.
+# The glob keeps new source packages discoverable without maintaining a duplicate package list.
+extraPaths = ["source/*"]
+
 typeCheckingMode = "basic"
 pythonVersion = "3.12"
 pythonPlatform = "Linux"
@@ -399,24 +403,17 @@ environments = [
     "sys_platform == 'linux' and platform_machine == 'aarch64'",
     "sys_platform == 'win32' and platform_machine == 'AMD64'",
 ]
-# Isaac Lab owns the Newton, MuJoCo, and torch versions. Overrides replace requirements
+# Isaac Lab owns the Newton and MuJoCo versions. Overrides replace requirements
 # for every requester, unlike constraints, which only intersect. The ``isaacsim`` and
 # ``importers`` extras pin older versions of these packages, so the overrides prevent downgrades.
-# Torch routes through [tool.uv.sources]. Values mirror [tool.isaaclab.versions] where applicable.
+# Torch is pinned in project.dependencies and routes through [tool.uv.sources].
 override-dependencies = [
     "numpy>=2",
     "mujoco~=3.12.0",
     "mujoco-warp~=3.12.0",
-    "newton[sim]==1.6.0rc1",
+    "newton[sim]==1.6.0",
     # Force the Newton-matched schemas over isaacsim's ==0.2.0 pin.
     "newton-usd-schemas>=0.4.1",
-    "torch==2.11.0",
-    "torchvision==0.26.0",
-    "torchaudio==2.11.0",
-    # Isaac Sim 6.0 pins these exactly; drop all three once Isaac Sim 6.1 is published.
-    "typing-extensions>=4.15.0",
-    "websockets>=14.0,<17.0.0",
-    "coverage>=7.6.1",
     # ovphysx caps packaging at <24 and isaacsim-core pins ==26.0; both caps are
     # stricter than the code needs, so widening lets them resolve together at 26.0.
     "packaging>=20,<27",
diff --git a/scripts/benchmarks/benchmark_load_robot.py b/scripts/benchmarks/benchmark_load_robot.py
index 4cf0e13c371d..7dc4fea293ee 100644
--- a/scripts/benchmarks/benchmark_load_robot.py
+++ b/scripts/benchmarks/benchmark_load_robot.py
@@ -65,7 +65,7 @@
 from isaaclab.benchmark import BaseIsaacLabBenchmark, SingleMeasurement
 from isaaclab.physics import PhysicsCfg
 from isaaclab.scene import InteractiveSceneCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from isaaclab.scene import InteractiveScene
diff --git a/scripts/benchmarks/benchmark_newton_raycast.py b/scripts/benchmarks/benchmark_newton_raycast.py
index cacfe2632e7b..a96cd2365cc8 100644
--- a/scripts/benchmarks/benchmark_newton_raycast.py
+++ b/scripts/benchmarks/benchmark_newton_raycast.py
@@ -47,7 +47,7 @@
 from isaaclab.sensors import RayCasterCfg
 from isaaclab.sensors.ray_caster.patterns import GridPatternCfg
 from isaaclab.terrains import TerrainGeneratorCfg, TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 def _make_terrain_cfg(num_envs: int, env_spacing: float) -> TerrainGeneratorCfg:
diff --git a/scripts/benchmarks/benchmark_renderer.py b/scripts/benchmarks/benchmark_renderer.py
new file mode 100644
index 000000000000..4cb93e3d032c
--- /dev/null
+++ b/scripts/benchmarks/benchmark_renderer.py
@@ -0,0 +1,360 @@
+# 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
+
+#
+# Command to run:
+# uv run --no-sync python scripts/benchmarks/benchmark_renderer.py [PROFILE]
+#
+
+import argparse
+import fnmatch
+import json
+import os
+import re
+import shutil
+import site
+import statistics
+import subprocess
+import sys
+from pathlib import Path
+
+PROFILES = [
+    {
+        "name": "ovrtx_constant_diffuse_oldpipe",
+        "preset": "ovrtx_renderer,simple_shading_constant_diffuse",
+        "settings": {"min-pipe": False},
+    },
+    {
+        "name": "ovrtx_constant_diffuse_newpipe",
+        "preset": "ovrtx_renderer,simple_shading_constant_diffuse",
+        "settings": {"min-pipe": True},
+    },
+    {
+        "name": "ovrtx_diffuse_mdl_oldpipe",
+        "preset": "ovrtx_renderer,simple_shading_diffuse_mdl",
+        "settings": {"min-pipe": False},
+    },
+    {
+        "name": "ovrtx_diffuse_mdl_newpipe",
+        "preset": "ovrtx_renderer,simple_shading_diffuse_mdl",
+        "settings": {"min-pipe": True},
+    },
+    {
+        "name": "ovrtx_full_mdl_oldpipe",
+        "preset": "ovrtx_renderer,simple_shading_full_mdl",
+        "settings": {"min-pipe": False},
+    },
+    {
+        "name": "ovrtx_full_mdl_newpipe",
+        "preset": "ovrtx_renderer,simple_shading_full_mdl",
+        "settings": {"min-pipe": True},
+    },
+    {"name": "newton_lbvh_lbvh", "preset": "newton_renderer,rgb", "settings": {"tlas": "lbvh", "blas": "lbvh"}},
+    {"name": "newton_lbvh_sah", "preset": "newton_renderer,rgb", "settings": {"tlas": "lbvh", "blas": "sah"}},
+    {"name": "newton_lbvh_cubql", "preset": "newton_renderer,rgb", "settings": {"tlas": "lbvh", "blas": "cubql"}},
+    {"name": "newton_sah_lbvh", "preset": "newton_renderer,rgb", "settings": {"tlas": "sah", "blas": "lbvh"}},
+    {"name": "newton_sah_sah", "preset": "newton_renderer,rgb", "settings": {"tlas": "sah", "blas": "sah"}},
+    {"name": "newton_sah_cubql", "preset": "newton_renderer,rgb", "settings": {"tlas": "sah", "blas": "cubql"}},
+]
+
+TASK_NAME = "Isaac-RenderBenchmark-Franka-Cabinet"
+FRAME_PADDING = 5
+
+# Resolved from this file rather than the working directory, so the script runs from anywhere.
+SCRIPT_DIR = Path(__file__).resolve().parent
+RUNTIME_SCRIPT = SCRIPT_DIR / "runtime.py"
+OUTPUT_PATH = str(SCRIPT_DIR.parent.parent / "benchmarks")
+
+OVRTX_RENDERER = "ovrtx_renderer"
+NEWTON_RENDERER = "newton_renderer"
+
+RENDER_SCOPE = "IsaacLab::Renderer::render"
+"""Backend-agnostic timer name around ``BaseRenderer.render``, enabled by ``ISAACLAB_RENDER_PROFILE``.
+
+See :data:`isaaclab.renderers.render_context.RENDER_PROFILE_SCOPE`. It brackets the render alone,
+excluding the scene-state sync before it and the output readback after it. ``wp.ScopedTimer`` prints
+one ``"<name> took X.XX ms"`` line per call, which :func:`parse_log` regexes out of the run's log.
+"""
+
+RENDER_SCOPE_PATTERN = re.compile(rf"{re.escape(RENDER_SCOPE)} took ([\d.]+) ms")
+
+log_stream = sys.stdout
+"""Destination for progress and diagnostics. ``--json`` points it at stderr so stdout holds only JSON."""
+
+
+def log(message: str = "") -> None:
+    """Write one human-readable line to :data:`log_stream`."""
+    print(message, file=log_stream)
+
+
+def pixels_per_second(median_ms: float, num_envs: int, resolution: int) -> float:
+    """Rendered pixels per second [px/s] implied by a median frame time.
+
+    Args:
+        median_ms: Median time to render one frame [ms].
+        num_envs: Number of environments rendered per frame.
+        resolution: Width and height of each environment's tile [px].
+
+    Returns:
+        Throughput in pixels per second [px/s].
+    """
+    return num_envs * resolution * resolution * 1000.0 / median_ms
+
+
+def build_record(profile: dict, results: dict | None, num_envs: int, resolution: int) -> dict:
+    """Summarize one profile's outcome for reporting.
+
+    Args:
+        profile: Profile entry from :data:`PROFILES`.
+        results: Timing statistics from :func:`parse_log`, or ``None`` if the run failed.
+        num_envs: Number of environments the profile rendered.
+        resolution: Width and height of each environment's tile [px].
+
+    Returns:
+        A record carrying the profile's identity plus either its timings or the log to inspect.
+    """
+    record = {"name": profile["name"], "preset": profile["preset"], "settings": profile["settings"]}
+    if not results:
+        return record | {"status": "failed", "log": os.path.join(OUTPUT_PATH, profile["name"] + ".log")}
+    return (
+        record
+        | {
+            "status": "ok",
+            "size": results["size"],
+            "pixels_per_second": pixels_per_second(results["median"], num_envs, resolution),
+        }
+        | {f"{key}_ms": results[key] for key in ("median", "mean", "min", "max", "stdev")}
+    )
+
+
+def parse_log(filename: str, num_frames: int):
+    """Summarize per-frame render times [ms] from a run's captured log.
+
+    Every backend is measured the same way: the wall time of :data:`RENDER_SCOPE`, printed once per
+    render by ``wp.ScopedTimer`` when ``ISAACLAB_RENDER_PROFILE`` is set. The timer synchronizes the
+    device on both ends, so it covers completed rather than merely submitted work — including for
+    the RTX backends, whose Vulkan render is consumed by warp extraction kernels inside the scope.
+
+    Args:
+        filename: Path to the captured run log.
+        num_frames: Number of frames to measure, after skipping :data:`FRAME_PADDING` warm-up frames.
+
+    Returns:
+        Timing statistics, or ``None`` if the log holds no usable frames.
+    """
+    with open(filename) as file:
+        frames = [float(match.group(1)) for line in file if (match := RENDER_SCOPE_PATTERN.search(line))]
+
+    if not frames:
+        log(f"No '{RENDER_SCOPE}' timings in {filename}; was ISAACLAB_RENDER_PROFILE set for this run?")
+        return None
+    out = frames[FRAME_PADDING : FRAME_PADDING + num_frames]
+
+    if out:
+        return {
+            "size": len(out),
+            "median": statistics.median(out),
+            "mean": statistics.mean(out),
+            "min": min(out),
+            "max": max(out),
+            "stdev": statistics.stdev(out) if len(out) > 1 else 0,
+        }
+    return None
+
+
+def run_profile(profile: dict, args: argparse.Namespace):
+    """Run one entry of :data:`PROFILES` and summarize its render times from the captured log.
+
+    Args:
+        profile: Profile entry naming the preset and its backend settings.
+        args: Parsed command-line arguments.
+
+    Returns:
+        Timing statistics from :func:`parse_log`, or ``False`` if the run failed.
+    """
+    warp_cache_path = os.path.join(OUTPUT_PATH, "warp-cache")
+
+    env = {
+        "NEWTON_USE_CUDA_GRAPH": "0",
+        "ISAACLAB_RENDER_PROFILE": "1",
+        "BENCHMARK_SAVE_IMAGE": "1" if args.save_image else "0",
+        "BENCHMARK_RENDER_RESOLUTION": f"{args.resolution}",
+        "WARP_CACHE_PATH": warp_cache_path,
+    }
+
+    # Kernel compilation lands in the warm-up frames that FRAME_PADDING discards, so a warm cache
+    # does not reach the measured window -- it only saves a recompile per profile.
+    if not args.keep_warp_cache and os.path.exists(warp_cache_path):
+        shutil.rmtree(warp_cache_path)
+
+    profile_name: str = profile["name"]
+    preset: str = profile["preset"]
+    renderer: str = preset.split(",")[0]
+
+    if renderer == OVRTX_RENDERER:
+        env["LD_PRELOAD"] = os.path.join(
+            site.getsitepackages()[0], "ovrtx/bin/plugins/omni.client.lib/libomniclient.so"
+        )
+        env["CUDA_VISIBLE_DEVICES"] = "0"
+        env["OMNI_KIT_ACCEPT_EULA"] = "YES"
+        env["OVRTX_rtx_post_tonemap_op"] = "0"
+        env["OVRTX_rtx_minimal_useMinimalPipeline"] = "1" if profile["settings"]["min-pipe"] else "0"
+
+    if renderer == NEWTON_RENDERER:
+        env["NEWTON_BVH_SCENE"] = profile["settings"]["tlas"]
+        env["NEWTON_BVH_GEOMETRY"] = profile["settings"]["blas"]
+
+    os.makedirs(OUTPUT_PATH, exist_ok=True)
+    log_filename = os.path.join(OUTPUT_PATH, profile_name + ".log")
+
+    cmd = [
+        sys.executable,
+        str(RUNTIME_SCRIPT),
+        "--task",
+        args.task,
+        "--num_envs",
+        f"{args.num_envs}",
+        "--warmup_steps",
+        "0",
+        "--num_steps",
+        f"{args.num_frames + FRAME_PADDING * 2}",
+        "--output_path",
+        OUTPUT_PATH,
+        f"presets={preset}",
+    ]
+
+    with open(log_filename, "w") as file:
+        process = subprocess.Popen(
+            cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, env=dict(os.environ) | env, text=True
+        )
+
+        for line in process.stdout:
+            file.write(line)
+            if args.verbose:
+                log_stream.write(f"\x1b[90m{line}\x1b[0m")
+                log_stream.flush()
+
+        return_code = process.wait()
+        if return_code != 0:
+            log(f"Failed with exit code {process.returncode}, see {log_filename} for details.")
+            return False
+
+    return parse_log(log_filename, args.num_frames)
+
+
+def _build_arg_parser() -> argparse.ArgumentParser:
+    """Build the CLI parser, kept separate from module import so tests can import pure helpers."""
+    parser = argparse.ArgumentParser("IsaacLab Benchmark: Sweep Franka Cabinet")
+    parser.add_argument("--num_frames", type=int, default="20", help="Number of frames to render")
+    parser.add_argument("--num_envs", type=int, default="1024", help="Number of environments to render")
+    parser.add_argument("--resolution", type=int, default="256", help="Render resolution")
+    parser.add_argument("--task", default=TASK_NAME, help="Gym task id to profile")
+    parser.add_argument(
+        "--keep_warp_cache",
+        action="store_true",
+        help="Reuse the warp kernel cache instead of recompiling per profile",
+    )
+    parser.add_argument("-v", "--verbose", action="store_true", help="Verbose output")
+    parser.add_argument("-s", "--save_image", action="store_true", help="Save image for debugging purposes")
+    parser.add_argument("--json", action="store_true", help="Write results to stdout as JSON instead of a table")
+    parser.add_argument("profile", nargs="*", help="Profiles to run")
+    return parser
+
+
+def main() -> None:
+    """Parse CLI arguments, run the selected profiles, and report their results."""
+    global log_stream
+
+    args = _build_arg_parser().parse_args()
+
+    # Keep stdout free of anything but the JSON document.
+    if args.json:
+        log_stream = sys.stderr
+
+    if not args.profile:
+        if args.json:
+            print(json.dumps({"available_profiles": [profile["name"] for profile in PROFILES]}, indent=2))
+        else:
+            log("Available profiles:")
+            for profile in PROFILES:
+                log("  " + profile["name"])
+        exit(0)
+
+    matched_names = set()
+    for profile_name in args.profile:
+        matches = [profile["name"] for profile in PROFILES if fnmatch.fnmatch(profile["name"], profile_name)]
+        if not matches:
+            print(f"No profile found matching: {profile_name}", file=sys.stderr)
+            exit(1)
+        matched_names.update(matches)
+
+    # Run in declaration order so a given selection always reports in the same order.
+    selected_profiles = [profile for profile in PROFILES if profile["name"] in matched_names]
+
+    all_results = {}
+    for profile in selected_profiles:
+        log(f"profile: {profile['name']}")
+        log(f"  preset: {profile['preset']}")
+        for key, value in profile["settings"].items():
+            log(f"  {key}: {value}")
+
+        try:
+            all_results[profile["name"]] = run_profile(profile, args)
+        except KeyboardInterrupt:
+            break
+
+        if results := all_results[profile["name"]]:
+            log(f"    size: {results['size']}")
+            for key, value in results.items():
+                if key != "size":
+                    log(f"    {key}: {value:.2f}ms")
+        log("")
+
+    # A KeyboardInterrupt leaves the remaining profiles unrun; report only what completed.
+    records = [
+        build_record(profile, all_results[profile["name"]], args.num_envs, args.resolution)
+        for profile in selected_profiles
+        if profile["name"] in all_results
+    ]
+    benchmark_failed = any(record["status"] == "failed" for record in records)
+
+    if args.json:
+        print(
+            json.dumps(
+                {
+                    "task": args.task,
+                    "num_envs": args.num_envs,
+                    "num_frames": args.num_frames,
+                    "resolution": args.resolution,
+                    "profiles": records,
+                },
+                indent=2,
+            )
+        )
+    else:
+        separator = "|------------------------------------------|------|--------------|--------------|--------------|--------------|--------------|--------------|"  # noqa: E501
+        log("")
+        log(
+            "| PROFILE                                  | SIZE |  PIXEL / SEC |    MEDIAN    |     MEAN     |     MIN      |     MAX      |    STDEV     |"  # noqa: E501
+        )
+        log(separator)
+        for record in records:
+            if record["status"] == "ok":
+                gpxs = record["pixels_per_second"] / 1e9
+                log(
+                    f"| {record['name']:<40} | {record['size']:>4} | {gpxs:>6.2f} Gpx/s | {record['median_ms']:>10.2f}ms | {record['mean_ms']:>10.2f}ms | {record['min_ms']:>10.2f}ms | {record['max_ms']:>10.2f}ms | {record['stdev_ms']:>10.2f}ms |"  # noqa: E501
+                )
+            else:
+                log(f"| {record['name']:<40} | FAILED {record['log']:<87} |")
+        log(separator)
+        log("")
+
+    if benchmark_failed:
+        exit(1)
+    exit(0)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/scripts/benchmarks/benchmark_view_comparison.py b/scripts/benchmarks/benchmark_view_comparison.py
index 1010d09f0960..868f19115e3f 100644
--- a/scripts/benchmarks/benchmark_view_comparison.py
+++ b/scripts/benchmarks/benchmark_view_comparison.py
@@ -141,7 +141,7 @@ def benchmark_newton(num_iterations: int) -> dict[str, float]:
     from isaaclab.assets import RigidObjectCfg
     from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
     from isaaclab.sim import SimulationCfg, build_simulation_context
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
 
     timing_results = {}
 
diff --git a/scripts/benchmarks/benchmark_xform_prim_view.py b/scripts/benchmarks/benchmark_xform_prim_view.py
index 40e7f9df0436..13fd08530c46 100644
--- a/scripts/benchmarks/benchmark_xform_prim_view.py
+++ b/scripts/benchmarks/benchmark_xform_prim_view.py
@@ -54,7 +54,7 @@
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg, build_simulation_context
 from isaaclab.sim.views import UsdFrameView
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/scripts/benchmarks/test/test_benchmark_renderer.py b/scripts/benchmarks/test/test_benchmark_renderer.py
new file mode 100644
index 000000000000..05c57d63ff5b
--- /dev/null
+++ b/scripts/benchmarks/test/test_benchmark_renderer.py
@@ -0,0 +1,136 @@
+# 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
+
+"""Unit tests for the pure helpers in ``scripts/benchmarks/benchmark_renderer.py``.
+
+The script drives a rendering backend end-to-end, so that path is not covered here. These tests
+exercise the record-building, log-parsing, and CLI-parsing logic that does not require a GPU.
+"""
+
+import importlib.util
+import json
+import subprocess
+import sys
+from pathlib import Path
+
+import pytest
+
+ROOT = Path(__file__).resolve().parents[3]
+SCRIPT_PATH = ROOT / "scripts" / "benchmarks" / "benchmark_renderer.py"
+
+
+def _load_module():
+    """Import ``benchmark_renderer.py`` as a module, bypassing its CLI entry point."""
+    spec = importlib.util.spec_from_file_location("benchmark_renderer", SCRIPT_PATH)
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+    return module
+
+
+@pytest.fixture(scope="module")
+def benchmark_renderer():
+    return _load_module()
+
+
+def test_render_scope_matches_render_context(benchmark_renderer):
+    """The script's timer name must match the one the renderer prints, or nothing is parsed."""
+    from isaaclab.renderers.render_context import RENDER_PROFILE_SCOPE
+
+    assert benchmark_renderer.RENDER_SCOPE == RENDER_PROFILE_SCOPE
+
+
+def test_pixels_per_second(benchmark_renderer):
+    """Throughput is env count times tile area, scaled from milliseconds to seconds."""
+    assert benchmark_renderer.pixels_per_second(median_ms=1000.0, num_envs=4, resolution=256) == pytest.approx(
+        4 * 256 * 256
+    )
+
+
+def test_build_record_ok(benchmark_renderer):
+    profile = {"name": "p", "preset": "newton_renderer,rgb", "settings": {"tlas": "sah"}}
+    results = {"size": 20, "median": 2.0, "mean": 2.1, "min": 1.5, "max": 3.0, "stdev": 0.2}
+
+    record = benchmark_renderer.build_record(profile, results, num_envs=4, resolution=256)
+
+    assert record["status"] == "ok"
+    assert record["size"] == 20
+    assert record["median_ms"] == 2.0
+    assert record["pixels_per_second"] == pytest.approx(benchmark_renderer.pixels_per_second(2.0, 4, 256))
+
+
+def test_build_record_failed(benchmark_renderer):
+    profile = {"name": "p", "preset": "newton_renderer,rgb", "settings": {"tlas": "sah"}}
+
+    record = benchmark_renderer.build_record(profile, None, num_envs=4, resolution=256)
+
+    assert record == {
+        "name": "p",
+        "preset": "newton_renderer,rgb",
+        "settings": {"tlas": "sah"},
+        "status": "failed",
+        "log": str(Path(benchmark_renderer.OUTPUT_PATH) / "p.log"),
+    }
+
+
+_RENDER_SCOPE = "IsaacLab::Renderer::render"
+
+
+def _write_log(path: Path, timings_ms: list[float]) -> None:
+    """Write a synthetic run log with one ``wp.ScopedTimer`` print line per timing.
+
+    Interleaves unrelated lines to mimic real subprocess output (warp init banner, other timers),
+    so the parser is exercised against noise rather than a file with only matching lines.
+    """
+    lines = ["Warp 1.17.0 initialized:", "SomeOtherScope took 0.10 ms"]
+    for value in timings_ms:
+        lines.append(f"{_RENDER_SCOPE} took {value:.2f} ms")
+    path.write_text("\n".join(lines) + "\n")
+
+
+def test_parse_log_skips_padding_and_keeps_num_frames(benchmark_renderer, tmp_path):
+    """Only the ``num_frames`` timings after :data:`FRAME_PADDING` warm-up frames are summarized."""
+    log_path = tmp_path / "profile.log"
+    padding = benchmark_renderer.FRAME_PADDING
+    # padding warm-up frames of 1ms each, then 4 measured frames of 2ms each (only 3 are kept).
+    timings = [1.0] * padding + [2.0] * 4
+    _write_log(log_path, timings)
+
+    results = benchmark_renderer.parse_log(str(log_path), num_frames=3)
+
+    assert results["size"] == 3
+    assert results["median"] == pytest.approx(2.0)
+    assert results["min"] == pytest.approx(2.0)
+    assert results["max"] == pytest.approx(2.0)
+
+
+def test_parse_log_returns_none_without_matching_lines(benchmark_renderer, tmp_path):
+    """A log with no ``RENDER_SCOPE`` timings means profiling was never enabled for that run."""
+    log_path = tmp_path / "profile.log"
+    _write_log(log_path, [])
+
+    assert benchmark_renderer.parse_log(str(log_path), num_frames=3) is None
+
+
+def _run_cli(args: list[str]) -> subprocess.CompletedProcess:
+    return subprocess.run(
+        [sys.executable, str(SCRIPT_PATH), *args], capture_output=True, text=True, cwd=ROOT, timeout=30
+    )
+
+
+def test_cli_lists_available_profiles_as_json(benchmark_renderer):
+    """With no profile selected, the CLI reports every declared profile name and exits cleanly."""
+    result = _run_cli(["--json"])
+
+    assert result.returncode == 0
+    payload = json.loads(result.stdout)
+    assert payload["available_profiles"] == [profile["name"] for profile in benchmark_renderer.PROFILES]
+
+
+def test_cli_rejects_unmatched_profile_glob():
+    """An unmatched profile pattern fails fast, before any profiling subprocess is launched."""
+    result = _run_cli(["does-not-exist-*"])
+
+    assert result.returncode == 1
+    assert "No profile found matching: does-not-exist-*" in result.stderr
diff --git a/scripts/benchmarks/test/test_training_adapters.py b/scripts/benchmarks/test/test_training_adapters.py
index d8ae6c66d765..2bf5468f54e7 100644
--- a/scripts/benchmarks/test/test_training_adapters.py
+++ b/scripts/benchmarks/test/test_training_adapters.py
@@ -121,3 +121,10 @@ def test_skrl_parser_rejects_unimplemented_modes():
     for option, value in unsupported:
         with pytest.raises(SystemExit):
             train_skrl._parse_args(["--task", "unused", option, value])
+
+
+def test_skrl_parsers_leave_algorithm_to_canonical_config():
+    """Benchmark adapters do not impose PPO when the task's canonical config may use another algorithm."""
+    for adapter in (train_skrl, play_skrl):
+        args, _ = adapter._parse_args(["--task", "unused"])
+        assert args.agent is args.algorithm is None
diff --git a/scripts/demos/arl_robot_1.py b/scripts/demos/arl_robot_1.py
index 0d5f2779a957..127311bb06a9 100644
--- a/scripts/demos/arl_robot_1.py
+++ b/scripts/demos/arl_robot_1.py
@@ -49,7 +49,13 @@ def main():
     """Main function to spawn arl_robot_1."""
     with launch_simulation(cfg=PhysicsCfg(), launcher_args=args_cli) as physics_cfg:
         # Create simulation context
-        sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device, physics=physics_cfg)
+        # ThrusterCfg is implemented in Isaac Lab and has no Newton-native execution path.
+        sim_cfg = sim_utils.SimulationCfg(
+            dt=0.01,
+            device=args_cli.device,
+            physics=physics_cfg,
+            use_newton_actuators=False,
+        )
         sim = sim_utils.SimulationContext(sim_cfg)
 
         # Create a dome light with light blue color
diff --git a/scripts/demos/bin_packing.py b/scripts/demos/bin_packing.py
index 6c7d88e7f54a..3f8cf063e2a0 100644
--- a/scripts/demos/bin_packing.py
+++ b/scripts/demos/bin_packing.py
@@ -67,9 +67,8 @@
 from isaaclab.physics import PhysicsCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import schemas
-from isaaclab.utils import Timer
+from isaaclab.utils import Timer, configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 if TYPE_CHECKING:
     from pxr import Usd
diff --git a/scripts/demos/deformables.py b/scripts/demos/deformables.py
index 91b19e0437a3..48d5456bf0d5 100644
--- a/scripts/demos/deformables.py
+++ b/scripts/demos/deformables.py
@@ -195,7 +195,7 @@ def design_scene() -> tuple[dict, list[list[float]]]:
             obj_cfg.physics_material.tri_ke = random.uniform(5e3, 5e4)
             obj_cfg.physics_material.tri_ka = random.uniform(5e3, 5e4)
         else:
-            youngs_modulus = random.uniform(5e5, 1e8)
+            youngs_modulus = random.uniform(5e5, 1e7)
             poissons_ratio = random.uniform(0.25, 0.45)
             if args_cli.physics == "newton_vbd":
                 obj_cfg.physics_material.k_mu = youngs_modulus / (2.0 * (1.0 + poissons_ratio))
@@ -265,11 +265,12 @@ def main():
     with launch_simulation(cfg=PhysicsCfg(), launcher_args=args_cli) as physics_cfg:
         # tune the CLI-selected backend for this demo
         if args_cli.physics == "newton_vbd":
-            physics_cfg.solver_cfg.iterations = 5
+            physics_cfg.solver_cfg.iterations = 20
             physics_cfg.solver_cfg.particle_enable_self_contact = True
             physics_cfg.solver_cfg.particle_self_contact_radius = 0.0001
             physics_cfg.solver_cfg.particle_self_contact_margin = 0.1
             physics_cfg.num_substeps = 4
+            physics_cfg.collision_decimation = 1
             physics_cfg.soft_contact_cfg = NewtonSoftContactCfg(
                 soft_contact_ke=1.0e5,
                 soft_contact_kd=1.0e0,
diff --git a/scripts/demos/haply_teleoperation.py b/scripts/demos/haply_teleoperation.py
index d36d592184d1..b9c6bdc668bf 100644
--- a/scripts/demos/haply_teleoperation.py
+++ b/scripts/demos/haply_teleoperation.py
@@ -85,8 +85,8 @@
 from isaaclab.physics import PhysicsCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors import ContactSensorCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_assets import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
 
diff --git a/scripts/demos/mpm/newton_mpm_granular.py b/scripts/demos/mpm/newton_mpm_granular.py
index 7f82f77c6ad9..a7c009b5e516 100644
--- a/scripts/demos/mpm/newton_mpm_granular.py
+++ b/scripts/demos/mpm/newton_mpm_granular.py
@@ -120,7 +120,7 @@ def create_scene_cfg():
     import isaaclab.sim as sim_utils
     from isaaclab.assets import AssetBaseCfg
     from isaaclab.scene import InteractiveSceneCfg
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
 
     def collider_cfg(prim_path: str, center, half_extents, orientation, friction: float = 0.1) -> AssetBaseCfg:
         return AssetBaseCfg(
@@ -146,7 +146,7 @@ class GranularSceneCfg(InteractiveSceneCfg):
 
         ground = AssetBaseCfg(
             prim_path="/World/Ground",
-            spawn=sim_utils.GroundPlaneCfg(size=(12.0, 12.0), color=(0.30, 0.30, 0.30)),
+            spawn=sim_utils.GroundPlaneCfg(),
         )
 
         dome_light = AssetBaseCfg(
diff --git a/scripts/demos/mpm/newton_mpm_twoway_coupling.py b/scripts/demos/mpm/newton_mpm_twoway_coupling.py
index c0f3665b52a1..2c60956c0399 100644
--- a/scripts/demos/mpm/newton_mpm_twoway_coupling.py
+++ b/scripts/demos/mpm/newton_mpm_twoway_coupling.py
@@ -161,7 +161,7 @@ def create_scene_cfg():
 
     from isaaclab.assets import AssetBaseCfg, RigidObjectCfg, RigidObjectCollectionCfg
     from isaaclab.scene import InteractiveSceneCfg
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
 
     def bath_collider(
         prim_path: str,
@@ -230,7 +230,7 @@ class CoupledSceneCfg(InteractiveSceneCfg):
 
         ground = AssetBaseCfg(
             prim_path="/World/Ground",
-            spawn=sim_utils.GroundPlaneCfg(size=(12.0, 12.0), color=(0.30, 0.30, 0.30)),
+            spawn=sim_utils.GroundPlaneCfg(),
             init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, -wall_t)),
         )
         dome_light = AssetBaseCfg(
diff --git a/scripts/demos/mpm/snowball_smash.py b/scripts/demos/mpm/snowball_smash.py
index 82cbb562ab98..0be3833d4aed 100644
--- a/scripts/demos/mpm/snowball_smash.py
+++ b/scripts/demos/mpm/snowball_smash.py
@@ -220,7 +220,7 @@ def create_scene_cfg():
     import isaaclab.sim as sim_utils
     from isaaclab.assets import AssetBaseCfg, RigidObjectCfg
     from isaaclab.scene import InteractiveSceneCfg
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
 
     particle_mass = SNOW_SPACING**3 * SNOW_DENSITY
     particle_radius = 0.5 * SNOW_SPACING
@@ -279,7 +279,7 @@ class SnowballSmashSceneCfg(InteractiveSceneCfg):
         # the MPM model view.
         ground = AssetBaseCfg(
             prim_path="/World/Ground",
-            spawn=sim_utils.GroundPlaneCfg(size=(12.0, 12.0), color=(0.32, 0.34, 0.38)),
+            spawn=sim_utils.GroundPlaneCfg(),
         )
 
         # The co-located hidden kinematic slab belongs only to the MPM entry.
diff --git a/scripts/demos/mpm/teapot_fill.py b/scripts/demos/mpm/teapot_fill.py
index 2ee620af2d78..a3055a6b6a8f 100644
--- a/scripts/demos/mpm/teapot_fill.py
+++ b/scripts/demos/mpm/teapot_fill.py
@@ -12,8 +12,12 @@
 
     # Fast Newton visualizer (the default):
     uv run python scripts/demos/mpm/teapot_fill.py --device cuda:0 --visualizer newton_gl
-    # The translucent water material needs the RTX/Kit visualizer:
-    uv run python scripts/demos/mpm/teapot_fill.py --device cuda:0 --visualizer kit
+    # Display both the raw particles and reconstructed surface:
+    uv run python scripts/demos/mpm/teapot_fill.py --visualizer newton_gl --fluid_render_mode both
+    # Newton RTX path-traced visualizer:
+    uv run --extra ovrtx python scripts/demos/mpm/teapot_fill.py --device cuda:0 --visualizer newton_rtx
+    # Isaac Sim Kit visualizer (particles only):
+    uv run --extra isaacsim python scripts/demos/mpm/teapot_fill.py --device cuda:0 --visualizer kit
     # Fuller / coarser (faster) fill:
     uv run python scripts/demos/mpm/teapot_fill.py --fill_level 1.0 --fill_spacing 0.003
 """
@@ -107,6 +111,13 @@ def _unit_interval_float(value: str) -> float:
         f" (1-6). Higher drops thin features like the spout/handle. Defaults to {DEFAULT_MIN_RAY_HITS}."
     ),
 )
+parser.add_argument(
+    "--fluid_render_mode",
+    type=str,
+    default="surface",
+    choices=["particles", "surface", "both"],
+    help="Fluid visualization: raw MPM particles, reconstructed surface mesh, or both.",
+)
 parser.add_argument(
     "--container_usd",
     type=str,
@@ -117,13 +128,13 @@ def _unit_interval_float(value: str) -> float:
     "--island_usd",
     type=str,
     default=DEFAULT_ISLAND_USD,
-    help="Optional Kit kitchen-island visual. An empty or unavailable path uses the procedural table.",
+    help="Optional RTX kitchen-island visual. An empty or unavailable path uses the procedural table.",
 )
 parser.add_argument(
     "--bowl_usd",
     type=str,
     default=DEFAULT_BOWL_USD,
-    help="Optional Kit catch-bowl visual. An empty or unavailable path uses the procedural bowl.",
+    help="Optional RTX catch-bowl visual. An empty or unavailable path uses the procedural bowl.",
 )
 add_launcher_args(parser)
 parser.set_defaults(visualizer=["newton_gl"])
@@ -139,6 +150,8 @@ def _unit_interval_float(value: str) -> float:
 )
 FILL_LEVEL = args_cli.fill_level
 MIN_RAY_HITS = args_cli.min_ray_hits
+SHOW_FLUID_PARTICLES = args_cli.fluid_render_mode in ("particles", "both")
+SHOW_FLUID_SURFACE = args_cli.fluid_render_mode in ("surface", "both")
 
 # Sparse grids reserve capture-stable storage; fixed grids need padding for the full pour trajectory.
 GRID_TYPE = args_cli.grid_type
@@ -184,27 +197,136 @@ def _unit_interval_float(value: str) -> float:
 TABLE_COLOR = (0.48, 0.38, 0.26)
 BOWL_COLOR = (1.0, 1.0, 1.0)
 WATER_COLOR = (0.12, 0.35, 0.78)
+WATER_OPACITY = 0.65
 
-CAMERA_EYE = (0.0, -1.45, 1.35)
-CAMERA_TARGET = (-0.01, 0.0, TABLE_TOP_Z + 0.07)
+CAMERA_EYE = (0.0, -0.72, 1.18)
+CAMERA_TARGET = (0.0, 0.0, TABLE_TOP_Z + 0.10)
+
+# Use tighter kernels than the open-tank dam-break preset so the reconstructed
+# surface stays inside narrow features such as the teapot spout.
+SURFACE_VOXEL_SIZE = 0.5 * VOXEL_SIZE
+SURFACE_KERNEL_RADIUS = max(3.0 * FILL_SPACING, 1.5 * SURFACE_VOXEL_SIZE)
+SURFACE_MAX_GRID_CELLS = 4_000_000
+SURFACE_PATH = "/fluid_surface"
 
 
 def create_visualizer_cfgs():
     """Create demo-specific visualizer configs for requested backends."""
-    if not any(v in (args_cli.visualizer or []) for v in ("newton", "newton_gl", "newton_rtx")):
+    requested = args_cli.visualizer or []
+    if not any(name in requested for name in ("newton_gl", "newton_rtx")):
         return []
 
     from isaaclab_visualizers.newton import NewtonGLVisualizerCfg, NewtonRTXVisualizerCfg
 
-    cfg_type = NewtonRTXVisualizerCfg if args_cli.visualizer == ["newton_rtx"] else NewtonGLVisualizerCfg
+    cfg_types = {"newton_gl": NewtonGLVisualizerCfg, "newton_rtx": NewtonRTXVisualizerCfg}
     return [
-        cfg_type(
-            show_particles=True,
+        cfg_types[name](
+            show_particles=SHOW_FLUID_PARTICLES,
             particle_color=WATER_COLOR,
         )
+        for name in requested
+        if name in cfg_types
     ]
 
 
+class FluidSurfaceRenderer:
+    """Extract and display a dynamic water surface in Newton visualizers."""
+
+    def __init__(self, sim) -> None:
+        import warp as wp
+        from isaaclab_newton.physics import NewtonManager
+        from isaaclab_visualizers.newton import NewtonGLVisualizer, NewtonRTXVisualizer
+        from newton.geometry import ParticleSurface
+
+        self._wp = wp
+        self._visualizers = tuple(
+            visualizer
+            for visualizer in sim.visualizers
+            if isinstance(visualizer, (NewtonGLVisualizer, NewtonRTXVisualizer))
+        )
+        if not self._visualizers:
+            raise RuntimeError("Particle surface rendering requires a Newton GL or RTX visualizer.")
+
+        self._model = NewtonManager.get_model()
+        self._state = NewtonManager.get_state_0()
+        self._surface = ParticleSurface(
+            voxel_size=SURFACE_VOXEL_SIZE,
+            max_grid_cells=SURFACE_MAX_GRID_CELLS,
+            world_count=max(self._model.world_count, 1),
+            kernel_radius=SURFACE_KERNEL_RADIUS,
+            threshold=0.4,
+            smooth_lambda=0.0,
+            anisotropic=True,
+            kernel_scale=0.5,
+            anisotropy_ratio=16.0,
+            anisotropy_scale=1.0,
+            anisotropy_min_neighbors=4,
+            anisotropy_binning=True,
+            anisotropy_strength=0.95,
+            field_smooth_iterations=0,
+            mesh_smooth_iterations=1,
+            device=self._model.device,
+        )
+        self._empty_points = wp.empty(0, dtype=wp.vec3, device=self._model.device)
+        self._empty_indices = wp.empty(0, dtype=wp.int32, device=self._model.device)
+        self._empty_normals = wp.empty(0, dtype=wp.vec3, device=self._model.device)
+        self._surface_mesh = None
+        self._surface_graph = None
+        self._capture_surface_extraction()
+
+    def _extract_surface(self):
+        """Extract the water surface from the current Newton particle state."""
+        return self._surface.extract(
+            self._state.particle_q,
+            self._model.particle_radius,
+            particle_flags=self._model.particle_flags,
+            particle_world=self._model.particle_world if self._surface.world_count > 1 else None,
+        )
+
+    def _capture_surface_extraction(self) -> None:
+        """Capture reconstruction separately from the MPM physics graph."""
+        if not self._model.device.is_cuda or args_cli.disable_cuda_graph:
+            return
+        self._surface_mesh = self._extract_surface()
+        with self._wp.ScopedCapture(device=self._model.device) as capture:
+            self._surface_mesh = self._extract_surface()
+        self._surface_graph = capture.graph
+
+    def update(self) -> int:
+        """Reconstruct and publish the current water surface, returning its triangle count."""
+        if self._surface_graph is None:
+            self._surface_mesh = self._extract_surface()
+        else:
+            self._wp.capture_launch(self._surface_graph)
+
+        vertices, indices, normals = self._surface_mesh.to_arrays()
+        if vertices is None:
+            vertices = self._empty_points
+            indices = self._empty_indices
+            normals = self._empty_normals
+            hidden = True
+            triangle_count = 0
+        else:
+            hidden = False
+            triangle_count = indices.shape[0] // 3
+
+        for visualizer in self._visualizers:
+            visualizer.log_mesh(
+                SURFACE_PATH,
+                vertices,
+                indices,
+                normals=normals,
+                hidden=hidden,
+                backface_culling=False,
+                color=WATER_COLOR,
+                roughness=0.1,
+                metallic=0.0,
+                dynamic=True,
+                opacity=WATER_OPACITY,
+            )
+        return triangle_count
+
+
 def quat_y(angle_rad: float) -> tuple[float, float, float, float]:
     """Return an XYZW quaternion for a rotation about +Y."""
     half = 0.5 * angle_rad
@@ -448,7 +570,7 @@ def create_sim_cfg():
                 strain_basis="P0",
                 transfer_scheme="apic",
                 integration_scheme="pic",
-                air_drag=0.2,
+                air_drag=1.0e-3,
                 collider_velocity_mode="forward",
                 # Grid contact avoids impulses from projecting particles out of colliders.
                 project_outside_colliders=False,
@@ -469,7 +591,7 @@ def create_scene_cfg(container_usd: str, island_usd: str | None, bowl_usd: str |
     from isaaclab.assets import AssetBaseCfg, RigidObjectCfg
     from isaaclab.scene import InteractiveSceneCfg
     from isaaclab.sim.utils import clone
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
 
     container_pos, container_rot, _ = container_pose_at_time(0.0)
     container_vertices, container_faces = load_asset_mesh(container_usd)
@@ -607,11 +729,11 @@ class TeapotFillSceneCfg(InteractiveSceneCfg):
                 mass=particle_mass,
                 radius=particle_radius,
                 material=MPMParticleMaterialCfg(
-                    viscosity=0.1,
+                    viscosity=1.0e-3,
                     friction=0.0,
-                    damping=0.02,
+                    damping=1.0e-3,
                     yield_pressure=1.0e15,
-                    tensile_yield_ratio=5.0,
+                    tensile_yield_ratio=1.0,
                 ),
                 visual_color=WATER_COLOR,
                 visual_material=sim_utils.PreviewSurfaceCfg(
@@ -623,10 +745,7 @@ class TeapotFillSceneCfg(InteractiveSceneCfg):
             init_state=MPMObjectCfg.InitialStateCfg(pos=container_pos),
         )
 
-        ground = AssetBaseCfg(
-            prim_path="/World/Ground",
-            spawn=sim_utils.GroundPlaneCfg(size=(20.0, 20.0), color=(0.30, 0.30, 0.30)),
-        )
+        ground = AssetBaseCfg(prim_path="/World/Ground", spawn=sim_utils.GroundPlaneCfg())
 
         dome_light = AssetBaseCfg(
             prim_path="/World/DomeLight",
@@ -658,7 +777,7 @@ def write_container_state(container, sim_time: float) -> None:
     container.write_root_link_velocity_to_sim_index(root_velocity=velocity)
 
 
-def run_simulator(sim, scene) -> None:
+def run_simulator(sim, scene, surface_renderer: FluidSurfaceRenderer | None) -> None:
     """Run the scripted teapot-fill MPM loop."""
     sim_dt = sim.get_physics_dt()
     container = scene["container"]
@@ -669,6 +788,8 @@ def run_simulator(sim, scene) -> None:
         sim.step(render=False)
         scene.update(sim_dt)
         if sim.is_rendering and count % RENDER_INTERVAL == 0:
+            if surface_renderer is not None:
+                surface_renderer.update()
             sim.render()
         count += 1
 
@@ -688,7 +809,7 @@ def main() -> None:
         # Resolve after launching so Kit runs never import USD modules before
         # AppLauncher; Newton-only runs still use standalone omni.client.
         container_usd = retrieve_file_path(args_cli.container_usd)
-        if "kit" in (args_cli.visualizer or []):
+        if {"kit", "newton_rtx"}.intersection(args_cli.visualizer or []):
             island_usd = retrieve_optional_visual_asset(args_cli.island_usd, "kitchen island")
             bowl_usd = retrieve_optional_visual_asset(args_cli.bowl_usd, "catch bowl")
         else:
@@ -701,15 +822,23 @@ def main() -> None:
         scene = InteractiveScene(create_scene_cfg(container_usd, island_usd, bowl_usd))
         sim.reset()
         sim.set_camera_view(eye=CAMERA_EYE, target=CAMERA_TARGET)
+        surface_renderer = (
+            FluidSurfaceRenderer(sim)
+            if SHOW_FLUID_SURFACE and any(v in (args_cli.visualizer or []) for v in ("newton_gl", "newton_rtx"))
+            else None
+        )
+        surface_triangle_count = surface_renderer.update() if surface_renderer is not None else 0
 
         print(
             "[INFO]: Isaac Lab Newton teapot-fill MPM demo ready."
             f" Sampled {particle_count(scene)} MPM particles inside the teapot;"
+            f" extracted {surface_triangle_count} surface triangles;"
+            f" rendering {args_cli.fluid_render_mode};"
             f" fill spacing {FILL_SPACING:.4g} m;"
             f" the teapot will tilt after {HOLD_TIME:.2f}s.",
             flush=True,
         )
-        run_simulator(sim, scene)
+        run_simulator(sim, scene, surface_renderer)
 
 
 if __name__ == "__main__":
diff --git a/scripts/demos/multi_asset.py b/scripts/demos/multi_asset.py
index c174cdfea8dd..98e01ce578cd 100644
--- a/scripts/demos/multi_asset.py
+++ b/scripts/demos/multi_asset.py
@@ -56,9 +56,8 @@
 
 from isaaclab_assets.robots.anymal import ANYDRIVE_3_LSTM_ACTUATOR_CFG  # isort: skip
 
-from isaaclab.utils import Timer
+from isaaclab.utils import Timer, configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 if TYPE_CHECKING:
     from isaaclab.assets import Articulation, RigidObject, RigidObjectCollection
diff --git a/scripts/demos/newton_viewer_block_and_tackle.py b/scripts/demos/newton_viewer_block_and_tackle.py
index 616aa7a7af77..0f5202a303f0 100644
--- a/scripts/demos/newton_viewer_block_and_tackle.py
+++ b/scripts/demos/newton_viewer_block_and_tackle.py
@@ -27,7 +27,7 @@
 from isaaclab_newton.physics import NewtonCfg, NewtonManager, NewtonShapeCfg, VBDSolverCfg
 
 import isaaclab.sim as sim_utils
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 MECHANICAL_ADVANTAGE = 4
 LOAD_MASS = 5.0
diff --git a/scripts/demos/newton_viewer_dominoes.py b/scripts/demos/newton_viewer_dominoes.py
index e0941ceb1fdb..d0c4275dc256 100644
--- a/scripts/demos/newton_viewer_dominoes.py
+++ b/scripts/demos/newton_viewer_dominoes.py
@@ -32,7 +32,7 @@
 import isaaclab.sim as sim_utils
 from isaaclab.assets import AssetBaseCfg, RigidObjectCfg, RigidObjectCollectionCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 DOMINO_SIZE = (0.12, 0.032, 0.36)
 DOMINO_SPACING = 0.12
diff --git a/scripts/demos/pick_and_place.py b/scripts/demos/pick_and_place.py
index 6cd63132f68d..748f90c65a15 100644
--- a/scripts/demos/pick_and_place.py
+++ b/scripts/demos/pick_and_place.py
@@ -51,7 +51,7 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.sim.spawners.from_files import GroundPlaneCfg, spawn_ground_plane
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.math import sample_uniform
 
 from isaaclab_assets.robots.pick_and_place import PICK_AND_PLACE_CFG
diff --git a/scripts/demos/sensors/cameras.py b/scripts/demos/sensors/cameras.py
index 6f5350eed611..8bf7af71f552 100644
--- a/scripts/demos/sensors/cameras.py
+++ b/scripts/demos/sensors/cameras.py
@@ -59,7 +59,7 @@
 from isaaclab.sensors import CameraCfg, RayCasterCameraCfg
 from isaaclab.sensors.ray_caster import patterns
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Pre-defined configs
diff --git a/scripts/demos/sensors/contact_sensor.py b/scripts/demos/sensors/contact_sensor.py
index 6ee12dc223e9..23e0a64711cb 100644
--- a/scripts/demos/sensors/contact_sensor.py
+++ b/scripts/demos/sensors/contact_sensor.py
@@ -35,7 +35,7 @@
 from isaaclab.physics import PhysicsCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors import ContactSensorCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Pre-defined configs
diff --git a/scripts/demos/sensors/frame_transformer_sensor.py b/scripts/demos/sensors/frame_transformer_sensor.py
index ebfb27c27386..6d9f6d6fb165 100644
--- a/scripts/demos/sensors/frame_transformer_sensor.py
+++ b/scripts/demos/sensors/frame_transformer_sensor.py
@@ -35,7 +35,7 @@
 from isaaclab.assets import AssetBaseCfg, RigidObjectCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import FrameTransformerCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Pre-defined configs
diff --git a/scripts/demos/sensors/imu_sensor.py b/scripts/demos/sensors/imu_sensor.py
index 3308f8d1bd23..9a8513cb088b 100644
--- a/scripts/demos/sensors/imu_sensor.py
+++ b/scripts/demos/sensors/imu_sensor.py
@@ -37,7 +37,7 @@
 from isaaclab.assets import AssetBaseCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import ImuCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Pre-defined configs
diff --git a/scripts/demos/sensors/multi_mesh_raycaster.py b/scripts/demos/sensors/multi_mesh_raycaster.py
index 3c09156ce2c3..9b416dd68078 100644
--- a/scripts/demos/sensors/multi_mesh_raycaster.py
+++ b/scripts/demos/sensors/multi_mesh_raycaster.py
@@ -70,8 +70,8 @@
 from isaaclab.physics import PhysicsCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors.ray_caster import MultiMeshRayCasterCfg, patterns
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 ##
 # Pre-defined configs
diff --git a/scripts/demos/sensors/multi_mesh_raycaster_camera.py b/scripts/demos/sensors/multi_mesh_raycaster_camera.py
index 792384282ac6..259c56c6df9e 100644
--- a/scripts/demos/sensors/multi_mesh_raycaster_camera.py
+++ b/scripts/demos/sensors/multi_mesh_raycaster_camera.py
@@ -63,8 +63,8 @@
 from isaaclab.markers.config import VisualizationMarkersCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors.ray_caster import MultiMeshRayCasterCameraCfg, patterns
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 ##
 # Pre-defined configs
diff --git a/scripts/demos/sensors/newton_raycast_heightfield.py b/scripts/demos/sensors/newton_raycast_heightfield.py
index 9a8a52c51276..f37ff0d87ef4 100644
--- a/scripts/demos/sensors/newton_raycast_heightfield.py
+++ b/scripts/demos/sensors/newton_raycast_heightfield.py
@@ -44,7 +44,7 @@
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors.ray_caster.patterns import GridPatternCfg
 from isaaclab.terrains import TerrainGeneratorCfg, TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 WAVE_TERRAIN_CFG = TerrainGeneratorCfg(
     size=(12.0, 12.0),
diff --git a/scripts/demos/sensors/newton_raycast_moving_geometry.py b/scripts/demos/sensors/newton_raycast_moving_geometry.py
index 86220a896880..271e765fdbd3 100644
--- a/scripts/demos/sensors/newton_raycast_moving_geometry.py
+++ b/scripts/demos/sensors/newton_raycast_moving_geometry.py
@@ -45,7 +45,7 @@
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors.ray_caster.patterns import GridPatternCfg
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 BOX_DROP_POSITIONS = [(1.0, 0.6, 3.0), (-0.8, -1.0, 3.5), (0.2, -1.2, 4.0)]
 
diff --git a/scripts/demos/sensors/ppisp_camera.py b/scripts/demos/sensors/ppisp_camera.py
index 77415086b45e..ed39ae2b1d45 100644
--- a/scripts/demos/sensors/ppisp_camera.py
+++ b/scripts/demos/sensors/ppisp_camera.py
@@ -139,7 +139,7 @@
 from isaaclab.assets import AssetBaseCfg, RigidObjectCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import Camera, CameraCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/scripts/demos/sensors/ppisp_camera_ovrtx.py b/scripts/demos/sensors/ppisp_camera_ovrtx.py
index 2b5f0abdf2de..11f7422fee7b 100644
--- a/scripts/demos/sensors/ppisp_camera_ovrtx.py
+++ b/scripts/demos/sensors/ppisp_camera_ovrtx.py
@@ -39,8 +39,8 @@
 from isaaclab.assets import AssetBaseCfg, RigidObjectCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import Camera, CameraCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, retrieve_file_path
-from isaaclab.utils.configclass import configclass
 
 DEFAULT_INPUT_SCENE = f"{ISAAC_NUCLEUS_DIR}/Samples/Scene_ParticleField/valiant_auto.usdz"
 
diff --git a/scripts/demos/sensors/pva_sensor.py b/scripts/demos/sensors/pva_sensor.py
index f6b421203d60..dc415b1fd862 100644
--- a/scripts/demos/sensors/pva_sensor.py
+++ b/scripts/demos/sensors/pva_sensor.py
@@ -37,7 +37,7 @@
 from isaaclab.assets import AssetBaseCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import PvaCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Pre-defined configs
diff --git a/scripts/demos/sensors/raycaster_sensor.py b/scripts/demos/sensors/raycaster_sensor.py
index e67a8ca40674..d87a8676db7a 100644
--- a/scripts/demos/sensors/raycaster_sensor.py
+++ b/scripts/demos/sensors/raycaster_sensor.py
@@ -36,8 +36,8 @@
 from isaaclab.assets import AssetBaseCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors.ray_caster import RayCasterCfg, patterns
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 ##
 # Pre-defined configs
diff --git a/scripts/demos/sensors/tacsl_sensor.py b/scripts/demos/sensors/tacsl_sensor.py
index 3a3339abd388..1271daff0256 100644
--- a/scripts/demos/sensors/tacsl_sensor.py
+++ b/scripts/demos/sensors/tacsl_sensor.py
@@ -94,8 +94,8 @@
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import CameraCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_contrib.sensors.tacsl_sensor import VisuoTactileSensorCfg
 from isaaclab_contrib.sensors.tacsl_sensor.visuotactile_render import compute_tactile_shear_image
diff --git a/scripts/demos/visual_color_randomization.py b/scripts/demos/visual_color_randomization.py
index 33f58015d79e..79b1f12f192e 100644
--- a/scripts/demos/visual_color_randomization.py
+++ b/scripts/demos/visual_color_randomization.py
@@ -51,7 +51,7 @@
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.physics import PhysicsCfg
 from isaaclab.scene import InteractiveSceneCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.timer import Timer
 
 from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # isort: skip
diff --git a/scripts/environments/list_envs.py b/scripts/environments/list_envs.py
index 2d5b2d0a0d01..5b376cf979a9 100644
--- a/scripts/environments/list_envs.py
+++ b/scripts/environments/list_envs.py
@@ -13,13 +13,9 @@
 with `Isaac` in their name.
 """
 
-"""Launch Isaac Sim Simulator first."""
-
 import argparse
 import contextlib
 
-from isaaclab.app import AppLauncher
-
 # add argparse arguments
 parser = argparse.ArgumentParser(description="List Isaac Lab environments.")
 parser.add_argument("--keyword", type=str, default=None, help="Keyword to filter environments.")
@@ -36,13 +32,6 @@
 # parse the arguments
 args_cli = parser.parse_args()
 
-# launch omniverse app
-app_launcher = AppLauncher(headless=True)
-simulation_app = app_launcher.app
-
-
-"""Rest everything follows."""
-
 import gymnasium as gym
 from prettytable import PrettyTable
 
@@ -127,11 +116,4 @@ def main():
 
 
 if __name__ == "__main__":
-    try:
-        # run the main function
-        main()
-    except Exception as e:
-        raise e
-    finally:
-        # close the app
-        simulation_app.close()
+    main()
diff --git a/scripts/environments/teleoperation/teleop_replay_agent.py b/scripts/environments/teleoperation/teleop_replay_agent.py
index 37e72715c53d..f7577dc1b3a7 100644
--- a/scripts/environments/teleoperation/teleop_replay_agent.py
+++ b/scripts/environments/teleoperation/teleop_replay_agent.py
@@ -984,7 +984,8 @@ def _maybe_launch_cloudxr(cloudxr_env_path: str | None, auto_launch: bool):
     Mirrors the gating in :meth:`TeleopSessionLifecycle._ensure_cloudxr_runtime`
     (``--cloudxr_env`` set, ``--auto_launch_cloudxr`` enabled,
     ``ISAACLAB_CXR_SKIP_AUTOLAUNCH=1`` env var not set) so behavior parity
-    is preserved.
+    is preserved, including ``ISAACLAB_CXR_ACCEPT_EULA=1`` for the CloudXR
+    license, which is read through the same shared helper.
 
     Args:
         cloudxr_env_path: Resolved CloudXR ``.env`` file path, or ``None``
@@ -1004,12 +1005,13 @@ def _maybe_launch_cloudxr(cloudxr_env_path: str | None, auto_launch: bool):
         logger.info("CloudXR auto-launch skipped (ISAACLAB_CXR_SKIP_AUTOLAUNCH=1)")
         return None
 
+    from isaaclab_teleop import cloudxr_eula_accepted
     from isaacteleop.cloudxr import CloudXRLauncher
 
     launcher = CloudXRLauncher(
         install_dir=str(Path.home() / ".cloudxr"),
         env_config=cloudxr_env_path,
-        accept_eula=False,
+        accept_eula=cloudxr_eula_accepted(),
     )
     logger.info("CloudXR runtime launched (process-scoped, shared across replays)")
     return launcher
diff --git a/scripts/imitation_learning/isaaclab_mimic/annotate_demos.py b/scripts/imitation_learning/isaaclab_mimic/annotate_demos.py
index 6ecbb075a7de..21b86ea8a435 100644
--- a/scripts/imitation_learning/isaaclab_mimic/annotate_demos.py
+++ b/scripts/imitation_learning/isaaclab_mimic/annotate_demos.py
@@ -78,7 +78,7 @@
 from isaaclab.envs import ManagerBasedRLMimicEnv
 from isaaclab.envs.mdp.recorders.recorders_cfg import ActionStateRecorderManagerCfg
 from isaaclab.managers import RecorderTerm, RecorderTermCfg, TerminationTermCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.datasets import EpisodeData, HDF5DatasetFileHandler
 
 import isaaclab_tasks  # noqa: F401
diff --git a/scripts/imitation_learning/isaaclab_mimic/consolidated_demo.py b/scripts/imitation_learning/isaaclab_mimic/consolidated_demo.py
index f2b7669f5e36..56eeb2480800 100644
--- a/scripts/imitation_learning/isaaclab_mimic/consolidated_demo.py
+++ b/scripts/imitation_learning/isaaclab_mimic/consolidated_demo.py
@@ -85,7 +85,7 @@
 from isaaclab.envs import ManagerBasedRLMimicEnv
 from isaaclab.envs.mdp.recorders.recorders_cfg import ActionStateRecorderManagerCfg
 from isaaclab.managers import DatasetExportMode, RecorderTerm, RecorderTermCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.datasets import HDF5DatasetFileHandler
 
 import isaaclab_mimic.envs  # noqa: F401
diff --git a/scripts/imitation_learning/locomanipulation_sdg/generate_data.py b/scripts/imitation_learning/locomanipulation_sdg/generate_data.py
index 2c0dad455e2b..399f89be47c3 100644
--- a/scripts/imitation_learning/locomanipulation_sdg/generate_data.py
+++ b/scripts/imitation_learning/locomanipulation_sdg/generate_data.py
@@ -95,13 +95,13 @@
     "--background_usd_path",
     type=str,
     default=None,
-    help="Path to the USD file for the background asset",
+    help="Path to the NuRec USD file.",
 )
 parser.add_argument(
     "--background_occupancy_yaml_file",
     type=str,
     default=None,
-    help="Path to the occupancy map YAML file for the background asset",
+    help="Path to the NuRec occupancy map YAML file.",
 )
 parser.add_argument(
     "--high_res_video",
@@ -126,7 +126,7 @@
 # forward unrecognized args as Hydra-style task config overrides
 args_cli, hydra_overrides = parser.parse_known_args()
 
-app_launcher = AppLauncher(args_cli)
+app_launcher = AppLauncher(args_cli, enable_cameras=True)
 simulation_app = app_launcher.app
 
 import enum
@@ -143,7 +143,7 @@
 import omni.usd
 
 from isaaclab.managers import DatasetExportMode
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.datasets import EpisodeData, HDF5DatasetFileHandler
 from isaaclab.utils.math import convert_quat
 from isaaclab.utils.seed import configure_seed
@@ -358,7 +358,9 @@ def project_robot_state_into_env(env: LocomanipulationSDGEnv, input_episode_data
     )
     default_vel = env.scene["robot"].data.default_root_vel.torch.clone()
     default_vel[0] = torch.zeros(6, device=env.device)
-    env.scene["robot"].data.default_root_vel.warp.assign(wp.from_torch(default_vel.to(env.device).contiguous()))
+    env.scene["robot"].data.default_root_vel.warp.assign(
+        wp.from_torch(default_vel.to(env.device).contiguous()).view(wp.spatial_vectorf)
+    )
 
     robot_state = recording_initial_state["articulation"]["robot"]
     joint_position = robot_state["joint_position"][0].to(env.device)
@@ -409,7 +411,9 @@ def project_object_state_into_env(env: LocomanipulationSDGEnv, input_episode_dat
     )
     default_vel = env.scene["object"].data.default_root_vel.torch.clone()
     default_vel[0] = torch.zeros(6, device=env.device)
-    env.scene["object"].data.default_root_vel.warp.assign(wp.from_torch(default_vel.to(env.device).contiguous()))
+    env.scene["object"].data.default_root_vel.warp.assign(
+        wp.from_torch(default_vel.to(env.device).contiguous()).view(wp.spatial_vectorf)
+    )
 
     return new_object_pose
 
@@ -438,8 +442,7 @@ def setup_navigation_scene(
     if background_fixture is not None:
         occupancy_map = background_fixture.get_occupancy_map()
         fixtures = [env.get_start_fixture(), env.get_end_fixture()] + env.get_obstacle_fixtures()
-        if not randomize_placement:
-            raise ValueError("randomize_placement needs to be True when background_usd_path is provided")
+        randomize_placement = True
     else:
         occupancy_map = merge_occupancy_maps(
             [
@@ -484,17 +487,20 @@ def setup_navigation_scene(
     env.obs_buf = env.observation_manager.compute(update_history=True)
 
     nav_map = occupancy_map.buffered_meters(0.15)
-    nav_fs = nav_map.freespace_mask()
-    start_pos = env.get_base().get_pose()[0, :2].detach().cpu().numpy()
-    start_px = nav_map.world_to_pixel_numpy(start_pos[None])[0].astype(int)
-    sx, sy = int(start_px[0]), int(start_px[1])
-
-    # Clear the buffer zone around the robot's start pixel if it falls inside it.
-    # The robot stands adjacent to the start table so its position sits within the 0.15m buffer.
-    if 0 <= sy < nav_fs.shape[0] and 0 <= sx < nav_fs.shape[1] and not nav_fs[sy, sx]:
+
+    def clear_nav_map_buffer(world_xy: torch.Tensor | np.ndarray):
+        nav_fs = nav_map.freespace_mask()
+        pixel_xy = nav_map.world_to_pixel_numpy(np.asarray(world_xy)[None])[0].astype(int)
+        x_px, y_px = int(pixel_xy[0]), int(pixel_xy[1])
+        if not (0 <= y_px < nav_fs.shape[0] and 0 <= x_px < nav_fs.shape[1]) or nav_fs[y_px, x_px]:
+            return
         clear_r = int(0.15 / nav_map.resolution)
         yy, xx = np.ogrid[: nav_map.data.shape[0], : nav_map.data.shape[1]]
-        nav_map.data[(xx - sx) ** 2 + (yy - sy) ** 2 <= clear_r**2] = OccupancyMapDataValue.FREESPACE
+        nav_map.data[(xx - x_px) ** 2 + (yy - y_px) ** 2 <= clear_r**2] = OccupancyMapDataValue.FREESPACE
+
+    # The robot start and approach goal can sit adjacent to their tables, inside the 0.15 m buffer.
+    clear_nav_map_buffer(env.get_base().get_pose()[0, :2].detach().cpu().numpy())
+    clear_nav_map_buffer(base_goal_approach.get_pose()[0, :2].detach().cpu().numpy())
 
     base_path = plan_path(start=env.get_base(), end=base_goal_approach, occupancy_map=nav_map)
 
@@ -899,6 +905,11 @@ def replay(
         print("Failed to setup navigation scene", flush=True)
         return False
 
+    # Background placement can move fixtures and re-project robot/object root poses
+    # after reset_to records initial_state. Re-record from the projected scene.
+    env.recorder_manager.reset(env_ids=[0])
+    env.recorder_manager.record_post_reset(env_ids=[0])
+
     if sensor_camera_view:
         _set_sensor_camera_view()
 
@@ -1001,7 +1012,17 @@ def replay(
         env_cfg.recorders.dataset_export_mode = DatasetExportMode.EXPORT_SUCCEEDED_ONLY
         env_cfg.recorders.export_in_record_pre_reset = True
 
-        if args_cli.background_usd_path is not None and args_cli.background_occupancy_yaml_file is not None:
+        nurec_scene_used = (
+            args_cli.background_usd_path is not None or args_cli.background_occupancy_yaml_file is not None
+        )
+        if nurec_scene_used and (
+            args_cli.background_usd_path is None or args_cli.background_occupancy_yaml_file is None
+        ):
+            raise ValueError(
+                "Both --background_usd_path and --background_occupancy_yaml_file must be provided for NuRec scenes."
+            )
+
+        if nurec_scene_used:
             env_cfg.background_usd_path = args_cli.background_usd_path
             env_cfg.background_occupancy_yaml_file = args_cli.background_occupancy_yaml_file
 
@@ -1048,7 +1069,7 @@ def replay(
                 following_offset=args_cli.following_offset,
                 angle_threshold=args_cli.angle_threshold,
                 approach_distance=args_cli.approach_distance,
-                randomize_placement=args_cli.randomize_placement,
+                randomize_placement=args_cli.randomize_placement or nurec_scene_used,
                 sensor_camera_view=args_cli.sensor_camera_view,
             )
 
diff --git a/scripts/imitation_learning/robomimic/play.py b/scripts/imitation_learning/robomimic/play.py
index c07a842def7e..1f381bb693ea 100644
--- a/scripts/imitation_learning/robomimic/play.py
+++ b/scripts/imitation_learning/robomimic/play.py
@@ -22,7 +22,9 @@
 
 import argparse
 
-from isaaclab.app import AppLauncher
+from isaaclab.app import AppLauncher, scan
+
+from isaaclab_tasks.utils import resolve_task_config
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Evaluate robomimic policy for Isaac Lab environment.")
@@ -47,7 +49,15 @@
 args_cli, hydra_overrides = parser.parse_known_args()
 
 # launch omniverse app
-app_launcher = AppLauncher(args_cli)
+# Only enable rendering for tasks that actually declare Kit camera sensors: this script also
+# plays policies trained on low-dimensional observations, which should not pay for the RTX
+# renderer. ``resolve_task_config`` is safe to call before Kit is launched, and ``scan`` is the
+# same detection ``launch_simulation`` uses, so this matches how camera enabling is resolved
+# elsewhere now that the ``--enable_cameras`` flag is gone.
+# ``overrides`` must be passed explicitly: this script keeps its own flags in ``sys.argv`` rather
+# than stripping them, so letting Hydra fall back to reading ``sys.argv`` makes it reject them.
+env_cfg_for_scan, _ = resolve_task_config(args_cli.task, "", overrides=hydra_overrides)
+app_launcher = AppLauncher(args_cli, enable_cameras=scan(env_cfg_for_scan, args_cli).has_kit_camera)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""
diff --git a/scripts/imitation_learning/robomimic/robust_eval.py b/scripts/imitation_learning/robomimic/robust_eval.py
index df2c534704b4..32a875541733 100644
--- a/scripts/imitation_learning/robomimic/robust_eval.py
+++ b/scripts/imitation_learning/robomimic/robust_eval.py
@@ -28,7 +28,9 @@
 
 import argparse
 
-from isaaclab.app import AppLauncher
+from isaaclab.app import AppLauncher, scan
+
+from isaaclab_tasks.utils import resolve_task_config
 
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Evaluate robomimic policy for Isaac Lab environment.")
@@ -64,7 +66,15 @@
 args_cli, hydra_overrides = parser.parse_known_args()
 
 # launch omniverse app
-app_launcher = AppLauncher(args_cli)
+# Only enable rendering for tasks that actually declare Kit camera sensors: this script also
+# evaluates policies trained on low-dimensional observations, which should not pay for the RTX
+# renderer. ``resolve_task_config`` is safe to call before Kit is launched, and ``scan`` is the
+# same detection ``launch_simulation`` uses, so this matches how camera enabling is resolved
+# elsewhere now that the ``--enable_cameras`` flag is gone.
+# ``overrides`` must be passed explicitly: this script keeps its own flags in ``sys.argv`` rather
+# than stripping them, so letting Hydra fall back to reading ``sys.argv`` makes it reject them.
+env_cfg_for_scan, _ = resolve_task_config(args_cli.task, "", overrides=hydra_overrides)
+app_launcher = AppLauncher(args_cli, enable_cameras=scan(env_cfg_for_scan, args_cli).has_kit_camera)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""
diff --git a/scripts/reinforcement_learning/leapp/deploy.py b/scripts/reinforcement_learning/leapp/deploy.py
deleted file mode 100644
index 13ecbcca6f8d..000000000000
--- a/scripts/reinforcement_learning/leapp/deploy.py
+++ /dev/null
@@ -1,82 +0,0 @@
-# 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
-
-"""Deploy a LEAPP-exported policy in an Isaac Lab simulation."""
-
-"""Launch Isaac Sim Simulator first."""
-
-import argparse
-import sys
-
-from isaaclab.app import AppLauncher
-
-parser = argparse.ArgumentParser(description="Deploy a LEAPP-exported policy in simulation.")
-parser.add_argument("--task", type=str, default=None, help="Name of the registered Isaac Lab task.")
-parser.add_argument("--leapp_model", type=str, default=None, help="Path to the LEAPP .yaml pipeline description.")
-parser.add_argument("--seed", type=int, default=None, help="Seed for the environment.")
-AppLauncher.add_app_launcher_args(parser)
-args_cli, hydra_args = parser.parse_known_args()
-
-if args_cli.task is None or args_cli.leapp_model is None:
-    missing_args = []
-    if args_cli.task is None:
-        missing_args.append("--task")
-    if args_cli.leapp_model is None:
-        missing_args.append("--leapp_model")
-    parser.error(f"the following arguments are required: {', '.join(missing_args)}")
-
-sys.argv = [sys.argv[0]] + hydra_args
-
-app_launcher = AppLauncher(args_cli)
-simulation_app = app_launcher.app
-
-"""Rest everything follows."""
-
-import torch
-
-from isaaclab.envs.leapp_deployment_env import LeappDeploymentEnv
-
-import isaaclab_tasks  # noqa: F401
-from isaaclab_tasks.utils.hydra import resolve_task_config
-
-
-def main():
-    # ── Load env config from gym registry ─────────────────────────
-    task_name = args_cli.task.split(":")[-1]
-    env_cfg, _ = resolve_task_config(task_name, "")
-
-    if args_cli.seed is not None:
-        env_cfg.seed = args_cli.seed
-    if args_cli.device is not None:
-        env_cfg.sim.device = args_cli.device
-
-    # ── Create deploy env ─────────────────────────────────────────
-    env = LeappDeploymentEnv(env_cfg, args_cli.leapp_model)
-
-    if getattr(args_cli, "headless", False):
-        print(
-            "[WARN]: Running deploy without a viewport. This happens when headless mode is active, "
-            "including the default case where no visualizer was selected. The policy may be "
-            "stepping normally, but no viewport will appear unless you specify the "
-            "`--visualizer` field."
-        )
-
-    print(f"[INFO]: Deploying task '{task_name}' with LEAPP model: {args_cli.leapp_model}")
-    print(f"[INFO]: Num envs: {env.num_envs}, decimation: {env.cfg.decimation}, step_dt: {env.step_dt:.4f}s")
-
-    # ── Run loop ──────────────────────────────────────────────────
-    env.reset()
-    try:
-        with torch.inference_mode():
-            while simulation_app.is_running():
-                env.step()
-        env.close()
-    except KeyboardInterrupt:
-        pass
-
-
-if __name__ == "__main__":
-    main()
-    simulation_app.close()
diff --git a/scripts/reinforcement_learning/ray/hyperparameter_tuning/vision_cartpole_cfg.py b/scripts/reinforcement_learning/ray/hyperparameter_tuning/vision_cartpole_cfg.py
index 5e1ef0292935..20318d35fd8c 100644
--- a/scripts/reinforcement_learning/ray/hyperparameter_tuning/vision_cartpole_cfg.py
+++ b/scripts/reinforcement_learning/ray/hyperparameter_tuning/vision_cartpole_cfg.py
@@ -42,7 +42,6 @@ class CartpoleResNetJobCfg(vision_cfg.ResNetCameraJob):
     def __init__(self, cfg: dict = {}):
         cfg = util.populate_isaac_ray_cfg_args(cfg)
         cfg["runner_args"]["--task"] = tune.choice(["Isaac-Cartpole-Camera"])
-        cfg["runner_args"]["--agent"] = "rl_games_feature_cfg_entry_point"
         cfg["hydra_args"]["presets"] = "resnet18"
         super().__init__(cfg)
 
@@ -51,7 +50,6 @@ class CartpoleTheiaJobCfg(vision_cfg.TheiaCameraJob):
     def __init__(self, cfg: dict = {}):
         cfg = util.populate_isaac_ray_cfg_args(cfg)
         cfg["runner_args"]["--task"] = tune.choice(["Isaac-Cartpole-Camera"])
-        cfg["runner_args"]["--agent"] = "rl_games_feature_cfg_entry_point"
         cfg["hydra_args"]["presets"] = "theia_tiny"
         super().__init__(cfg)
 
diff --git a/scripts/tools/check_instanceable.py b/scripts/tools/check_instanceable.py
index 4d8379bf8c6d..8cd5cce3e894 100644
--- a/scripts/tools/check_instanceable.py
+++ b/scripts/tools/check_instanceable.py
@@ -6,14 +6,16 @@
 """
 This script uses the cloner API to check if asset has been instanced properly.
 
+An asset path may be a local file or a Nucleus/HTTPS URL; remote assets are downloaded before use.
+
 Usage with different inputs (replace `<Asset-Path>` and `<Asset-Path-Instanced>` with the path to the
 original asset and the instanced asset respectively):
 
 ```bash
-uv run python source/tools/check_instanceable.py <Asset-Path> -n 4096 --physics
-uv run python source/tools/check_instanceable.py <Asset-Path-Instanced> -n 4096 --physics
-uv run python source/tools/check_instanceable.py <Asset-Path> -n 4096
-uv run python source/tools/check_instanceable.py <Asset-Path-Instanced> -n 4096
+uv run python scripts/tools/check_instanceable.py <Asset-Path> -n 4096 --physics
+uv run python scripts/tools/check_instanceable.py <Asset-Path-Instanced> -n 4096 --physics
+uv run python scripts/tools/check_instanceable.py <Asset-Path> -n 4096
+uv run python scripts/tools/check_instanceable.py <Asset-Path-Instanced> -n 4096
 ```
 
 Output from the above commands:
@@ -42,7 +44,6 @@
 
 import argparse
 import contextlib
-import os
 
 from isaaclab.app import AppLauncher
 
@@ -73,7 +74,7 @@
 import isaaclab.sim as sim_utils
 from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils import Timer
-from isaaclab.utils.assets import check_file_path
+from isaaclab.utils.assets import check_file_path, retrieve_file_path
 
 
 def main():
@@ -99,8 +100,10 @@ def main():
     # Spawn things into stage
     sim_utils.create_prim("/World/Light", "DistantLight")
 
-    # Everything under the namespace "/World/envs/env_0" will be cloned
-    sim_utils.create_prim("/World/envs/env_0/Asset", "Xform", usd_path=os.path.abspath(args_cli.input))
+    # Everything under the namespace "/World/envs/env_0" will be cloned.
+    # Resolve through retrieve_file_path so Nucleus/HTTPS inputs are downloaded first; applying
+    # os.path.abspath() to a URL would prepend the working directory and corrupt it.
+    sim_utils.create_prim("/World/envs/env_0/Asset", "Xform", usd_path=retrieve_file_path(args_cli.input))
     # Clone the scene
     num_clones = args_cli.num_clones
 
diff --git a/scripts/tools/hdf5_to_mp4.py b/scripts/tools/hdf5_to_mp4.py
index b9e7bdb1a316..a0f4f7eafd0b 100644
--- a/scripts/tools/hdf5_to_mp4.py
+++ b/scripts/tools/hdf5_to_mp4.py
@@ -48,6 +48,18 @@
 MAX_DEPTH = 1.5
 
 
+def _convert_frame_to_uint8(frame: np.ndarray) -> np.ndarray:
+    """Convert a video frame to the uint8 format expected by MP4 encoders."""
+    if frame.dtype == np.uint8:
+        return frame
+
+    if np.issubdtype(frame.dtype, np.floating):
+        frame = np.nan_to_num(frame, nan=0.0, posinf=1.0, neginf=0.0)
+        return np.clip(frame * 255.0, 0, 255).astype(np.uint8)
+
+    return np.clip(frame, 0, 255).astype(np.uint8)
+
+
 def parse_args():
     """Parse command line arguments."""
     parser = argparse.ArgumentParser(description="Convert HDF5 demonstration files to MP4 videos.")
@@ -147,15 +159,17 @@ def write_demo_to_mp4(
 
             # Process shaded segmentation frames
             elif "shaded_segmentation" in input_key:
-                seg = frame[..., :-1]
+                segmentation_frame = _convert_frame_to_uint8(frame)
+                seg = segmentation_frame[..., :-1]
                 normals_key = input_key.replace("shaded_segmentation", "normals")
                 normals = f[f"data/demo_{demo_id}/obs/{normals_key}"][ix]
                 shade = 0.5 + (normals * LIGHT_SOURCE[None, None, :]).sum(axis=-1) * 0.5
-                shaded_seg = (shade[..., None] * seg).astype(np.uint8)
-                frame = np.concatenate((shaded_seg, frame[..., -1:]), axis=-1)
+                shaded_seg = np.clip(shade[..., None] * seg, 0, 255).astype(np.uint8)
+                frame = np.concatenate((shaded_seg, segmentation_frame[..., -1:]), axis=-1)
 
             # Convert RGB to BGR
             if "depth" not in input_key:
+                frame = _convert_frame_to_uint8(frame)
                 frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
             else:
                 frame = (frame[..., 0] - MIN_DEPTH) / (MAX_DEPTH - MIN_DEPTH)
diff --git a/scripts/tools/test/test_hdf5_to_mp4.py b/scripts/tools/test/test_hdf5_to_mp4.py
index 33ccd0d1723e..2cb3c777fe2b 100644
--- a/scripts/tools/test/test_hdf5_to_mp4.py
+++ b/scripts/tools/test/test_hdf5_to_mp4.py
@@ -8,6 +8,7 @@
 import os
 import tempfile
 
+import cv2
 import h5py
 import numpy as np
 import pytest
@@ -28,6 +29,12 @@ def temp_hdf5_file():
             rgb_data = np.random.randint(0, 255, (2, 704, 1280, 3), dtype=np.uint8)
             demo_group.create_dataset("table_cam", data=rgb_data)
 
+            # Create RGB frames stored as floats in [0, 1]
+            checkerboard = (np.indices((16, 16)).sum(axis=0) % 2).astype(np.float32)
+            rgb_float_data = np.stack([checkerboard, 1.0 - checkerboard], axis=0)
+            rgb_float_data = np.repeat(rgb_float_data[..., None], 3, axis=-1)
+            demo_group.create_dataset("table_cam_float", data=rgb_float_data)
+
             # Create segmentation frames
             seg_data = np.random.randint(0, 255, (2, 704, 1280, 4), dtype=np.uint8)
             demo_group.create_dataset("table_cam_segmentation", data=seg_data)
@@ -72,6 +79,28 @@ def test_write_demo_to_mp4_rgb(self, temp_hdf5_file, temp_output_dir):
         assert os.path.exists(output_file)
         assert os.path.getsize(output_file) > 0
 
+    def test_write_demo_to_mp4_float_rgb(self, temp_hdf5_file, temp_output_dir):
+        """Test writing float RGB frames to MP4."""
+        write_demo_to_mp4(temp_hdf5_file, 0, "data/demo_0/obs", "table_cam_float", temp_output_dir, 12, 20)
+
+        output_file = os.path.join(temp_output_dir, "demo_0_table_cam_float.mp4")
+        assert os.path.exists(output_file)
+        assert os.path.getsize(output_file) > 0
+
+        video = cv2.VideoCapture(output_file)
+        decoded_frames = []
+        while True:
+            success, frame = video.read()
+            if not success:
+                break
+            decoded_frames.append(frame)
+        video.release()
+
+        assert len(decoded_frames) == 2
+        decoded_frames = np.stack(decoded_frames)
+        assert decoded_frames.shape[1:3] == (12, 20)
+        assert 60.0 < decoded_frames.mean() < 195.0
+
     def test_write_demo_to_mp4_segmentation(self, temp_hdf5_file, temp_output_dir):
         """Test writing segmentation frames to MP4."""
         write_demo_to_mp4(temp_hdf5_file, 0, "data/demo_0/obs", "table_cam_segmentation", temp_output_dir, 704, 1280)
diff --git a/scripts/tools/test/test_train_and_publish_checkpoints.py b/scripts/tools/test/test_train_and_publish_checkpoints.py
index 9f263bba3298..f36ab17f7c2b 100644
--- a/scripts/tools/test/test_train_and_publish_checkpoints.py
+++ b/scripts/tools/test/test_train_and_publish_checkpoints.py
@@ -9,8 +9,12 @@
 from pathlib import Path
 from types import SimpleNamespace
 
+import gymnasium as gym
 import pytest
 
+from isaaclab_tasks.utils.hydra import collect_presets
+from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry
+from isaaclab_tasks.utils.preset_cli import enumerate_task_presets
 from isaaclab_tasks.utils.preset_target import PresetTarget
 
 from scripts.tools.train_and_publish_checkpoints import (
@@ -24,6 +28,35 @@
 )
 
 
+def test_cartpole_feature_presets_are_in_pretrained_checkpoint_matrix() -> None:
+    """Every Cartpole feature policy for the preferred workflow must receive a distinct checkpoint."""
+    task_spec = gym.spec("Isaac-Cartpole-Camera")
+    workflow = task_spec.kwargs["default_agent"]
+    agent_cfg = load_cfg_from_registry(task_spec.id, f"{workflow}_cfg_entry_point")
+    feature_presets = set(collect_presets(agent_cfg)[""]) - {"default"}
+
+    assert set(task_spec.kwargs["pretrained_checkpoint_preset_compatibility"][workflow]) == feature_presets
+
+
+def test_checkpoint_preset_metadata_references_registered_variants() -> None:
+    """Checkpoint declarations must name registered workflows and domain presets."""
+    for task_spec in gym.registry.values():
+        checkpoint_compatibility = task_spec.kwargs.get("pretrained_checkpoint_preset_compatibility", {})
+        if not checkpoint_compatibility:
+            continue
+
+        preset_map = enumerate_task_presets(task_spec.id) or {}
+        domain_presets = set(preset_map.get(PresetTarget.DOMAIN, ()))
+        for workflow, preset_names in checkpoint_compatibility.items():
+            assert f"{workflow}_cfg_entry_point" in task_spec.kwargs, (
+                f"{task_spec.id}: unregistered {workflow} workflow"
+            )
+            assert len(preset_names) == len(set(preset_names)), (
+                f"{task_spec.id}: duplicate {workflow} checkpoint preset"
+            )
+            assert not set(preset_names) - domain_presets, f"{task_spec.id}: unknown {workflow} checkpoint preset"
+
+
 def test_build_core_jobs_skips_unsupported_preset_without_normalizing_default(
     monkeypatch: pytest.MonkeyPatch,
 ) -> None:
@@ -57,6 +90,7 @@ def test_job_commands_use_uv_run_isaaclab() -> None:
         task_name="Isaac-Test",
         physics_backend="physx",
         render_backend="none",
+        preset_names=("depth",),
         physics_selector="isaacsim_physx",
     )
     args = Namespace(max_iterations=None, num_envs=None)
@@ -66,8 +100,33 @@ def test_job_commands_use_uv_run_isaaclab() -> None:
 
     assert train_command[:4] == ["uv", "run", "isaaclab", "train"]
     assert play_command[:4] == ["uv", "run", "isaaclab", "play"]
-    assert train_command[-1] == "physics=isaacsim_physx"
-    assert play_command[-1] == "physics=isaacsim_physx"
+    assert train_command[-2:] == ["physics=isaacsim_physx", "presets=depth"]
+    assert play_command[-2:] == ["physics=isaacsim_physx", "presets=depth"]
+
+
+def test_build_core_jobs_includes_declared_checkpoint_presets(monkeypatch: pytest.MonkeyPatch) -> None:
+    """Core jobs must include preset-specific checkpoints declared by the task."""
+    task_spec = SimpleNamespace(
+        id="Isaac-Test",
+        kwargs={
+            "env_cfg_entry_point": "isaaclab_tasks.core.test:TestEnvCfg",
+            "rl_games_cfg_entry_point": "isaaclab_tasks.core.test:TestAgentCfg",
+            "rsl_rl_cfg_entry_point": "isaaclab_tasks.core.test:TestAgentCfg",
+            "pretrained_checkpoint_preset_compatibility": {"rl_games": ("depth",)},
+        },
+    )
+    monkeypatch.setattr("scripts.tools.train_and_publish_checkpoints.gym.registry", {task_spec.id: task_spec})
+    monkeypatch.setattr("scripts.tools.train_and_publish_checkpoints.parse_env_cfg", lambda _: object())
+    monkeypatch.setattr("scripts.tools.train_and_publish_checkpoints.enumerate_task_presets", lambda _: {})
+    monkeypatch.setattr(
+        "scripts.tools.train_and_publish_checkpoints.get_pretrained_checkpoint_backend_names",
+        lambda _: ("physx", "rtx"),
+    )
+    args = Namespace(physics_backends="physx", render_backends="rtx")
+
+    jobs = _build_core_jobs(args)
+
+    assert [(job.workflow, job.preset_names) for job in jobs] == [("rsl_rl", ()), ("rl_games", ("depth",))]
 
 
 def test_select_physics_variants_uses_concrete_isaac_sim_physx() -> None:
@@ -130,8 +189,9 @@ def test_publish_uses_collected_checkpoint_without_training_logs(
         task_name="Isaac-Test",
         physics_backend="newtonmjwarp",
         render_backend="none",
+        preset_names=("depth",),
     )
-    collected_path = tmp_path / "rsl_rl" / "Isaac-Test_newtonmjwarp_none_rsl_rl.pt"
+    collected_path = tmp_path / "rsl_rl" / "Isaac-Test_depth_newtonmjwarp_none_rsl_rl.pt"
     collected_path.parent.mkdir()
     collected_path.touch()
     args = Namespace(
@@ -143,6 +203,6 @@ def test_publish_uses_collected_checkpoint_without_training_logs(
 
     assert publish_pretrained_checkpoint(job, args)
     assert (
-        f"Publishing {collected_path} -> omniverse://checkpoints/rsl_rl/Isaac-Test_newtonmjwarp_none_rsl_rl.pt"
+        f"Publishing {collected_path} -> omniverse://checkpoints/rsl_rl/Isaac-Test_depth_newtonmjwarp_none_rsl_rl.pt"
         in capsys.readouterr().out
     )
diff --git a/scripts/tools/train_and_publish_checkpoints.py b/scripts/tools/train_and_publish_checkpoints.py
index eddd6c43c018..e9b1cf695128 100644
--- a/scripts/tools/train_and_publish_checkpoints.py
+++ b/scripts/tools/train_and_publish_checkpoints.py
@@ -17,7 +17,7 @@
     └── skrl/
 
 Each checkpoint is named
-``<task_name>_<physics_backend>_<render_backend>_<rl_library><extension>``.
+``<task_name>[_<preset_names>]_<physics_backend>_<render_backend>_<rl_library><extension>``.
 State-only tasks use ``none`` as the render backend because their policies do
 not depend on rendering. This workflow targets core tasks only; other
 registered tasks do not receive published checkpoints from this matrix. The
@@ -106,12 +106,13 @@
 
 @dataclass(frozen=True)
 class CheckpointJob:
-    """One workflow, task, physics, and renderer training combination."""
+    """One workflow, task, preset, physics, and renderer training combination."""
 
     workflow: str
     task_name: str
     physics_backend: str | None = None
     render_backend: str | None = None
+    preset_names: tuple[str, ...] = ()
     physics_selector: str | None = None
     render_selector: str | None = None
     agent: str | None = None
@@ -122,7 +123,8 @@ def job_id(self) -> str:
         """Return the stable human-readable job identifier."""
         if self.physics_backend is None:
             return f"{self.workflow}:{self.task_name}"
-        return f"{self.workflow}:{self.task_name}:{self.physics_backend}:{self.render_backend}"
+        parts = [self.workflow, self.task_name, *self.preset_names, self.physics_backend, self.render_backend]
+        return ":".join(parts)
 
     @property
     def experiment_name(self) -> str:
@@ -134,18 +136,21 @@ def experiment_name(self) -> str:
             self.task_name,
             self.physics_backend,
             self.render_backend,
+            preset_names=self.preset_names,
         )
         extension = os.path.splitext(filename)[1]
         return filename.removesuffix(extension)
 
     @property
     def preset_args(self) -> list[str]:
-        """Return typed preset selectors for this job."""
+        """Return preset selectors for this job."""
         args = []
         if self.physics_selector is not None:
             args.append(f"physics={self.physics_selector}")
         if self.render_selector is not None:
             args.append(f"renderer={self.render_selector}")
+        if self.preset_names:
+            args.append(f"presets={','.join(self.preset_names)}")
         return args
 
 
@@ -158,10 +163,7 @@ def _create_parser() -> argparse.ArgumentParser:
     parser.add_argument(
         "jobs",
         nargs="*",
-        help=(
-            "Job patterns. Legacy jobs use workflow:task. Core matrix patterns "
-            "also match workflow:task:physics:renderer."
-        ),
+        help="Job patterns. Legacy jobs use workflow:task. Core matrix patterns match the displayed job IDs.",
     )
     parser.add_argument("-t", "--train", action="store_true", help="Run full training and collect checkpoints.")
     parser.add_argument("--smoke", action="store_true", help="Run one-iteration backend smoke training.")
@@ -335,7 +337,14 @@ def _build_core_jobs(args: argparse.Namespace) -> list[CheckpointJob]:
         physics_variants = preset_map.get(PresetTarget.PHYSICS, [])
         render_variants = preset_map.get(PresetTarget.RENDERER, [])
         env_cfg = parse_env_cfg(task_spec.id)
-        workflow, agent, algorithm = _select_workflow(task_spec, env_cfg)
+        preferred_workflow = _select_workflow(task_spec, env_cfg)
+        checkpoint_compatibility = task_spec.kwargs.get("pretrained_checkpoint_preset_compatibility", {})
+        workflow_selections = [preferred_workflow]
+        workflow_selections.extend(
+            (workflow, None, None)
+            for workflow in checkpoint_compatibility
+            if workflow != preferred_workflow[0] and f"{workflow}_cfg_entry_point" in task_spec.kwargs
+        )
         default_physics = None
         if not physics_variants:
             default_physics, _ = get_pretrained_checkpoint_backend_names(env_cfg)
@@ -347,21 +356,26 @@ def _build_core_jobs(args: argparse.Namespace) -> list[CheckpointJob]:
             physics_backends,
         )
         render_selections = _select_render_variants(render_variants, render_backends)
-        for _physics_family, physics_selector in physics_selections:
-            physics_backend = _resolve_physics_backend(task_spec.id, physics_selector, default_physics)
-            for render_backend, render_selector in render_selections:
-                jobs.append(
-                    CheckpointJob(
-                        workflow=workflow,
-                        task_name=task_spec.id,
-                        physics_backend=physics_backend,
-                        render_backend=render_backend,
-                        physics_selector=physics_selector,
-                        render_selector=render_selector,
-                        agent=agent,
-                        algorithm=algorithm,
-                    )
-                )
+        for workflow, agent, algorithm in workflow_selections:
+            checkpoint_presets = [()] if workflow == preferred_workflow[0] else []
+            checkpoint_presets.extend((preset_name,) for preset_name in checkpoint_compatibility.get(workflow, ()))
+            for _physics_family, physics_selector in physics_selections:
+                physics_backend = _resolve_physics_backend(task_spec.id, physics_selector, default_physics)
+                for render_backend, render_selector in render_selections:
+                    for preset_names in checkpoint_presets:
+                        jobs.append(
+                            CheckpointJob(
+                                workflow=workflow,
+                                task_name=task_spec.id,
+                                physics_backend=physics_backend,
+                                render_backend=render_backend,
+                                preset_names=preset_names,
+                                physics_selector=physics_selector,
+                                render_selector=render_selector,
+                                agent=agent,
+                                algorithm=algorithm,
+                            )
+                        )
     return jobs
 
 
@@ -470,6 +484,7 @@ def _has_training_job_completed(job: CheckpointJob) -> bool:
         job.task_name,
         job.physics_backend,
         job.render_backend,
+        preset_names=job.preset_names,
     )
     if run_path is None or not os.path.isfile(os.path.join(run_path, _TRAINING_COMPLETE_FILENAME)):
         return False
@@ -478,6 +493,7 @@ def _has_training_job_completed(job: CheckpointJob) -> bool:
         job.task_name,
         job.physics_backend,
         job.render_backend,
+        preset_names=job.preset_names,
     )
 
 
@@ -488,6 +504,7 @@ def _mark_training_job_completed(job: CheckpointJob) -> None:
         job.task_name,
         job.physics_backend,
         job.render_backend,
+        preset_names=job.preset_names,
     )
     if run_path is None:
         raise RuntimeError(f"Unable to determine the latest run for {job.job_id}")
@@ -513,6 +530,7 @@ def train_job(job: CheckpointJob, args: argparse.Namespace, smoke: bool = False)
         job.task_name,
         job.physics_backend,
         job.render_backend,
+        preset_names=job.preset_names,
     ):
         print(f"Training did not produce a checkpoint for {job.job_id}", file=sys.stderr)
         return False
@@ -532,6 +550,7 @@ def collect_pretrained_checkpoint(job: CheckpointJob, output_dir: str, dry_run:
         job.task_name,
         job.physics_backend,
         job.render_backend,
+        preset_names=job.preset_names,
     )
     if source_path is None or not os.path.isfile(source_path):
         print(f"No completed checkpoint to collect for {job.job_id}")
@@ -550,6 +569,7 @@ def review_pretrained_checkpoint(job: CheckpointJob, args: argparse.Namespace) -
         job.task_name,
         job.physics_backend,
         job.render_backend,
+        preset_names=job.preset_names,
     ):
         print(f"Skipping review of {job.job_id}; it has not been trained")
         return False
@@ -558,6 +578,7 @@ def review_pretrained_checkpoint(job: CheckpointJob, args: argparse.Namespace) -
         job.task_name,
         job.physics_backend,
         job.render_backend,
+        preset_names=job.preset_names,
     ):
         print(f"Skipping review of {job.job_id}; training is incomplete")
         return False
@@ -567,6 +588,7 @@ def review_pretrained_checkpoint(job: CheckpointJob, args: argparse.Namespace) -
         job.task_name,
         job.physics_backend,
         job.render_backend,
+        preset_names=job.preset_names,
     )
     if not args.force_review and review and review.get("reviewed"):
         print(f"Review already complete for {job.job_id}")
@@ -577,6 +599,7 @@ def review_pretrained_checkpoint(job: CheckpointJob, args: argparse.Namespace) -
         job.task_name,
         job.physics_backend,
         job.render_backend,
+        preset_names=job.preset_names,
     )
     if checkpoint_path is None:
         print(f"Skipping review of {job.job_id}; no checkpoint was found")
@@ -600,6 +623,7 @@ def review_pretrained_checkpoint(job: CheckpointJob, args: argparse.Namespace) -
         job.task_name,
         job.physics_backend,
         job.render_backend,
+        preset_names=job.preset_names,
     )
     if review_path is None:
         raise RuntimeError(f"Unable to determine review path for {job.job_id}")
@@ -623,6 +647,7 @@ def publish_pretrained_checkpoint(job: CheckpointJob, args: argparse.Namespace)
             job.task_name,
             job.physics_backend,
             job.render_backend,
+            preset_names=job.preset_names,
         )
         if not review or review.get("result") != "accepted":
             print(f"Skipping publish of {job.job_id}; it does not have an accepted review")
@@ -634,6 +659,7 @@ def publish_pretrained_checkpoint(job: CheckpointJob, args: argparse.Namespace)
             job.task_name,
             job.physics_backend,
             job.render_backend,
+            preset_names=job.preset_names,
         )
     else:
         filename = get_pretrained_checkpoint_filename(
@@ -641,6 +667,7 @@ def publish_pretrained_checkpoint(job: CheckpointJob, args: argparse.Namespace)
             job.task_name,
             job.physics_backend,
             job.render_backend,
+            preset_names=job.preset_names,
         )
         publish_path = posixpath.join(args.publish_root.rstrip("/"), job.workflow, filename)
     print(f"Publishing {local_path} -> {publish_path}")
@@ -664,6 +691,7 @@ def _summary_row(job: CheckpointJob, output_dir: str) -> list[str | bool]:
         job.task_name,
         job.physics_backend,
         job.render_backend,
+        preset_names=job.preset_names,
     )
     has_finished = (
         _has_training_job_completed(job)
@@ -676,10 +704,12 @@ def _summary_row(job: CheckpointJob, output_dir: str) -> list[str | bool]:
         job.task_name,
         job.physics_backend,
         job.render_backend,
+        preset_names=job.preset_names,
     )
     return [
         job.workflow,
         job.task_name,
+        ",".join(job.preset_names),
         job.physics_backend or "",
         job.render_backend or "",
         job.physics_selector or "",
@@ -698,6 +728,7 @@ def _get_collected_checkpoint_path(job: CheckpointJob, output_dir: str) -> str:
         job.task_name,
         job.physics_backend,
         job.render_backend,
+        preset_names=job.preset_names,
     )
     path_parts = [output_dir, job.workflow]
     if job.physics_backend is None:
@@ -733,6 +764,7 @@ def main(argv: list[str] | None = None) -> int:
             [
                 "Workflow",
                 "Task",
+                "Presets",
                 "Physics",
                 "Renderer",
                 "Physics selector",
diff --git a/scripts/tutorials/02_scene/create_scene.py b/scripts/tutorials/02_scene/create_scene.py
index db3395b0e2a5..36dce16c4cd7 100644
--- a/scripts/tutorials/02_scene/create_scene.py
+++ b/scripts/tutorials/02_scene/create_scene.py
@@ -39,7 +39,7 @@
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sim import SimulationContext
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Pre-defined configs
diff --git a/scripts/tutorials/03_envs/create_cartpole_base_env.py b/scripts/tutorials/03_envs/create_cartpole_base_env.py
index d2c58e9d9463..35da1550678a 100644
--- a/scripts/tutorials/03_envs/create_cartpole_base_env.py
+++ b/scripts/tutorials/03_envs/create_cartpole_base_env.py
@@ -45,7 +45,7 @@
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 from isaaclab_tasks.core.cartpole.cartpole_manager_env_cfg import CartpoleSceneCfg
diff --git a/scripts/tutorials/03_envs/create_cube_base_env.py b/scripts/tutorials/03_envs/create_cube_base_env.py
index 43e269672344..08d203b9e638 100644
--- a/scripts/tutorials/03_envs/create_cube_base_env.py
+++ b/scripts/tutorials/03_envs/create_cube_base_env.py
@@ -62,7 +62,7 @@
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 ##
diff --git a/scripts/tutorials/03_envs/create_quadruped_base_env.py b/scripts/tutorials/03_envs/create_quadruped_base_env.py
index ceff08a12691..151c213a771d 100644
--- a/scripts/tutorials/03_envs/create_quadruped_base_env.py
+++ b/scripts/tutorials/03_envs/create_quadruped_base_env.py
@@ -52,8 +52,8 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors import RayCasterCfg, patterns
 from isaaclab.terrains import TerrainImporterCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, check_file_path, read_file
-from isaaclab.utils.configclass import configclass
 from isaaclab.utils.noise import UniformNoiseCfg as Unoise
 
 ##
diff --git a/scripts/tutorials/04_sensors/add_sensors_on_robot.py b/scripts/tutorials/04_sensors/add_sensors_on_robot.py
index d45515b4431b..7eb6e9edd849 100644
--- a/scripts/tutorials/04_sensors/add_sensors_on_robot.py
+++ b/scripts/tutorials/04_sensors/add_sensors_on_robot.py
@@ -45,7 +45,7 @@
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import CameraCfg, ContactSensorCfg, RayCasterCfg, patterns
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Pre-defined configs
diff --git a/scripts/tutorials/05_controllers/run_diff_ik.py b/scripts/tutorials/05_controllers/run_diff_ik.py
index b269e2fa80f9..7008ad0da522 100644
--- a/scripts/tutorials/05_controllers/run_diff_ik.py
+++ b/scripts/tutorials/05_controllers/run_diff_ik.py
@@ -46,8 +46,8 @@
 from isaaclab.markers import VisualizationMarkers
 from isaaclab.markers.config import FRAME_MARKER_CFG
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 from isaaclab.utils.math import subtract_frame_transforms
 
 ##
diff --git a/scripts/tutorials/05_controllers/run_osc.py b/scripts/tutorials/05_controllers/run_osc.py
index bba1818b9e6a..5089ec7824c5 100644
--- a/scripts/tutorials/05_controllers/run_osc.py
+++ b/scripts/tutorials/05_controllers/run_osc.py
@@ -45,7 +45,7 @@
 from isaaclab.markers.config import FRAME_MARKER_CFG
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import ContactSensorCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.math import (
     combine_frame_transforms,
     matrix_from_quat,
diff --git a/skills/user/convert-direct-to-manager/SKILL.md b/skills/user/convert-direct-to-manager/SKILL.md
index bc4c4a3f765d..11bdbd8f5835 100644
--- a/skills/user/convert-direct-to-manager/SKILL.md
+++ b/skills/user/convert-direct-to-manager/SKILL.md
@@ -48,7 +48,7 @@ uv run --no-project python tools/skills/cli.py check
 
 ## Maintenance
 
-Keep this skill synchronized with `docs/source/overview/core-concepts/task_workflows.rst`, `docs/source/tutorials/03_envs/create_manager_rl_env.rst`, direct/manager paired examples under `source/isaaclab_tasks/isaaclab_tasks/core/`, and shared MDP terms under task-specific `mdp/` packages.
+Keep this skill synchronized with `docs/source/concepts/task_workflows.rst`, `docs/source/tutorials/03_envs/create_manager_rl_env.rst`, direct/manager paired examples under `source/isaaclab_tasks/isaaclab_tasks/core/`, and shared MDP terms under task-specific `mdp/` packages.
 
 ## References
 
@@ -56,7 +56,7 @@ Keep this skill synchronized with `docs/source/overview/core-concepts/task_workf
 - [Evaluations](evaluations.md)
 - [Environment building skill](../create-environments/SKILL.md)
 - [Isaac Gym migration skill](../migrate-from-isaac-gym/SKILL.md)
-- [Task workflows](../../../docs/source/overview/core-concepts/task_workflows.rst)
+- [Task workflows](../../../docs/source/concepts/task_workflows.rst)
 - [Create manager-based RL environment tutorial](../../../docs/source/tutorials/03_envs/create_manager_rl_env.rst)
 - [Register Gym environment tutorial](../../../docs/source/tutorials/03_envs/register_rl_env_gym.rst)
 - [Ant direct environment](../../../source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_direct_env.py)
diff --git a/skills/user/create-environments/SKILL.md b/skills/user/create-environments/SKILL.md
index f9b6c7c9b168..5e9c336370d6 100644
--- a/skills/user/create-environments/SKILL.md
+++ b/skills/user/create-environments/SKILL.md
@@ -50,14 +50,14 @@ uv run --no-project python tools/skills/cli.py check
 
 ## Maintenance
 
-Keep this skill synchronized with `docs/source/overview/core-concepts/task_workflows.rst`, the environment tutorials under `docs/source/tutorials/03_envs/`, and maintained task examples under `source/isaaclab_tasks/isaaclab_tasks/`. If workflow documentation is missing or stale, update the docs or examples first and keep this skill focused on choosing the right path.
+Keep this skill synchronized with `docs/source/concepts/task_workflows.rst`, the environment tutorials under `docs/source/tutorials/03_envs/`, and maintained task examples under `source/isaaclab_tasks/isaaclab_tasks/`. If workflow documentation is missing or stale, update the docs or examples first and keep this skill focused on choosing the right path.
 
 ## References
 
 - [Evaluations](evaluations.md)
 - [Examples](examples.md)
 - [Manipulation planning skill](../plan-manipulation-tasks/SKILL.md)
-- [Task workflows](../../../docs/source/overview/core-concepts/task_workflows.rst)
+- [Task workflows](../../../docs/source/concepts/task_workflows.rst)
 - [Create manager-based base environment tutorial](../../../docs/source/tutorials/03_envs/create_manager_base_env.rst)
 - [Create manager-based RL environment tutorial](../../../docs/source/tutorials/03_envs/create_manager_rl_env.rst)
 - [Register Gym environment tutorial](../../../docs/source/tutorials/03_envs/register_rl_env_gym.rst)
diff --git a/skills/user/domain-randomization-events/examples.md b/skills/user/domain-randomization-events/examples.md
index d9990f5af7f0..0a1ffb44a538 100644
--- a/skills/user/domain-randomization-events/examples.md
+++ b/skills/user/domain-randomization-events/examples.md
@@ -40,7 +40,7 @@ Given a reset event named `variable_gravity`, add a task-owned scheduler and int
 
 ```python
 from isaaclab.managers import CurriculumTermCfg as CurrTerm
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from . import mdp
 
@@ -111,7 +111,7 @@ Pattern:
 import isaaclab.envs.mdp as mdp
 from isaaclab.managers import EventTermCfg as EventTerm
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab_tasks.utils import PresetCfg
 
 
diff --git a/skills/user/isaaclab-transferring-policies-sim-to-sim/SKILL.md b/skills/user/isaaclab-transferring-policies-sim-to-sim/SKILL.md
index 9eb28757b361..317ba09bea60 100644
--- a/skills/user/isaaclab-transferring-policies-sim-to-sim/SKILL.md
+++ b/skills/user/isaaclab-transferring-policies-sim-to-sim/SKILL.md
@@ -11,7 +11,7 @@ owners:
 
 ## When To Use
 
-Read the [sim-to-sim how-to](../../../docs/source/how-to/transfer_policies_between_physx_and_newton.rst) first. This skill follows that page in the same order. Before transfer, make the asset and task MJWarp-ready with `isaaclab-preparing-assets-for-newton`.
+Read the [sim-to-sim guide](../../../docs/source/how-to/transfer_policies_between_physx_and_newton.rst) first. This skill follows that page in the same order. Before transfer, make the asset and task MJWarp-ready with `isaaclab-preparing-assets-for-newton`.
 
 ## Workflow
 
@@ -21,7 +21,7 @@ Read the [sim-to-sim how-to](../../../docs/source/how-to/transfer_policies_betwe
 4. **Transferring control behavior.** Match nominal actuator response before tuning the policy. Distinguish rated and solver velocity limits, use per-joint effort, gains, friction, and armature, preserve `dt * decimation`, keep targets away from hard stops, and monitor saturation and action sign changes. Increase damping to prevent bang-bang control and retune it after increasing armature.
 5. **Introducing domain randomization.** Randomize plausible robot/object friction, object mass/inertia, joint gains/friction, joint armature, gravity, actuator response, reset pose/geometry, and observation noise. Keep inertia valid and coupled mechanisms coherent. If transfer needs extreme ranges, revisit the nominal model. Use curriculum when the final distribution blocks learning, promote to final deployment difficulty, and keep a separate deterministic nominal evaluation.
 6. **Validate the full matrix.** Evaluate PP, PN, NN, and NP. For each source policy, reproduce the same-backend baseline and deploy the exact checkpoint in the other backend.
-7. **Run a validated transfer.** The how-to lists three fully validated tasks in a compact table — `Isaac-Lift-Franka`, `Isaac-Velocity-Rough-G1`, and `Isaac-Velocity-Rough-AnymalD` — with each task's experiment directory and task-specific notes. Substitute the task ID and directory into the generic PP/PN/NN/NP commands above. The play entry point applies `play_mode` overrides automatically. `Isaac-Reorient-Cube-Allegro` is shown as a PhysX-to-Newton demonstration only.
+7. **Run a validated transfer.** The guide lists three fully validated tasks in a compact table — `Isaac-Lift-Franka`, `Isaac-Velocity-Rough-G1`, and `Isaac-Velocity-Rough-AnymalD` — with each task's experiment directory and task-specific notes. Substitute the task ID and directory into the generic PP/PN/NN/NP commands above. The play entry point applies `play_mode` overrides automatically. `Isaac-Reorient-Cube-Allegro` is shown as a PhysX-to-Newton demonstration only.
 
 ## Validation
 
@@ -29,12 +29,12 @@ Require a task trainable in both backends, exact environment-contract equality,
 
 ## Maintenance
 
-Keep this skill synchronized section-for-section with the sim-to-sim how-to, including the validated-task table (Franka, G1, ANYmal D).
+Keep this skill synchronized section-for-section with the sim-to-sim guide, including the validated-task table (Franka, G1, ANYmal D).
 
 ## References
 
 - [Compact reference](reference.md)
 - [Examples](examples.md)
 - [Evaluations](evaluations.md)
-- [Asset migration guide](../../../docs/source/overview/core-concepts/physical-backends/newton/migrating-assets-from-physx-to-newton.rst)
+- [Asset migration guide](../../../docs/source/how-to/prepare_asset_for_newton.rst)
 - [RL train and play guide](../../../docs/source/concepts/reinforcement_learning.rst)
diff --git a/skills/user/isaaclab-transferring-policies-sim-to-sim/examples.md b/skills/user/isaaclab-transferring-policies-sim-to-sim/examples.md
index 550c4908f94a..2225d2bfdf2a 100644
--- a/skills/user/isaaclab-transferring-policies-sim-to-sim/examples.md
+++ b/skills/user/isaaclab-transferring-policies-sim-to-sim/examples.md
@@ -6,7 +6,7 @@ Keep one MDP for the registered task, resolve and audit each backend's `PresetCf
 
 ## MJWarp-Trained Franka To PhysX
 
-Use the same contract and control settings, reproduce NN with the explicit checkpoint, and run NP in PhysX. Keep the training and inference task IDs from the how-to.
+Use the same contract and control settings, reproduce NN with the explicit checkpoint, and run NP in PhysX. Keep the training and inference task IDs from the guide.
 
 ## PhysX-Trained ANYmal D Or G1 To MJWarp
 
diff --git a/skills/user/isaaclab-transferring-policies-sim-to-sim/reference.md b/skills/user/isaaclab-transferring-policies-sim-to-sim/reference.md
index 23a785ed7b76..42d5afdb366c 100644
--- a/skills/user/isaaclab-transferring-policies-sim-to-sim/reference.md
+++ b/skills/user/isaaclab-transferring-policies-sim-to-sim/reference.md
@@ -9,7 +9,7 @@
 - [Introducing domain randomization](#introducing-domain-randomization)
 - [Validate the full matrix](#validate-the-full-matrix)
 
-This reference follows the sections in the [sim-to-sim how-to](../../../docs/source/how-to/transfer_policies_between_physx_and_newton.rst).
+This reference follows the sections in the [sim-to-sim guide](../../../docs/source/how-to/transfer_policies_between_physx_and_newton.rst).
 
 ## Task Readiness And Checkpoint Compatibility
 
@@ -64,13 +64,13 @@ Setting only `joint_ordering` leaves bodies in backend order and mismatches any
 | `Isaac-Velocity-Rough-G1` | Yes | PhysX groups by tree depth; MJWarp emits each limb depth-first. |
 | `Isaac-Velocity-Rough-AnymalD` | Yes | PhysX yields `LF_HAA, LH_HAA, RF_HAA, ...`; MJWarp yields `LF_HAA, LF_HFE, LF_KFE, ...`. |
 
-Confirm the resolved axes by comparing `joint_names` with `backend_joint_names` (and the body equivalents). An override that already matches the backend's native order normalizes to the zero-conversion identity, so it is free where unnecessary. Full contract: [joint and body ordering](../../../docs/source/overview/core-concepts/physical-backends/joint_and_body_ordering.rst).
+Confirm the resolved axes by comparing `joint_names` with `backend_joint_names` (and the body equivalents). An override that already matches the backend's native order normalizes to the zero-conversion identity, so it is free where unnecessary. Full contract: [joint and body ordering](../../../docs/source/concepts/joint_and_body_ordering.rst).
 
 ## Transferring Control Behavior
 
 Match nominal actuator response before policy tuning:
 
-- distinguish `velocity_limit` from `velocity_limit_sim`;
+- distinguish `actuator_velocity_limit` from `joint_velocity_limit`;
 - use per-joint effort, stiffness, damping, friction, and armature;
 - preserve `dt * decimation` and action hold;
 - keep targets away from hard stops; and
@@ -124,4 +124,4 @@ Drop the two ordering overrides only when the task's joint and body order alread
 
 ### Run The Franka Lift Transfer
 
-For Franka, use `Isaac-Lift-Franka` to train and infer. The play entry point applies the task's `play_mode` overrides and disables Franka gripper-closing-speed randomization automatically. Use the exact PP, PN, NN, and NP commands from the how-to.
+For Franka, use `Isaac-Lift-Franka` to train and infer. The play entry point applies the task's `play_mode` overrides and disables Franka gripper-closing-speed randomization automatically. Use the exact PP, PN, NN, and NP commands from the guide.
diff --git a/skills/user/migrate-2x-to-3x/supplemental-checks.md b/skills/user/migrate-2x-to-3x/supplemental-checks.md
index 24a09f05c1c0..e769ec4ebed6 100644
--- a/skills/user/migrate-2x-to-3x/supplemental-checks.md
+++ b/skills/user/migrate-2x-to-3x/supplemental-checks.md
@@ -15,7 +15,7 @@ Use these checks to route investigation, not as standalone migration docs:
 | Task names include the old Gym version suffix, such as `-v0` | Current task docs and the environment catalog; use suffixless task names in examples |
 | Visualizer launch behavior changed | `docs/source/migration/migrating_to_isaaclab_3-0.rst` and `source/isaaclab/isaaclab/app/app_launcher.py` |
 | Camera examples include obsolete launch options | Current sensor, renderer, and visualization docs; camera support is automatic |
-| Backend-specific physics or schema cfgs | `docs/source/overview/core-concepts/multi_backend_architecture.rst` and `docs/source/overview/core-concepts/schema_cfgs.rst` |
+| Backend-specific physics or schema cfgs | `docs/source/concepts/backend_architecture.rst` and `docs/source/concepts/schema_cfgs.rst` |
 | Imports of PhysX/Newton schema cfgs from `isaaclab.sim.schemas` | Move backend-specific imports to `isaaclab_physx.sim.schemas` or `isaaclab_newton.sim.schemas`; core forwarding shims are deprecated |
 | Spawner schema overrides that need multiple namespaces in one slot | Prefer schema fragments such as `UsdPhysicsDriveCfg`, `PhysxJointCfg`, `NewtonCollisionCfg`, or `MujocoJointCfg` instead of forcing one legacy property cfg to carry every backend attribute |
 | Quaternion order changed from WXYZ to XYZW | `docs/source/migration/migrating_to_isaaclab_3-0.rst` and `scripts/tools/find_quaternions.py` |
diff --git a/skills/user/migrate-from-isaac-gym/SKILL.md b/skills/user/migrate-from-isaac-gym/SKILL.md
index c032d392c25a..cacb1fde3fe5 100644
--- a/skills/user/migrate-from-isaac-gym/SKILL.md
+++ b/skills/user/migrate-from-isaac-gym/SKILL.md
@@ -60,7 +60,7 @@ uv run --no-project python tools/skills/cli.py check
 
 ## Maintenance
 
-Keep this skill synchronized with the Isaac Gym section in `docs/source/migration/migrating_to_isaaclab_3-0.rst`, `docs/source/setup/installation/index.rst`, `docs/source/overview/core-concepts/task_workflows.rst`, `docs/source/overview/core-concepts/multi_backend_architecture.rst`, `docs/source/overview/core-concepts/schema_cfgs.rst`, the direct environment tutorial, and direct task examples such as `source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/`, `source/isaaclab_tasks/isaaclab_tasks/contrib/anymal_c_direct/`, and `source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/`. If the migration requires documentation-level details, update `docs/source/` or the maintained examples first and keep this skill as a workflow router.
+Keep this skill synchronized with the Isaac Gym section in `docs/source/migration/migrating_to_isaaclab_3-0.rst`, `docs/source/setup/installation/index.rst`, `docs/source/concepts/task_workflows.rst`, `docs/source/concepts/backend_architecture.rst`, `docs/source/concepts/schema_cfgs.rst`, the direct environment tutorial, and direct task examples such as `source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/`, `source/isaaclab_tasks/isaaclab_tasks/contrib/anymal_c_direct/`, and `source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/`. If the migration requires documentation-level details, update `docs/source/` or the maintained examples first and keep this skill as a workflow router.
 
 ## References
 
@@ -71,9 +71,9 @@ Keep this skill synchronized with the Isaac Gym section in `docs/source/migratio
 - [Evaluations](evaluations.md)
 - [Direct to manager conversion skill](../convert-direct-to-manager/SKILL.md)
 - [Migration guide: Isaac Gym section](../../../docs/source/migration/migrating_to_isaaclab_3-0.rst#migration-from-isaac-gym-and-isaacgymenvs)
-- [Task workflows](../../../docs/source/overview/core-concepts/task_workflows.rst)
-- [Multi-backend architecture](../../../docs/source/overview/core-concepts/multi_backend_architecture.rst)
-- [Schema cfgs](../../../docs/source/overview/core-concepts/schema_cfgs.rst)
+- [Task workflows](../../../docs/source/concepts/task_workflows.rst)
+- [Backend architecture](../../../docs/source/concepts/backend_architecture.rst)
+- [Schema cfgs](../../../docs/source/concepts/schema_cfgs.rst)
 - [Environment browser](../../../docs/source/setup/environments.rst)
 - [Create direct workflow environment tutorial](../../../docs/source/tutorials/03_envs/create_direct_rl_env.rst)
 - [Create manager-based environment tutorial](../../../docs/source/tutorials/03_envs/create_manager_rl_env.rst)
diff --git a/skills/user/prepare-assets-for-newton/SKILL.md b/skills/user/prepare-assets-for-newton/SKILL.md
index 9cec3f1bd5b8..57648d65b0bf 100644
--- a/skills/user/prepare-assets-for-newton/SKILL.md
+++ b/skills/user/prepare-assets-for-newton/SKILL.md
@@ -11,11 +11,11 @@ owners:
 
 ## When To Use
 
-Read the [asset migration guide](../../../docs/source/overview/core-concepts/physical-backends/newton/migrating-assets-from-physx-to-newton.rst) first. This skill follows that page in the same order and targets Newton with MJWarp, not Newton solvers generally. Use the sim-to-sim skill only after the asset and task run in both backends.
+Read the [asset migration guide](../../../docs/source/how-to/prepare_asset_for_newton.rst) first. This skill follows that page in the same order and targets Newton with MJWarp, not Newton solvers generally. Use the sim-to-sim skill only after the asset and task run in both backends.
 
-1D cable / rod assets are out of scope here: they are authored fresh as Newton deformables (Newton + VBD only), not converted from a PhysX rigid asset. See the [Using Cables guide](../../../docs/source/overview/core-concepts/physical-backends/newton/using-cables.rst).
+1D cable / rod assets are out of scope here: they are authored fresh as Newton deformables (Newton + VBD only), not converted from a PhysX rigid asset. See the [Deformables guide](../../../docs/source/concepts/deformables.rst).
 
-Implicit MPM particle assets and rigid-MPM coupling are also out of scope; see the [Using Implicit MPM guide](../../../docs/source/overview/core-concepts/physical-backends/newton/using-mpm.rst).
+Implicit MPM particle assets and rigid-MPM coupling are also out of scope; see the [Using Implicit MPM guide](../../../docs/source/concepts/using_mpm.rst).
 
 ## Workflow
 
@@ -23,7 +23,7 @@ Implicit MPM particle assets and rigid-MPM coupling are also out of scope; see t
 2. **Use per-solver asset configuration classes.** Put common USD Physics properties in solver-common base cfgs. Put MJWarp-specific fields in `Mujoco*Cfg`, Newton-native fields in `Newton*Cfg`, and PhysX-only fields in `Physx*Cfg`. Confirm support in the generated schema APIs.
 3. **Audit the authored mechanical model.** Check every dynamic link and contact-relevant object for intentional mass, COM, inertia and frames, collision geometry, approximation and scale, materials, articulation root, fixed-base and fixed-joint representation, joint axes and limits, self-collision, and gravity overrides.
 4. **Match contact and friction behavior.** Expect more default slip in MJWarp. Validate colliders, material bindings, contact locations and gripper force. Set per-shape `condim` with `MujocoCollisionCfg`, tune material friction, then set global `MJWarpSolverCfg(cone=..., impratio=...)`. Treat `priority`, `solmix`, `solref`, and `solimp` as expert per-collider overrides. Use fixed-grasp displacement, contact count, effort, penetration, and success metrics.
-5. **Velocity limits distinction.** `velocity_limit` is a rated speed and `joint_velocity_limit` is a requested solver clamp. Isaac Lab writes the latter to Newton's model, but MJWarp does not consume or enforce it; Kamino does. Add task or control checks for required speed bounds under MJWarp. Use `joint_effort_limit` for solver limits and `actuator_effort_limit` to clip explicit actuator models.
+5. **Velocity limits distinction.** `actuator_velocity_limit` is a rated speed and `joint_velocity_limit` is a requested solver clamp. Isaac Lab writes the latter to Newton's model, but MJWarp does not consume or enforce it; Kamino does. Add task or control checks for required speed bounds under MJWarp. Use `joint_effort_limit` for solver limits and `actuator_effort_limit` to clip explicit actuator models.
 6. **Why MJWarp often needs more armature.** Use reflected rotor inertia or controlled response tests for articulated coordinates. A plain rigid object has body inertia, not actuator armature. Correct mass, inertia, units, reset penetration, effort, action scale, control period, and contact capacity before changing armature.
 7. **Retune damping with armature.** Increasing armature changes effective inertia and damping ratio. Tune armature, stiffness, and damping together from a step response, use conservative action scales, and keep targets away from hard stops to prevent bang-bang control.
 8. **Choose an MJWarp starting profile.** Do not translate PhysX parameters numerically. Start from the nearest profile on the MJWarp solver page, keep the documented convergence defaults initially, enable `NewtonCfg.debug_mode`, and use MuJoCo contacts unless the task requires `NewtonCfg.collision_cfg`. Then run zero and random agents in PhysX and MJWarp through multiple resets. Check non-finite state, first-step impulses, saturation, excessive angular velocity, contact loss, and warnings. Reject penetrations, impossible mimic states, and invalid randomized geometry before stepping.
@@ -42,6 +42,6 @@ Keep this skill synchronized section-for-section with the asset migration guide
 - [Compact reference](reference.md)
 - [Examples](examples.md)
 - [Evaluations](evaluations.md)
-- [MJWarp solver page](../../../docs/source/overview/core-concepts/physical-backends/newton/mjwarp-solver.rst)
-- [Schema configuration classes](../../../docs/source/overview/core-concepts/schema_cfgs.rst)
+- [MJWarp solver tuning](../../../docs/source/concepts/solver-tuning/tune_mjwarp.rst)
+- [Schema configuration classes](../../../docs/source/concepts/schema_cfgs.rst)
 - [Newton Simulation Tuning guide](https://newton-physics.github.io/newton/latest/concepts/simulation_tuning.html)
diff --git a/skills/user/prepare-assets-for-newton/evaluations.md b/skills/user/prepare-assets-for-newton/evaluations.md
index afd32959dc10..692ad9262108 100644
--- a/skills/user/prepare-assets-for-newton/evaluations.md
+++ b/skills/user/prepare-assets-for-newton/evaluations.md
@@ -43,7 +43,7 @@ Query: "Why does MJWarp exceed my joint velocity limit?"
 
 Expected behavior:
 
-- Explain that MJWarp enforces neither `velocity_limit` nor `joint_velocity_limit`.
+- Explain that MJWarp enforces neither `actuator_velocity_limit` nor `joint_velocity_limit`.
 - Recommend explicit task checks and physically justified control limits.
 
 Known failure modes: treating either field as an MJWarp safety clamp.
diff --git a/skills/user/prepare-assets-for-newton/examples.md b/skills/user/prepare-assets-for-newton/examples.md
index eec7a01da304..da28ec0e0019 100644
--- a/skills/user/prepare-assets-for-newton/examples.md
+++ b/skills/user/prepare-assets-for-newton/examples.md
@@ -19,7 +19,7 @@ metrics. Limit recursive spawner overrides to assets whose colliders should all
 
 ## Velocity Limit Is Exceeded
 
-Treat `velocity_limit` as rated speed and `joint_velocity_limit` as a solver request. Because MJWarp enforces neither, add the required observation or termination check and tune effort, damping, armature, action scaling, rate limits, or controller clipping.
+Treat `actuator_velocity_limit` as rated speed and `joint_velocity_limit` as a solver request. Because MJWarp enforces neither, add the required observation or termination check and tune effort, damping, armature, action scaling, rate limits, or controller clipping.
 
 ## Zero-Gravity Spin-Up
 
diff --git a/skills/user/prepare-assets-for-newton/reference.md b/skills/user/prepare-assets-for-newton/reference.md
index d749bcea1014..c35bd5824f72 100644
--- a/skills/user/prepare-assets-for-newton/reference.md
+++ b/skills/user/prepare-assets-for-newton/reference.md
@@ -1,6 +1,6 @@
 # Newton/MJWarp Asset Migration Reference
 
-This reference follows the sections in the [asset migration guide](../../../docs/source/overview/core-concepts/physical-backends/newton/migrating-assets-from-physx-to-newton.rst).
+This reference follows the sections in the [asset migration guide](../../../docs/source/how-to/prepare_asset_for_newton.rst).
 
 ## Contents
 
@@ -116,4 +116,4 @@ convergence work only after the model, reset, controller, contact path, and capa
 
 - Cables are authored fresh as Newton deformables (`CableCfg` + `CableMaterialCfg`, or an external USD via `UsdFileCfg`), not converted from a PhysX rigid asset, so nothing in this migration reference applies to them.
 - They are Newton + VBD only.
-- For the authoring contract, material fields, and collision behavior, see the [Using Cables guide](../../../docs/source/overview/core-concepts/physical-backends/newton/using-cables.rst).
+- For the authoring contract, material fields, and collision behavior, see the [Deformables guide](../../../docs/source/concepts/deformables.rst).
diff --git a/skills/user/select-backends/SKILL.md b/skills/user/select-backends/SKILL.md
index 67fd9b17e6b5..77d3c07e5b74 100644
--- a/skills/user/select-backends/SKILL.md
+++ b/skills/user/select-backends/SKILL.md
@@ -1,6 +1,6 @@
 ---
 name: isaaclab-selecting-backends
-description: Selects and validates Isaac Lab physics and rendering backends. Use when choosing PhysX or Newton, adding backend presets, comparing backend behavior, or debugging backend-specific simulation, randomization, sensor, or renderer issues.
+description: Selects and validates Isaac Lab physics and rendering backends. Use when choosing PhysX, Newton, or OvPhysX, adding backend presets, comparing backend behavior, or debugging backend-specific simulation, randomization, sensor, or renderer issues.
 audience: user
 status: experimental
 owners:
@@ -13,12 +13,14 @@ owners:
 
 Use this skill when a user needs to choose, configure, compare, or debug Isaac Lab physical backends or renderer-related behavior.
 
-Do not use this skill to duplicate backend reference material. Link to the multi-backend docs, schema cfg docs, and source examples for current configuration details. If the user is converting or validating a specific USD asset for Newton, use `isaaclab-preparing-assets-for-newton`.
+Do not use this skill to duplicate backend reference material. Link to the backend architecture, backend and preset selector, schema cfg docs, and source examples for current configuration details. If the user is converting or validating a specific USD asset for Newton, use `isaaclab-preparing-assets-for-newton`.
 
 ## Workflow
 
-1. Identify the target backend: PhysX, Newton, or a task that must support both through presets.
-2. Read the multi-backend architecture and schema cfg docs before editing backend configs.
+1. Identify the target backend: PhysX, Newton, OvPhysX, or a task that must
+   support multiple backends through presets.
+2. Read the physics-backends concept, backend architecture, backend and preset
+   selector, and schema cfg docs before editing backend configs.
 3. Start with the backend that best matches the source task or current maintained example. Use PhysX first when matching Isaac Gym behavior.
 4. Add backend presets only after the task runs on one backend.
 5. Map simulation parameters through public cfg schemas instead of copying old simulator-specific keys. Import universal schema fragments and base cfgs from `isaaclab.sim.schemas`, PhysX-specific cfgs from `isaaclab_physx.sim.schemas`, and Newton or MuJoCo cfgs from `isaaclab_newton.sim.schemas`.
@@ -35,10 +37,10 @@ Do not use this skill to duplicate backend reference material. Link to the multi
 Use this checklist:
 
 1. Run a small reset/step smoke test on the primary backend.
-2. If adding another backend, run the same smoke test there before training.
+2. Run the same smoke test on each selected backend before training.
 3. Compare observation shape, action shape, reset behavior, and contact behavior.
 4. Check randomization events for backend-specific support and device assumptions.
-5. Run short training only after both backends pass smoke tests.
+5. Run short training only after each selected backend passes its smoke test.
 
 For skill changes, run:
 
@@ -48,15 +50,16 @@ uv run --no-project python tools/skills/cli.py check
 
 ## Maintenance
 
-Keep this skill synchronized with `docs/source/overview/core-concepts/multi_backend_architecture.rst`, `docs/source/overview/core-concepts/schema_cfgs.rst`, backend installation docs, and backend-aware task examples under `source/isaaclab_tasks/isaaclab_tasks/`. If backend docs are incomplete, improve the docs rather than expanding this skill into a backend reference.
+Keep this skill synchronized with `docs/source/concepts/physics_backends.rst`, `docs/source/concepts/backend_architecture.rst`, `docs/source/concepts/backends_and_presets.rst`, `docs/source/concepts/schema_cfgs.rst`, and backend-aware task examples under `source/isaaclab_tasks/isaaclab_tasks/`. If backend docs are incomplete, improve the docs rather than expanding this skill into a backend reference.
 
 ## References
 
 - [Evaluations](evaluations.md)
 - [Examples](examples.md)
 - [Prepare assets for Newton skill](../prepare-assets-for-newton/SKILL.md)
-- [Multi-backend architecture](../../../docs/source/overview/core-concepts/multi_backend_architecture.rst)
-- [Schema cfgs](../../../docs/source/overview/core-concepts/schema_cfgs.rst)
-- [PhysX installation](../../../docs/source/overview/core-concepts/physical-backends/physx/installation.rst)
-- [Newton installation](../../../docs/source/overview/core-concepts/physical-backends/newton/installation.rst)
+- [Physics backends](../../../docs/source/concepts/physics_backends.rst)
+- [Backend architecture](../../../docs/source/concepts/backend_architecture.rst)
+- [Backends and presets](../../../docs/source/concepts/backends_and_presets.rst)
+- [Schema cfgs](../../../docs/source/concepts/schema_cfgs.rst)
+- [Installation](../../../docs/source/setup/installation/index.rst)
 - [Task examples](../../../source/isaaclab_tasks/isaaclab_tasks)
diff --git a/skills/user/select-backends/evaluations.md b/skills/user/select-backends/evaluations.md
index 2e8cd050d7bf..5185d119fe20 100644
--- a/skills/user/select-backends/evaluations.md
+++ b/skills/user/select-backends/evaluations.md
@@ -23,12 +23,12 @@ Expected behavior:
 
 - Adds backend-specific presets or config variants.
 - Checks sensors, contacts, actuators, terrain, and randomization events for backend support.
-- Runs reset/step smoke tests on both backends.
+- Runs reset/step smoke tests on each selected backend.
 
 Known failure modes:
 
 - Adds runtime conditionals throughout task logic instead of config presets.
-- Assumes event randomization works identically on both backends.
+- Assumes event randomization works identically across selected backends.
 
 ## Scenario 3: Renderer Or Sensor Issue
 
diff --git a/skills/user/select-backends/examples.md b/skills/user/select-backends/examples.md
index 21e81a4c30b5..b087e4b93d52 100644
--- a/skills/user/select-backends/examples.md
+++ b/skills/user/select-backends/examples.md
@@ -40,6 +40,10 @@ Repeat the same small smoke test on every backend before comparing training curv
 
 - Use PhysX first when preserving Isaac Gym behavior.
 - Use Newton when the task specifically targets kit-less or Warp-native workflows.
+- Use OvPhysX when evaluating the experimental kit-less PhysX path and the task
+  explicitly exposes an OvPhysX preset.
 - Use backend presets for solver, contact, material, sensor, and renderer differences.
 - Do not copy PhysX parameters directly into Newton configs without checking schema docs.
-- For USD physics authoring, import backend schema cfgs from `isaaclab_physx.sim.schemas` or `isaaclab_newton.sim.schemas`. Use backend-specific property cfgs for simple spawner slots, and schema fragments such as `PhysxRigidBodyCfg`, `PhysxCollisionCfg`, `NewtonCollisionCfg`, or `MujocoJointCfg` when combining multiple USD namespaces in one slot.
+- For USD physics authoring, follow the selected backend's public schema cfgs
+  and generated API documentation. OvPhysX reads scene-level solver settings
+  primarily from the USD `PhysicsScene` prim.
diff --git a/skills/user/setup-troubleshooting/SKILL.md b/skills/user/setup-troubleshooting/SKILL.md
index cd6c5f77ca8b..c90b495150ba 100644
--- a/skills/user/setup-troubleshooting/SKILL.md
+++ b/skills/user/setup-troubleshooting/SKILL.md
@@ -24,7 +24,7 @@ Do not duplicate installation or troubleshooting docs in this skill. The officia
 5. Use suffixless task names in verification and training commands.
 6. Ask for the smallest relevant error output when the failure mode is unclear.
 7. Prefer a minimal verification command before running examples, training, or rendering workflows.
-8. Route backend-specific setup to the relevant PhysX or Newton docs.
+8. Route backend-specific setup to the unified installation guide and backend choice questions to the physics-backends concept.
 9. For unexpectedly slow simulation or training, route to the performance section in the troubleshooting reference and profile a representative workload before prescribing tuning changes.
 10. For XR teleoperation setup, which is a separate workflow from the base installation, route to the CloudXR how-to rather than the installation guide.
 11. If the docs are incomplete or stale, update the docs rather than expanding this skill.
@@ -47,7 +47,7 @@ uv run --no-project python tools/skills/cli.py check
 
 ## Maintenance
 
-Keep this skill synchronized with the unified installation guide, the Docker/Cloud feature guide, quick installation docs, backend installation docs, and `docs/source/refs/troubleshooting.rst`. Setup guidance changes often, so keep this skill as a router to official docs and minimal verification steps.
+Keep this skill synchronized with the unified installation guide, the Docker/Cloud feature guide, quick installation docs, the physics-backends concept, and `docs/source/refs/troubleshooting.rst`. Setup guidance changes often, so keep this skill as a router to official docs and minimal verification steps.
 
 ## References
 
@@ -57,6 +57,5 @@ Keep this skill synchronized with the unified installation guide, the Docker/Clo
 - [Installation](../../../docs/source/setup/installation/index.rst)
 - [XR teleoperation setup](../../../docs/source/how-to/cloudxr_teleoperation.rst)
 - [Docker/Cloud](../../../docs/source/features/docker_cloud.rst)
-- [PhysX installation](../../../docs/source/overview/core-concepts/physical-backends/physx/installation.rst)
-- [Newton installation](../../../docs/source/overview/core-concepts/physical-backends/newton/installation.rst)
+- [Physics backends](../../../docs/source/concepts/physics_backends.rst)
 - [Troubleshooting](../../../docs/source/refs/troubleshooting.rst)
diff --git a/skills/user/setup-troubleshooting/evaluations.md b/skills/user/setup-troubleshooting/evaluations.md
index 3b49fe6415c0..deb89f9e448e 100644
--- a/skills/user/setup-troubleshooting/evaluations.md
+++ b/skills/user/setup-troubleshooting/evaluations.md
@@ -36,7 +36,7 @@ Query: "I want to run this task with Newton but setup fails."
 
 Expected behavior:
 
-- Routes to backend-specific installation docs.
+- Routes installation issues to the unified installation guide and backend choice questions to the physics-backends concept.
 - Separates backend installation issues from task implementation issues.
 - Verifies setup with a minimal command before running training.
 
diff --git a/skills/user/setup-troubleshooting/reference.md b/skills/user/setup-troubleshooting/reference.md
index 009f98ae3d11..614acf4f6ce6 100644
--- a/skills/user/setup-troubleshooting/reference.md
+++ b/skills/user/setup-troubleshooting/reference.md
@@ -20,8 +20,9 @@ Ask which install path the user is following before prescribing commands. For a
 | Binary package | `docs/source/setup/installation/index.rst` |
 | Cloud setup | `docs/source/features/docker_cloud.rst` |
 | Legacy installer or setup without Isaac Sim | `docs/source/setup/installation/index.rst` |
-| Newton setup | `docs/source/overview/core-concepts/physical-backends/newton/installation.rst` |
-| PhysX setup | `docs/source/overview/core-concepts/physical-backends/physx/installation.rst` |
+| Newton setup | `docs/source/setup/installation/index.rst` and `docs/source/concepts/physics_backends.rst` |
+| PhysX setup | `docs/source/setup/installation/index.rst` and `docs/source/concepts/physics_backends.rst` |
+| OvPhysX setup | `docs/source/setup/installation/index.rst` and `docs/source/concepts/physics_backends.rst` |
 
 ## Minimal Verification
 
@@ -53,6 +54,7 @@ uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole --max_iterations
 | Task registration fails | Gym registration and task package import |
 | Backend preset fails | `uv run python scripts/environments/list_envs.py --show_presets` |
 | Camera or renderer fails | Renderer selection and sensor docs |
+| `LIVESTREAM=1`/`2` fails with `NVST_R_BUSY` or `NVST_R_INTERNAL_ERROR` | Livestreaming and WebRTC section of `docs/source/refs/troubleshooting.rst` (stale process still bound to TCP port 49100) |
 | Training starts but shapes fail | Environment reset/step smoke test before runner |
 | Simulation or training throughput is poor | Performance troubleshooting, then Nsight Systems profiling |
 
diff --git a/skills/user/use-presets/SKILL.md b/skills/user/use-presets/SKILL.md
index 22ef0cd00da3..747b4adb4c71 100644
--- a/skills/user/use-presets/SKILL.md
+++ b/skills/user/use-presets/SKILL.md
@@ -13,6 +13,8 @@ owners:
 
 Use this skill when a user needs to define, select, or debug Isaac Lab `PresetCfg` variants for environments, physics backends, renderers, sensors, events, or task-specific configuration options.
 
+Read the [Backends and Presets concept](../../../docs/source/concepts/backends_and_presets.rst) for the authoritative selector behavior and resolution order.
+
 Do not use presets for simple one-backend tasks with no meaningful configuration variants. Prefer a plain config until the task needs a real selectable alternative.
 
 ## Workflow
@@ -49,13 +51,14 @@ uv run --no-project python tools/skills/cli.py check
 
 ## Maintenance
 
-Keep this skill synchronized with `source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py`, `source/isaaclab_tasks/isaaclab_tasks/utils/preset_cli.py`, `source/isaaclab_tasks/isaaclab_tasks/utils/preset_target.py`, the environment catalog, and maintained preset examples under `source/isaaclab_tasks/isaaclab_tasks/`. If preset selector behavior changes, update the source docs or examples first and keep this skill as a routing checklist.
+Keep this skill synchronized with `docs/source/concepts/backends_and_presets.rst`, `source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py`, `source/isaaclab_tasks/isaaclab_tasks/utils/preset_cli.py`, `source/isaaclab_tasks/isaaclab_tasks/utils/preset_target.py`, the environment catalog, and maintained preset examples under `source/isaaclab_tasks/isaaclab_tasks/`. If preset selector behavior changes, update the source docs or examples first and keep this skill as a routing checklist.
 
 ## References
 
 - [Reference](reference.md)
 - [Examples](examples.md)
 - [Evaluations](evaluations.md)
+- [Backends and presets](../../../docs/source/concepts/backends_and_presets.rst)
 - [Preset utility source](../../../source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py)
 - [Preset CLI source](../../../source/isaaclab_tasks/isaaclab_tasks/utils/preset_cli.py)
 - [Preset targets source](../../../source/isaaclab_tasks/isaaclab_tasks/utils/preset_target.py)
diff --git a/skills/user/use-presets/examples.md b/skills/user/use-presets/examples.md
index ec6596e9d3f5..b5f2ba16ef42 100644
--- a/skills/user/use-presets/examples.md
+++ b/skills/user/use-presets/examples.md
@@ -32,7 +32,7 @@ an explicit Newton or other backend default when adding more variants.
 ```python
 from isaaclab.physics import PhysxAutoCfg
 from isaaclab.sim import SimulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
 from isaaclab_ov.physics import OvPhysxCfg
 from isaaclab_physx.physics import PhysxCfg
@@ -70,7 +70,7 @@ Use domain presets for environment-specific variants such as camera output type.
 
 ```python
 from isaaclab.envs import DirectRLEnvCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab_tasks.utils import PresetCfg
 
 
diff --git a/skills/user/use-presets/reference.md b/skills/user/use-presets/reference.md
index 2b9fcef0db87..d1be6f534a02 100644
--- a/skills/user/use-presets/reference.md
+++ b/skills/user/use-presets/reference.md
@@ -51,7 +51,7 @@ Import paths:
 ```python
 from isaaclab.physics import PhysxAutoCfg
 from isaaclab.sim import SimulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
 from isaaclab_ov.physics import OvPhysxCfg
 from isaaclab_physx.physics import PhysxCfg
diff --git a/skills/user/use-sensors-actuators/SKILL.md b/skills/user/use-sensors-actuators/SKILL.md
index f9db187123d9..3eb84ed050c7 100644
--- a/skills/user/use-sensors-actuators/SKILL.md
+++ b/skills/user/use-sensors-actuators/SKILL.md
@@ -49,7 +49,7 @@ uv run --no-project python tools/skills/cli.py check
 ## Maintenance
 
 Keep this skill synchronized with actuator docs under `docs/source/concepts/`, sensor docs under
-`docs/source/overview/core-concepts/sensors/`, sensor tutorials under
+`docs/source/concepts/sensors/`, sensor tutorials under
 `docs/source/tutorials/04_sensors/`, API docs under `docs/source/api/`, and maintained task examples
 under `source/isaaclab_tasks/isaaclab_tasks/`. If sensor support changes for PhysX, Newton, or
 renderers, update the docs or source examples first.
@@ -59,8 +59,8 @@ renderers, update the docs or source examples first.
 - [Evaluations](evaluations.md)
 - [Examples](examples.md)
 - [Add sensors on robot tutorial](../../../docs/source/tutorials/04_sensors/add_sensors_on_robot.rst)
-- [Contact sensor docs](../../../docs/source/overview/core-concepts/sensors/contact_sensor.rst)
-- [Joint wrench sensor docs](../../../docs/source/overview/core-concepts/sensors/joint_wrench_sensor.rst)
+- [Contact sensor docs](../../../docs/source/concepts/sensors/contact_sensor.rst)
+- [Joint wrench sensor docs](../../../docs/source/concepts/sensors/joint_wrench_sensor.rst)
 - [Actuators docs](../../../docs/source/concepts/actuators.rst)
 - [Sensors API](../../../docs/source/api/lab/isaaclab.sensors.rst)
 - [Sensor patterns API](../../../docs/source/api/lab/isaaclab.sensors.patterns.rst)
diff --git a/source/isaaclab/changelog.d/bump-newton-1-6-release.rst b/source/isaaclab/changelog.d/bump-newton-1-6-release.rst
new file mode 100644
index 000000000000..d852412c6d6a
--- /dev/null
+++ b/source/isaaclab/changelog.d/bump-newton-1-6-release.rst
@@ -0,0 +1,5 @@
+Changed
+^^^^^^^
+
+* Changed the pinned Newton version from ``1.6.0rc1`` to the final ``1.6.0`` release. No user
+  action is required; new environments now resolve the stable release instead of the release candidate.
diff --git a/source/isaaclab/changelog.d/pin-published-torch.rst b/source/isaaclab/changelog.d/pin-published-torch.rst
new file mode 100644
index 000000000000..13bc69074af2
--- /dev/null
+++ b/source/isaaclab/changelog.d/pin-published-torch.rst
@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Pinned the PyTorch stack in the published package dependencies so downstream projects no
+  longer selected newer, untested builds when installing the Isaac Lab wheel.
diff --git a/source/isaaclab/changelog.d/upgrade-starlette-1-3.rst b/source/isaaclab/changelog.d/upgrade-starlette-1-3.rst
new file mode 100644
index 000000000000..fb1c178d4bb9
--- /dev/null
+++ b/source/isaaclab/changelog.d/upgrade-starlette-1-3.rst
@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Updated Starlette to 1.3.1 or newer to address current security advisories and aligned aiohttp with the
+  Isaac Sim 6.1 dependency selection. No migration is required.
diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst
index c85482d5150b..1566a00e695f 100644
--- a/source/isaaclab/docs/CHANGELOG.rst
+++ b/source/isaaclab/docs/CHANGELOG.rst
@@ -1,6 +1,179 @@
 Changelog
 ---------
 
+24.2.2 (2026-09-16)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Updated Transformers to 5.10.4 and preserved Theia feature-model loading under Transformers 5.
+* Removed the RL-Games extra and the Robomimic dependency from the published Isaac Lab wheel
+  metadata because their pinned versions do not provide package-index wheels. Install Isaac Lab
+  from a source checkout to use the ``rl-games`` or ``mimic`` source extras for these integrations.
+* Restricted Newton actuator metadata authoring to TorchScript network archives. Convert legacy pickled actuator
+  checkpoints to TorchScript before using them with ``ActuatorNetMLPCfg`` or ``ActuatorNetLSTMCfg``.
+
+Deprecated
+^^^^^^^^^^
+
+* Deprecated ``isaaclab.sh``. It will be removed in Isaac Lab 3.1; use ``uv run isaaclab`` instead.
+
+Fixed
+^^^^^
+
+* Updated the GitPython, Pillow and PyArrow dependency selections and the
+  container Git LFS executable to address security findings.
+* Fixed ``--video`` training continuously updating PhysX Fabric and the capture-only Kit visualizer
+  between recording windows. Physics transforms are now synchronized on demand before each captured frame.
+
+
+24.2.1 (2026-09-12)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added a synchronized timer around the renderer call inside
+  :meth:`~isaaclab.renderers.render_context.RenderContext.render_into_camera`, gated by the ``ISAACLAB_RENDER_PROFILE``
+  environment variable, so any rendering backend can be profiled through the same scope name
+  (:data:`~isaaclab.renderers.render_context.RENDER_PROFILE_SCOPE`). When enabled, each render prints its elapsed
+  time to the log.
+
+Changed
+^^^^^^^
+
+* Allowed the shared generalized-force ordering kernel to omit direction signs for backends that already returned
+  forces in the public joint basis. Callers supplying direction signs retained their existing behavior.
+
+
+24.2.0 (2026-09-11)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added ``isaaclab leapp export`` as the unified LEAPP policy export entry point.
+* Added ``isaaclab leapp deploy`` as the installed LEAPP deployment entry point.
+
+Changed
+^^^^^^^
+
+* Updated the default ground plane to a metric off-white and grey checker with NVIDIA-green landmarks every 2 m,
+  with its roughness map authored for renderers that support PBR textures.
+* Added the shared ``VisualizerCfg.background_color`` setting with a solid sky-blue default.
+* **Breaking:** Removed ``scripts/reinforcement_learning/leapp/deploy.py``. Use
+  ``isaaclab leapp deploy --task <TASK> --pipeline <PIPELINE_YAML>``; the old
+  ``--leapp_model`` option was replaced by ``--pipeline``.
+* Changed :attr:`~isaaclab.sim.SimulationCfg.use_newton_actuators` to ``True`` by default so
+  supported explicit actuator models use the native Newton actuator path. Set it to ``False``
+  to restore the deprecated Isaac Lab execution path.
+
+Fixed
+^^^^^
+
+* Fixed benign ``[omni.rtx] FindAppliedAPIPrimDefinition(...) returned nothing`` /
+  ``Could not find UsdPrimDefinition for 'OmniRtx...API'`` error logs printed the first time
+  the ``newton_rtx`` visualizer opens its render product with ``physics=ovphysx`` by registering
+  the OVRTX schemas before physics initializes USD.
+* Disabled Kit's overlapping editor grid and camera axis by default so they do not obscure the ground-plane material.
+* Fixed play benchmarks failing on ``DirectMARLEnv`` tasks by creating and converting environments
+  with the same backend-specific rules as training.
+
+
+24.1.2 (2026-09-10)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed SKRL training and playback benchmarks to use the canonical task config and report its ``agent.class``.
+* Updated the Isaac Sim and standalone asset converter dependencies, Docker image default, and
+  installation guidance to 6.1. Recreate or resynchronize environments that install the
+  ``isaacsim`` or ``importers`` extras.
+
+Fixed
+^^^^^
+
+* Fixed ``SceneDataProvider`` allocating transform and geometry buffers on Warp's process-global
+  default device. Allocations now follow the device of the publication they consume.
+* Selected the configured PyTorch and Warp process device in ``SimulationContext`` before
+  constructing physics, rendering, and visualization backends.
+* Fixed ``uv run`` inside the kit-less Docker image resolving its own environment at
+  ``/workspace/isaaclab/.venv`` instead of the one the image ships. Commands such as
+  ``uv run isaaclab train ...`` reinstalled the entire locked dependency set and, when the
+  source tree was mounted from the host, failed with
+  ``could not create '<package>.egg-info': Permission denied``.
+* Initialized an already-imported PyTorch CUDA runtime before Kit startup so deferred capability checks do not retain
+  stale device indices when Kit filters the GPUs available to its Vulkan backend.
+* Fixed :class:`~isaaclab.controllers.OperationalSpaceController` using ``pose_abs`` target quaternions
+  without normalizing them. Unnormalized policy outputs scaled the orientation error and the commanded
+  efforts by the quaternion norm. Targets are now normalized, and degenerate (zero or non-finite)
+  quaternions fall back to the current end-effector orientation, matching the absolute-pose handling of
+  :class:`~isaaclab.controllers.DifferentialIKController`.
+* Fixed ``isaaclab.utils.configclass`` resolving to either the sub-module or the
+  :func:`~isaaclab.utils.configclass.configclass` decorator depending on which one happened to be
+  imported first. ``from isaaclab.utils import configclass`` could return the sub-module, making
+  ``@configclass`` fail with ``TypeError: 'module' object is not callable``, and resolving the
+  decorator first left the sub-module unreachable as an attribute of :mod:`isaaclab.utils`. The
+  sub-module is now callable, so the decorator, ``import isaaclab.utils.configclass as ...`` and
+  dotted attribute access all work regardless of import order. No migration is needed.
+
+
+24.1.1 (2026-09-09)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed the ``reshape_tiled_image`` Warp kernel to index the tiled image buffer as a 3D array
+  of shape (num_tiles_y * image_height, num_tiles_x * image_width, num_channels) instead of a
+  flattened 1D array. This keeps every array dimension within Warp's per-dimension size limit, so
+  large environment counts and camera resolutions no longer overflow a single flattened dimension.
+
+Fixed
+^^^^^
+
+* Fixed VS Code and Cursor import resolution for source, editable, wheel, and Isaac Sim binaries installations.
+  Replaced ``isaaclab --vscode`` and ``python -m isaaclab --generate-vscode-settings`` with
+  ``uv run isaaclab --editor``.
+* Flattened multi-dimensional frozen-encoder outputs so they satisfy the observation-term contract and can be used
+  by MLP policies such as the Cartpole Theia-Tiny feature policy.
+* Fixed the :class:`~isaaclab.envs.utils.video_recorder.VideoRecorder` Kit/Newton cubric
+  warning being logged on every captured frame, which flooded the terminal during
+  ``--video`` runs (roughly one line per frame for the whole clip). The warned-about
+  condition is fixed configuration state, so the message is now emitted once per
+  recorder, matching the existing once-only behavior of the frame-capture error path.
+* Documented ``"normals"`` as a valid value for
+  :attr:`~isaaclab.visualizers.VisualizerCfg.streaming_gt_types`. It was already accepted by
+  :data:`~isaaclab.envs.utils.camera_colorizer.SUPPORTED_GT_TYPES` and advertised on the
+  visualization docs page, but missing from the field's own docstring.
+
+
+24.1.0 (2026-09-08)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the ``rsl_rl``, ``rl_games`` and ``sb3`` benchmark train and play entrypoints not passing
+  ``agent_library`` to :func:`~isaaclab_tasks.utils.setup_preset_cli`, which disabled preset-based
+  ``--agent`` selection and the registered-agent help listing for those backends. Only the ``skrl``
+  entrypoints wired it.
+* Fixed :meth:`~isaaclab.sensors.contact_sensor.BaseContactSensor.compute_first_contact` and
+  :meth:`~isaaclab.sensors.contact_sensor.BaseContactSensor.compute_first_air` silently missing
+  touchdowns and lift-offs once the simulation had run for a few seconds (issue #7283). Their
+  ``abs_tol`` argument now defaults to ``None``, which resolves to half the sensor update interval
+  instead of a fixed ``1e-8``. The old value was around 100x smaller than the float32 rounding
+  error of the sensor clock, so most transitions were dropped. Callers that relied on the previous
+  behavior can pass ``abs_tol=1e-8`` explicitly.
+  Both methods now also refresh outdated sensor buffers before comparing, so a sensor with
+  ``history_length=0`` no longer reports the previous step's transitions when it is queried before
+  its data is read.
+* Fixed ``Se3SpaceMouse`` cleanup raising an exception when device initialization failed before
+  starting its listener thread.
+
+
 24.0.0 (2026-09-07)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab/isaaclab/__main__.py b/source/isaaclab/isaaclab/__main__.py
index 5ea66bbe64c3..eafe689b33e7 100644
--- a/source/isaaclab/isaaclab/__main__.py
+++ b/source/isaaclab/isaaclab/__main__.py
@@ -3,153 +3,8 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-import argparse
-import os
-import re
-import sys
-import textwrap
-
-import tomllib
-
-from isaaclab.paths import ISAACLAB_ROOT
-
-VSCODE_SETTINGS_TEMPLATE = """
-{
-    "editor.rulers": [120],
-
-    // Enables python language server (seems to work slightly better than jedi)
-    "python.languageServer": "Pylance",
-    "python.jediEnabled": false,
-
-    // Those paths are automatically filled by isaaclab (see: 'python -m isaaclab --help')
-    "python.defaultInterpreterPath": "PYTHON.DEFAULTINTERPRETERPATH",
-    "python.analysis.extraPaths": [
-        PYTHON.ANALYSIS.EXTRAPATHS
-    ],
-
-    // Use "black" as a formatter
-    "python.formatting.provider": "black",
-    "python.formatting.blackArgs": ["--line-length", "120"],
-
-    // Use "flake8" for linting
-    "python.linting.pylintEnabled": false,
-    "python.linting.flake8Enabled": true,
-}
-"""
-
-
-def generate_vscode_settings():
-    def _mock_python_modules(ext_path: str, ext_name: str) -> None:
-        # parse config/extension.toml
-        cprint(f"  |-- Parsing extension config ({ext_path})")
-        config_path = os.path.join(ext_path, "config", "extension.toml")
-        try:
-            with open(config_path, "rb") as f:
-                config = tomllib.load(f)
-        except Exception as e:
-            cprint(f"  |     |-- [Warning] {e}")
-            return
-        # get python modules
-        for item in config.get("python", {}).get("module", []):
-            if list(item.keys()) == ["name"]:
-                # skip tests
-                if item.get("name", "").endswith(".tests"):
-                    continue
-                # mock __init__.py for each submodule (if not exists)
-                submodule_path = ext_path
-                for submodule in item.get("name", "").split("."):
-                    init_path = os.path.join(submodule_path, "__init__.py")
-                    if not os.path.isfile(init_path):
-                        try:
-                            cprint(f"  |-- Mocking {init_path}")
-                            with open(init_path, "w") as f:
-                                f.write("# Generated by 'isaaclab' package")
-                        except Exception as e:
-                            cprint(f"  |     |-- [Warning] {e}")
-                            continue
-                    submodule_path = os.path.join(submodule_path, submodule)
-
-    def _get_paths(base_path: str, mock_python_modules: bool = False) -> list[str]:
-        paths = []
-        if os.path.isdir(base_path):
-            for folder in os.listdir(base_path):
-                folder_path = os.path.join(base_path, folder)
-                if os.path.isdir(folder_path):
-                    paths.append(folder_path)
-                    cprint(f"Registering extension: {folder_path}")
-                    if mock_python_modules:
-                        _mock_python_modules(folder_path, re.split(r"-\d+", folder)[0])
-        return paths
-
-    try:
-        import omni.kit_app  # importing 'omni.kit_app' will bootstrap kernel
-
-        kit_path = os.path.dirname(os.path.abspath(os.path.realpath(omni.kit_app.__file__)))
-    except ModuleNotFoundError:
-        print("Unable to find 'omniverse-kit' package")
-        # exit()
-    try:
-        import isaacsim
-
-        isaacsim_path = os.path.dirname(os.path.abspath(os.path.realpath(isaacsim.__file__)))
-    except ModuleNotFoundError:
-        print("Unable to find 'isaacsim' package")
-        # exit()
-
-    cwd = os.getcwd()
-    vscode_settings_path = os.path.join(cwd, ".vscode", "settings.json")
-    # check if .vscode/settings.json exists
-    if os.path.exists(vscode_settings_path):
-        print(f"VS Code settings already exists: {vscode_settings_path}")
-        if input("Overwrite? (y/N): ").lower() not in ["y", "yes"]:
-            print("Cancelled: VS Code settings not overwritten")
-            return
-
-    # get extensions paths
-    extensions_paths = []
-    # - omniverse-kit
-    folder_path = os.path.join(kit_path, "kernel", "py")
-    if os.path.isdir(folder_path):
-        extensions_paths.append(folder_path)
-    for folder in ["exts", "extscore"]:
-        extensions_paths.extend(_get_paths(os.path.join(kit_path, folder), mock_python_modules=True))
-    # - isaacsim
-    for folder in ["exts", "extscache", "extsDeprecated", "extsUser"]:
-        extensions_paths.extend(_get_paths(os.path.join(isaacsim_path, folder), mock_python_modules=True))
-    # - isaaclab
-    isaaclab_path = str(ISAACLAB_ROOT)
-    for folder in ["source"]:
-        extensions_paths.extend(_get_paths(os.path.join(isaaclab_path, folder), mock_python_modules=True))
-
-    # update 'python.defaultInterpreterPath'
-    template = VSCODE_SETTINGS_TEMPLATE[:]
-    template = template.replace("PYTHON.DEFAULTINTERPRETERPATH", sys.executable)
-
-    # update 'python.analysis.extraPaths'
-    content = "\n".join([f'"{path}",' for path in extensions_paths])
-    content = textwrap.indent(content, prefix=" " * 8)[8:]
-    template = template.replace("PYTHON.ANALYSIS.EXTRAPATHS", content)
-
-    # create .vscode/settings.json
-    os.makedirs(os.path.join(cwd, ".vscode"), exist_ok=True)
-    with open(vscode_settings_path, "w") as f:
-        f.write(template)
-    print("VS Code settings generated at", vscode_settings_path)
-
-
 def main():
-    """Run the installed Isaac Lab CLI while preserving the legacy VS Code option."""
-    if len(sys.argv) > 1 and sys.argv[1] == "--generate-vscode-settings":
-        parser = argparse.ArgumentParser()
-        parser.add_argument("--generate-vscode-settings", action="store_true", help="Generate VS Code settings.")
-        parser.add_argument("--verbose", action="store_true", help="Print discovered extension paths.")
-        args = parser.parse_args()
-
-        global cprint
-        cprint = print if args.verbose else lambda *args, **kwargs: None
-        generate_vscode_settings()
-        return
-
+    """Run the Isaac Lab CLI."""
     from isaaclab.cli import cli
 
     cli()
diff --git a/source/isaaclab/isaaclab/actuators/actuator_base_cfg.py b/source/isaaclab/isaaclab/actuators/actuator_base_cfg.py
index 749217aae589..315c82d335bf 100644
--- a/source/isaaclab/isaaclab/actuators/actuator_base_cfg.py
+++ b/source/isaaclab/isaaclab/actuators/actuator_base_cfg.py
@@ -7,7 +7,7 @@
 
 from dataclasses import MISSING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 def _is_implicit_actuator_cfg(cfg: ActuatorBaseCfg) -> bool:
diff --git a/source/isaaclab/isaaclab/actuators/actuator_net_cfg.py b/source/isaaclab/isaaclab/actuators/actuator_net_cfg.py
index 4a2d9ff30465..ab8f53151b70 100644
--- a/source/isaaclab/isaaclab/actuators/actuator_net_cfg.py
+++ b/source/isaaclab/isaaclab/actuators/actuator_net_cfg.py
@@ -7,7 +7,7 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING, Literal
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .actuator_pd_cfg import DCMotorCfg
 
diff --git a/source/isaaclab/isaaclab/actuators/actuator_pd_cfg.py b/source/isaaclab/isaaclab/actuators/actuator_pd_cfg.py
index e21a26e6a6d1..7e0236cd0753 100644
--- a/source/isaaclab/isaaclab/actuators/actuator_pd_cfg.py
+++ b/source/isaaclab/isaaclab/actuators/actuator_pd_cfg.py
@@ -6,7 +6,7 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .actuator_base_cfg import ActuatorBaseCfg
 
diff --git a/source/isaaclab/isaaclab/app/app_launcher.py b/source/isaaclab/isaaclab/app/app_launcher.py
index 33cffcfccebe..8bc108266c54 100644
--- a/source/isaaclab/isaaclab/app/app_launcher.py
+++ b/source/isaaclab/isaaclab/app/app_launcher.py
@@ -328,6 +328,13 @@ def __init__(self, launcher_args: argparse.Namespace | dict | None = None, **kwa
         # Integrate env-vars and input keyword args into simulation app config
         self._config_resolution(launcher_args)
 
+        # PyTorch may already have been imported while constructing simulation configs. Drain
+        # its deferred CUDA capability checks before Kit changes the set of CUDA devices that
+        # correspond to Vulkan-capable GPUs. Otherwise a queued check for a device that Kit
+        # filters out fails during the post-Kit ``set_device`` call (for example, device=1 with
+        # two CUDA GPUs but only GPU 0 attached to the display).
+        self._initialize_preloaded_torch_cuda()
+
         # Create SimulationApp, passing the resolved self._config to it for initialization
         self._create_app()
         self._set_deferred_cuda_device()
@@ -1149,6 +1156,21 @@ def _resolve_device_settings(self, launcher_args: dict):
 
         logger.info("Using device: %s", device)
 
+    def _initialize_preloaded_torch_cuda(self) -> None:
+        """Initialize CUDA before Kit when another import has already loaded PyTorch.
+
+        Importing PyTorch schedules capability checks for every CUDA device it can see. Kit may
+        subsequently restrict CUDA to the GPUs that its Vulkan backend can use, leaving those
+        queued checks with stale device indices. Do not import PyTorch here: when it has not
+        already been loaded, the normal post-Kit initialization path remains preferable.
+        """
+        if self._deferred_cuda_device_id is None:
+            return
+
+        torch = sys.modules.get("torch")
+        if torch is not None and not torch.cuda.is_initialized():
+            torch.cuda.init()
+
     def _set_deferred_cuda_device(self) -> None:
         """Set the current CUDA device after Kit startup."""
         if self._deferred_cuda_device_id is None:
diff --git a/source/isaaclab/isaaclab/app/sim_launcher.py b/source/isaaclab/isaaclab/app/sim_launcher.py
index e9bd956fb77a..e7524ec1d36d 100644
--- a/source/isaaclab/isaaclab/app/sim_launcher.py
+++ b/source/isaaclab/isaaclab/app/sim_launcher.py
@@ -264,7 +264,7 @@ def scan(cfg, launcher_args: argparse.Namespace | dict | None = None) -> Scan:
     physics_cfgs: list[PhysicsCfg] = []
     concrete_physics_cfgs: list[PhysicsCfg] = []
     effective_cfg: Any = cfg
-    has_ovrtx = False
+    has_ovrtx = "newton_rtx" in _get_visualizer_types(launcher_args)
     has_auto_rtx = False
     has_auto_physx = False
     has_kit_camera = False
@@ -296,7 +296,7 @@ def visit(node, parent, key):
                 return
             else:
                 concrete_physics_cfgs.append(node)
-        elif _is_ovrtx_renderer(node):
+        elif _is_ovrtx_renderer(node) or getattr(node, "visualizer_type", None) == "newton_rtx":
             has_ovrtx = True
         elif _is_kit_camera(node):
             has_kit_camera = True
@@ -432,16 +432,14 @@ def _validate_runtime(scan: Scan, kit_sources: tuple[str, ...]) -> None:
         return
 
     raise ValueError(
-        "Invalid backend combination: the OVRTX renderer (`OVRTXRendererCfg`,"
-        ' `renderer_type="ovrtx"`) is a kitless renderer and cannot be used together'
+        "Invalid backend combination: the OVRTX runtime (`OVRTXRendererCfg` or the"
+        " `newton_rtx` visualizer) cannot be used together"
         f" with Isaac Sim / Kit ({_format_runtime_sources(kit_sources)}).\n"
         "\n"
         "To fix this, pick one of the following supported combinations:\n"
         "  * Keep Isaac Sim / Kit and switch the renderer:\n"
         "      use `IsaacRtxRendererCfg`, the Kit-compatible renderer\n"
-        "  * Keep the OVRTX renderer and switch to a kitless physics backend\n"
-        "    (and avoid `--visualizer kit`):\n"
-        "      use `NewtonCfg` or `OvPhysxCfg` with `OVRTXRendererCfg`\n"
+        "  * Keep OVRTX (`OVRTXRendererCfg` or `--visualizer newton_rtx`) and remove every Kit source\n"
     )
 
 
@@ -519,6 +517,11 @@ def launch_simulation(
 
     kit_sources = _get_kit_runtime_sources(config_scan, launcher_args)
     _validate_runtime(config_scan, kit_sources)
+    if config_scan.has_ovrtx:
+        # USD discovers schema plugins once, so load OVRTX only after rejecting incompatible Kit runtimes.
+        import ovrtx
+
+        ovrtx.register_schema_paths()
     needs_kit = bool(kit_sources)
     _set_arg(launcher_args, "visualizer_intent", config_scan.visualizer_intent)
 
diff --git a/source/isaaclab/isaaclab/assets/articulation/articulation_cfg.py b/source/isaaclab/isaaclab/assets/articulation/articulation_cfg.py
index ce0c6154343f..0305d883faef 100644
--- a/source/isaaclab/isaaclab/assets/articulation/articulation_cfg.py
+++ b/source/isaaclab/isaaclab/assets/articulation/articulation_cfg.py
@@ -9,7 +9,7 @@
 from typing import TYPE_CHECKING, Any
 
 from isaaclab.actuators import ActuatorBaseCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..asset_base_cfg import AssetBaseCfg
 from .ordering import ArticulationOrderingConvention
diff --git a/source/isaaclab/isaaclab/assets/articulation/ordering_kernels.py b/source/isaaclab/isaaclab/assets/articulation/ordering_kernels.py
index 1d0af90bb27e..42dd19175412 100644
--- a/source/isaaclab/isaaclab/assets/articulation/ordering_kernels.py
+++ b/source/isaaclab/isaaclab/assets/articulation/ordering_kernels.py
@@ -445,7 +445,8 @@ def reorder_generalized_vector_backend_to_user(
             shaped [num_envs, num_dofs], in backend joint order.
         joint_user_to_backend: Read-only map from public actuated-joint indices
             to backend actuated-joint indices.
-        joint_dof_signs: Backend-to-USD direction sign for each joint DoF.
+        joint_dof_signs: Backend-to-USD direction sign for each joint DoF, or
+            ``None`` when the backend already uses the public joint basis.
         num_base_dofs: Number of leading floating-base DoFs, either 0 or 6.
         has_joint_ordering: Whether to apply the map after the leading base DoFs.
         user_data: Destination with the same shape and units in public joint
@@ -458,7 +459,7 @@ def reorder_generalized_vector_backend_to_user(
         backend_dof_id = num_base_dofs + joint_user_to_backend[user_dof_id - num_base_dofs]
 
     sign = 1.0
-    if user_dof_id >= num_base_dofs:
+    if user_dof_id >= num_base_dofs and joint_dof_signs.shape[0] > 0:
         sign = wp.float32(joint_dof_signs[backend_dof_id - num_base_dofs])
     user_data[env_id, user_dof_id] = sign * backend_data[env_id, backend_dof_id]
 
diff --git a/source/isaaclab/isaaclab/assets/asset_base_cfg.py b/source/isaaclab/isaaclab/assets/asset_base_cfg.py
index 03dbf2c4b710..41d4d0764381 100644
--- a/source/isaaclab/isaaclab/assets/asset_base_cfg.py
+++ b/source/isaaclab/isaaclab/assets/asset_base_cfg.py
@@ -9,7 +9,7 @@
 from typing import Any, Literal
 
 from isaaclab.sim import SpawnerCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/assets/cable_object/cable_object_cfg.py b/source/isaaclab/isaaclab/assets/cable_object/cable_object_cfg.py
index 6cfe6712fb4e..a625d5375e68 100644
--- a/source/isaaclab/isaaclab/assets/cable_object/cable_object_cfg.py
+++ b/source/isaaclab/isaaclab/assets/cable_object/cable_object_cfg.py
@@ -8,7 +8,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.assets.asset_base_cfg import AssetBaseCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .cable_object import CableObject
diff --git a/source/isaaclab/isaaclab/assets/deformable_object/deformable_object_cfg.py b/source/isaaclab/isaaclab/assets/deformable_object/deformable_object_cfg.py
index 9c54aa7b6b0b..7dbf060c27b6 100644
--- a/source/isaaclab/isaaclab/assets/deformable_object/deformable_object_cfg.py
+++ b/source/isaaclab/isaaclab/assets/deformable_object/deformable_object_cfg.py
@@ -10,7 +10,7 @@
 from isaaclab.assets.asset_base_cfg import AssetBaseCfg
 from isaaclab.markers import VisualizationMarkersCfg
 from isaaclab.markers.config import DEFORMABLE_TARGET_MARKER_CFG
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .deformable_object import DeformableObject
diff --git a/source/isaaclab/isaaclab/assets/rigid_object/rigid_object_cfg.py b/source/isaaclab/isaaclab/assets/rigid_object/rigid_object_cfg.py
index ae1f881fae89..099bbdeea784 100644
--- a/source/isaaclab/isaaclab/assets/rigid_object/rigid_object_cfg.py
+++ b/source/isaaclab/isaaclab/assets/rigid_object/rigid_object_cfg.py
@@ -5,7 +5,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..asset_base_cfg import AssetBaseCfg
 
diff --git a/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection_cfg.py b/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection_cfg.py
index 7b11414f28ed..c995c99c34c1 100644
--- a/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection_cfg.py
+++ b/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection_cfg.py
@@ -7,7 +7,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.assets.rigid_object import RigidObjectCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .rigid_object_collection import RigidObjectCollection
diff --git a/source/isaaclab/isaaclab/assets/visual_material/visual_material_cfg.py b/source/isaaclab/isaaclab/assets/visual_material/visual_material_cfg.py
index a4ccda6cb94f..bf7a2c857442 100644
--- a/source/isaaclab/isaaclab/assets/visual_material/visual_material_cfg.py
+++ b/source/isaaclab/isaaclab/assets/visual_material/visual_material_cfg.py
@@ -7,7 +7,7 @@
 
 from isaaclab.assets.asset_base_cfg import AssetBaseCfg
 from isaaclab.sim.spawners.materials import VisualMaterialCfg as VisualMaterialSpawnerCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_play_rl_games.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_play_rl_games.py
index e8c295b61bcf..06bf1f0ef6d1 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_play_rl_games.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_play_rl_games.py
@@ -21,7 +21,7 @@
 
 from isaaclab.benchmark.entrypoints.backends.rl_games.registry import register_scoped_rl_games_environment
 
-from isaaclab_rl.entrypoints import common as _common
+from isaaclab_rl.entrypoints import common
 
 
 def _parse_args(argv: list[str]):
@@ -84,9 +84,10 @@ def _parse_args(argv: list[str]):
         ),
     )
     add_launcher_args(parser)
+    common.add_frontend_args(parser)
 
     args_cli, remaining_args = setup_preset_cli(parser, argv)
-    _common.enable_cameras_for_video(args_cli)
+    common.enable_cameras_for_video(args_cli)
     sys.argv = [sys.argv[0]] + remaining_args
 
     return args_cli, remaining_args
@@ -105,7 +106,6 @@ def run(argv: list[str]) -> BenchmarkResult:
     import re
     import time
 
-    import gymnasium as gym
     from rl_games.common import env_configurations, vecenv
     from rl_games.common.player import BasePlayer
     from rl_games.torch_runner import Runner
@@ -128,7 +128,7 @@ def run(argv: list[str]) -> BenchmarkResult:
     args_cli, remaining_args = _parse_args(argv)
 
     env_cfg, agent_cfg = resolve_task_config(args_cli.task, args_cli.agent)
-    _common.pre_launch_video_config(env_cfg, args_cli=args_cli)
+    common.pre_launch_video_config(env_cfg, args_cli=args_cli)
 
     start_utc = capture.now_utc_iso()
     app_t0 = time.perf_counter_ns()
@@ -136,7 +136,7 @@ def run(argv: list[str]) -> BenchmarkResult:
     with launch_simulation(env_cfg, args_cli):
         with contextlib.ExitStack() as cleanup:
             app_t1 = time.perf_counter_ns()
-            _common.apply_video_recording(env_cfg, args_cli.output_path, args_cli, subdir="play")
+            common.apply_video_recording(env_cfg, args_cli.output_path, args_cli, subdir="play")
 
             if args_cli.num_envs is not None:
                 env_cfg.scene.num_envs = args_cli.num_envs
@@ -146,8 +146,8 @@ def run(argv: list[str]) -> BenchmarkResult:
 
             config_name = agent_cfg["params"]["config"]["name"]
             log_root_path = os.path.abspath(os.path.join("logs", "rl_games", config_name))
-            if args_cli.checkpoint in _common.CHECKPOINT_SELECTORS:
-                resume_path = _common.resolve_checkpoint_selector(
+            if args_cli.checkpoint in common.CHECKPOINT_SELECTORS:
+                resume_path = common.resolve_checkpoint_selector(
                     log_root_path,
                     args_cli.checkpoint,
                     library="rl_games",
@@ -158,7 +158,7 @@ def run(argv: list[str]) -> BenchmarkResult:
                     metadata={"agent": args_cli.agent},
                 )
             else:
-                resume_path = _common.resolve_play_checkpoint(args_cli.checkpoint, "rl_games", args_cli.task, env_cfg)
+                resume_path = common.resolve_play_checkpoint(args_cli.checkpoint, "rl_games", args_cli.task, env_cfg)
 
             cfg = capture.run_config_from_env_cfg(env_cfg)
             formatter_types = [value.strip() for value in args_cli.benchmark_formatter.split(",") if value.strip()]
@@ -193,7 +193,7 @@ def run(argv: list[str]) -> BenchmarkResult:
             concate_obs_groups = agent_cfg["params"]["env"].get("concate_obs_groups", True)
 
             env_t0 = time.perf_counter_ns()
-            env = gym.make(args_cli.task, cfg=env_cfg)
+            env = common.create_isaaclab_env(args_cli.task, env_cfg, args_cli, convert_marl_to_single_agent=True)
             cleanup.callback(lambda: env.close())
             env_t1 = time.perf_counter_ns()
 
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_train_rl_games.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_train_rl_games.py
index b6dd72dd4ad0..4cbaab40c3a2 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_train_rl_games.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rl_games/benchmark_train_rl_games.py
@@ -18,7 +18,7 @@
 from isaaclab.benchmark.entrypoints.backends.rl_games.registry import register_scoped_rl_games_environment
 from isaaclab.benchmark.entrypoints.training import _resolve_training_checkpoint_path
 
-from isaaclab_rl.entrypoints import common as _common
+from isaaclab_rl.entrypoints import common
 
 
 def _close_rl_games_writer(observer: Any) -> None:
@@ -51,8 +51,8 @@ def _parse_args(argv: list[str]):
 
     from isaaclab_tasks.utils import setup_preset_cli
 
-    add_common_train_args = _common.add_common_train_args
-    enable_cameras_for_video = _common.enable_cameras_for_video
+    add_common_train_args = common.add_common_train_args
+    enable_cameras_for_video = common.enable_cameras_for_video
 
     parser = argparse.ArgumentParser(description="Benchmark RL training with RL-Games.")
     add_common_train_args(
@@ -156,7 +156,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
 
     from isaaclab_tasks.utils import resolve_task_config
 
-    apply_env_overrides = _common.apply_env_overrides
+    apply_env_overrides = common.apply_env_overrides
     from isaaclab.benchmark.entrypoints.early_stop import (
         RlGamesEarlyStopObserver,
         build_success_kwargs,
@@ -179,7 +179,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
     with launch_simulation(env_cfg, args_cli):
         with contextlib.ExitStack() as cleanup:
             cleanup.enter_context(
-                _common.scoped_torch_backend_flags(
+                common.scoped_torch_backend_flags(
                     cuda_matmul_allow_tf32=True,
                     cudnn_allow_tf32=True,
                     cudnn_deterministic=False,
@@ -197,7 +197,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
             if args_cli.max_iterations is not None:
                 agent_cfg["params"]["config"]["max_epochs"] = args_cli.max_iterations
 
-            _common.validate_distributed_device(args_cli)
+            common.validate_distributed_device(args_cli)
             if distributed.enabled:
                 # Mirror the regular training entrypoint: the launcher pinned this rank to its own
                 # device, and offsetting the seed by the rank decorrelates exploration across ranks.
@@ -247,18 +247,18 @@ def run(argv: list[str]) -> BenchmarkResult | None:
             # RL-Games silences logging on every rank but global rank 0, so only that rank has a
             # populated run directory to describe.
             if distributed.is_main:
-                _common.write_run_manifest(
+                common.write_run_manifest(
                     run_log_dir, library="rl_games", task=args_cli.task, metadata={"agent": args_cli.agent}
                 )
             env_cfg.log_dir = run_log_dir
-            _common.apply_video_recording(env_cfg, run_log_dir, args_cli, subdir="benchmark")
+            common.apply_video_recording(env_cfg, run_log_dir, args_cli, subdir="benchmark")
 
             rl_device = agent_cfg["params"]["config"]["device"]
             clip_obs = agent_cfg["params"]["env"].get("clip_observations", math.inf)
             clip_actions = agent_cfg["params"]["env"].get("clip_actions", math.inf)
 
             env_t0 = time.perf_counter_ns()
-            env = _common.create_isaaclab_env(args_cli.task, env_cfg, args_cli, convert_marl_to_single_agent=True)
+            env = common.create_isaaclab_env(args_cli.task, env_cfg, args_cli, convert_marl_to_single_agent=True)
             cleanup.callback(lambda: env.close())
             env_t1 = time.perf_counter_ns()
 
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_play_rsl_rl.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_play_rsl_rl.py
index 52e64262abb4..d32bc8675c8a 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_play_rsl_rl.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_play_rsl_rl.py
@@ -20,7 +20,7 @@
 import argparse
 import sys
 
-from isaaclab_rl.entrypoints import common as _common
+from isaaclab_rl.entrypoints import common
 
 
 def _parse_args(argv: list[str]) -> tuple[argparse.Namespace, list[str]]:
@@ -85,9 +85,10 @@ def _parse_args(argv: list[str]) -> tuple[argparse.Namespace, list[str]]:
         ),
     )
     add_launcher_args(parser)
+    common.add_frontend_args(parser)
 
     args, remaining = setup_preset_cli(parser, argv)
-    _common.enable_cameras_for_video(args)
+    common.enable_cameras_for_video(args)
     sys.argv = [sys.argv[0]] + remaining
     return args, remaining
 
@@ -104,7 +105,6 @@ def run(argv: list[str]) -> BenchmarkResult:
     import os
     import time
 
-    import gymnasium as gym
     from rsl_rl.runners import DistillationRunner, OnPolicyRunner
 
     from isaaclab.app import launch_simulation
@@ -125,7 +125,7 @@ def run(argv: list[str]) -> BenchmarkResult:
     args, remaining = _parse_args(argv)
 
     env_cfg, agent_cfg = resolve_task_config(args.task, args.agent)
-    _common.pre_launch_video_config(env_cfg, args_cli=args)
+    common.pre_launch_video_config(env_cfg, args_cli=args)
 
     start_utc = capture.now_utc_iso()
     app_t0 = time.perf_counter_ns()
@@ -133,7 +133,7 @@ def run(argv: list[str]) -> BenchmarkResult:
     with launch_simulation(env_cfg, args):
         with contextlib.ExitStack() as cleanup:
             app_t1 = time.perf_counter_ns()
-            _common.apply_video_recording(env_cfg, args.output_path, args, subdir="play")
+            common.apply_video_recording(env_cfg, args.output_path, args, subdir="play")
 
             if args.num_envs is not None:
                 env_cfg.scene.num_envs = args.num_envs
@@ -145,8 +145,8 @@ def run(argv: list[str]) -> BenchmarkResult:
             agent_cfg = handle_deprecated_rsl_rl_cfg(agent_cfg, installed_rsl_rl)
 
             log_root_path = os.path.abspath(os.path.join("logs", "rsl_rl", agent_cfg.experiment_name))
-            if args.checkpoint in _common.CHECKPOINT_SELECTORS:
-                resume_path = _common.resolve_checkpoint_selector(
+            if args.checkpoint in common.CHECKPOINT_SELECTORS:
+                resume_path = common.resolve_checkpoint_selector(
                     log_root_path,
                     args.checkpoint,
                     library="rsl_rl",
@@ -155,7 +155,7 @@ def run(argv: list[str]) -> BenchmarkResult:
                     metadata={"agent": args.agent},
                 )
             else:
-                resume_path = _common.resolve_play_checkpoint(args.checkpoint, "rsl_rl", args.task, env_cfg)
+                resume_path = common.resolve_play_checkpoint(args.checkpoint, "rsl_rl", args.task, env_cfg)
 
             cfg = capture.run_config_from_env_cfg(env_cfg)
             formatter_types = [value.strip() for value in args.benchmark_formatter.split(",") if value.strip()]
@@ -183,7 +183,7 @@ def run(argv: list[str]) -> BenchmarkResult:
             )
 
             env_t0 = time.perf_counter_ns()
-            env = gym.make(args.task, cfg=env_cfg)
+            env = common.create_isaaclab_env(args.task, env_cfg, args, convert_marl_to_single_agent=True)
             cleanup.callback(lambda: env.close())
             env_t1 = time.perf_counter_ns()
 
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_train_rsl_rl.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_train_rsl_rl.py
index cec0ce323d98..027db2f1d551 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_train_rsl_rl.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/rsl_rl/benchmark_train_rsl_rl.py
@@ -16,7 +16,7 @@
 import time
 from typing import Any
 
-from isaaclab_rl.entrypoints import common as _common
+from isaaclab_rl.entrypoints import common
 
 
 def _disable_code_state_capture(runner: Any) -> None:
@@ -42,8 +42,8 @@ def _parse_args(argv: list[str]):
 
     from isaaclab_tasks.utils import setup_preset_cli
 
-    add_common_train_args = _common.add_common_train_args
-    enable_cameras_for_video = _common.enable_cameras_for_video
+    add_common_train_args = common.add_common_train_args
+    enable_cameras_for_video = common.enable_cameras_for_video
     from isaaclab_rl.entrypoints.backends import cli_args_rsl_rl as cli_args
 
     parser = argparse.ArgumentParser(description="Benchmark RL training with RSL-RL.")
@@ -147,7 +147,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
 
     from isaaclab_tasks.utils import get_checkpoint_path, resolve_task_config
 
-    apply_env_overrides = _common.apply_env_overrides
+    apply_env_overrides = common.apply_env_overrides
     from isaaclab.benchmark.entrypoints.early_stop import (
         RslRlEarlyStopWrapper,
         build_success_kwargs,
@@ -170,7 +170,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
     with launch_simulation(env_cfg, args_cli):
         with contextlib.ExitStack() as cleanup:
             cleanup.enter_context(
-                _common.scoped_torch_backend_flags(
+                common.scoped_torch_backend_flags(
                     cuda_matmul_allow_tf32=True,
                     cudnn_allow_tf32=True,
                     cudnn_deterministic=False,
@@ -188,7 +188,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
             agent_cfg = handle_deprecated_rsl_rl_cfg(agent_cfg, installed_rsl_rl)
             env_cfg.seed = agent_cfg.seed
 
-            _common.validate_distributed_device(args_cli)
+            common.validate_distributed_device(args_cli)
             if distributed.enabled:
                 # Mirror the regular training entrypoint: the launcher pinned this rank to its own
                 # device, and offsetting the seed by the rank decorrelates exploration across ranks.
@@ -237,14 +237,14 @@ def run(argv: list[str]) -> BenchmarkResult | None:
             # RSL-RL silences logging on every rank but global rank 0, so only that rank has a
             # populated run directory to describe.
             if distributed.is_main:
-                _common.write_run_manifest(
+                common.write_run_manifest(
                     log_dir, library="rsl_rl", task=args_cli.task, metadata={"agent": args_cli.agent}
                 )
             env_cfg.log_dir = log_dir
-            _common.apply_video_recording(env_cfg, log_dir, args_cli, subdir="benchmark")
+            common.apply_video_recording(env_cfg, log_dir, args_cli, subdir="benchmark")
 
             env_t0 = time.perf_counter_ns()
-            env = _common.create_isaaclab_env(args_cli.task, env_cfg, args_cli, convert_marl_to_single_agent=True)
+            env = common.create_isaaclab_env(args_cli.task, env_cfg, args_cli, convert_marl_to_single_agent=True)
             cleanup.callback(lambda: env.close())
             env_t1 = time.perf_counter_ns()
 
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_play_sb3.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_play_sb3.py
index 7f3aa1e6f171..cd7683763e79 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_play_sb3.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_play_sb3.py
@@ -22,7 +22,7 @@
 import time
 from pathlib import Path
 
-from isaaclab_rl.entrypoints import common as _common
+from isaaclab_rl.entrypoints import common
 
 
 def _parse_args(argv: list[str]):
@@ -91,9 +91,10 @@ def _parse_args(argv: list[str]):
         ),
     )
     add_launcher_args(parser)
+    common.add_frontend_args(parser)
 
     args_cli, remaining_args = setup_preset_cli(parser, argv)
-    _common.enable_cameras_for_video(args_cli)
+    common.enable_cameras_for_video(args_cli)
     sys.argv = [sys.argv[0]] + remaining_args
 
     return args_cli, remaining_args
@@ -109,7 +110,6 @@ def run(argv: list[str]) -> BenchmarkResult:
     import contextlib
     import os
 
-    import gymnasium as gym
     from stable_baselines3 import PPO
     from stable_baselines3.common.vec_env import VecNormalize
 
@@ -131,7 +131,7 @@ def run(argv: list[str]) -> BenchmarkResult:
     args_cli, remaining_args = _parse_args(argv)
 
     env_cfg, agent_cfg = resolve_task_config(args_cli.task, args_cli.agent)
-    _common.pre_launch_video_config(env_cfg, args_cli=args_cli)
+    common.pre_launch_video_config(env_cfg, args_cli=args_cli)
 
     start_utc = capture.now_utc_iso()
     app_t0 = time.perf_counter_ns()
@@ -139,7 +139,7 @@ def run(argv: list[str]) -> BenchmarkResult:
     with launch_simulation(env_cfg, args_cli):
         with contextlib.ExitStack() as cleanup:
             app_t1 = time.perf_counter_ns()
-            _common.apply_video_recording(env_cfg, args_cli.output_path, args_cli, subdir="play")
+            common.apply_video_recording(env_cfg, args_cli.output_path, args_cli, subdir="play")
 
             if args_cli.num_envs is not None:
                 env_cfg.scene.num_envs = args_cli.num_envs
@@ -147,8 +147,8 @@ def run(argv: list[str]) -> BenchmarkResult:
             env_cfg.seed = agent_cfg["seed"]
 
             log_root_path = os.path.abspath(os.path.join("logs", "sb3", args_cli.task))
-            if args_cli.checkpoint in _common.CHECKPOINT_SELECTORS:
-                resume_path = _common.resolve_checkpoint_selector(
+            if args_cli.checkpoint in common.CHECKPOINT_SELECTORS:
+                resume_path = common.resolve_checkpoint_selector(
                     log_root_path,
                     args_cli.checkpoint,
                     library="sb3",
@@ -158,7 +158,7 @@ def run(argv: list[str]) -> BenchmarkResult:
                     metadata={"agent": args_cli.agent},
                 )
             else:
-                resume_path = _common.resolve_play_checkpoint(args_cli.checkpoint, "sb3", args_cli.task, env_cfg)
+                resume_path = common.resolve_play_checkpoint(args_cli.checkpoint, "sb3", args_cli.task, env_cfg)
 
             cfg = capture.run_config_from_env_cfg(env_cfg)
             formatter_types = [value.strip() for value in args_cli.benchmark_formatter.split(",") if value.strip()]
@@ -186,7 +186,7 @@ def run(argv: list[str]) -> BenchmarkResult:
             )
 
             env_t0 = time.perf_counter_ns()
-            env = gym.make(args_cli.task, cfg=env_cfg)
+            env = common.create_isaaclab_env(args_cli.task, env_cfg, args_cli, convert_marl_to_single_agent=True)
             cleanup.callback(lambda: env.close())
             env_t1 = time.perf_counter_ns()
 
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_train_sb3.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_train_sb3.py
index a1a1a80d14cb..2aa189615801 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_train_sb3.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/sb3/benchmark_train_sb3.py
@@ -15,7 +15,7 @@
 import sys
 import time
 
-from isaaclab_rl.entrypoints import common as _common
+from isaaclab_rl.entrypoints import common
 
 
 def _build_benchmark_callback_class():
@@ -102,8 +102,8 @@ def _parse_args(argv: list[str]):
 
     from isaaclab_tasks.utils import setup_preset_cli
 
-    add_common_train_args = _common.add_common_train_args
-    enable_cameras_for_video = _common.enable_cameras_for_video
+    add_common_train_args = common.add_common_train_args
+    enable_cameras_for_video = common.enable_cameras_for_video
 
     parser = argparse.ArgumentParser(description="Benchmark RL training with Stable-Baselines3.")
     add_common_train_args(
@@ -210,7 +210,7 @@ def run(argv: list[str]) -> BenchmarkResult:
 
     from isaaclab_tasks.utils import resolve_task_config
 
-    apply_env_overrides = _common.apply_env_overrides
+    apply_env_overrides = common.apply_env_overrides
 
     from isaaclab.benchmark.entrypoints.early_stop import (
         SuccessRateTrackerWrapper,
@@ -275,16 +275,16 @@ def run(argv: list[str]) -> BenchmarkResult:
             run_info = datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
             log_root_path = os.path.abspath(os.path.join("logs", "sb3", args_cli.task))
             log_dir = os.path.join(log_root_path, run_info)
-            _common.write_run_manifest(log_dir, library="sb3", task=args_cli.task, metadata={"agent": args_cli.agent})
+            common.write_run_manifest(log_dir, library="sb3", task=args_cli.task, metadata={"agent": args_cli.agent})
             env_cfg.log_dir = log_dir
-            _common.apply_video_recording(env_cfg, log_dir, args_cli, subdir="benchmark")
+            common.apply_video_recording(env_cfg, log_dir, args_cli, subdir="benchmark")
 
             agent_cfg = process_sb3_cfg(agent_cfg, env_cfg.scene.num_envs)
             policy_arch = agent_cfg.pop("policy")
             n_timesteps = agent_cfg.pop("n_timesteps")
 
             env_t0 = time.perf_counter_ns()
-            env = _common.create_isaaclab_env(args_cli.task, env_cfg, args_cli, convert_marl_to_single_agent=True)
+            env = common.create_isaaclab_env(args_cli.task, env_cfg, args_cli, convert_marl_to_single_agent=True)
             cleanup.callback(lambda: env.close())
             env_t1 = time.perf_counter_ns()
             success_kwargs = build_success_kwargs(args_cli)
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_play_skrl.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_play_skrl.py
index 697f5e4a5743..8d6c9232dab7 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_play_skrl.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_play_skrl.py
@@ -20,7 +20,7 @@
 import sys
 import time
 
-from isaaclab_rl.entrypoints import common as _common
+from isaaclab_rl.entrypoints import common
 
 
 def _parse_args(argv: list[str]):
@@ -61,10 +61,7 @@ def _parse_args(argv: list[str]):
         "--agent",
         type=str,
         default=None,
-        help=(
-            "Name of the RL agent configuration entry point. Defaults to None, in which"
-            " case --algorithm is used to determine the default agent entry point."
-        ),
+        help="Agent configuration entry point (default: the task's canonical SKRL configuration).",
     )
     parser.add_argument(
         "--ml_framework",
@@ -76,9 +73,9 @@ def _parse_args(argv: list[str]):
     parser.add_argument(
         "--algorithm",
         type=str,
-        default="PPO",
+        default=None,
         choices=["AMP", "PPO", "IPPO", "MAPPO"],
-        help="The RL algorithm used for the skrl agent.",
+        help="Optional algorithm selector; with --agent, the resolved agent.class must match.",
     )
     parser.add_argument("--output_path", type=str, default=".", help="Directory to write the output JSON.")
     parser.add_argument(
@@ -103,9 +100,10 @@ def _parse_args(argv: list[str]):
         ),
     )
     add_launcher_args(parser)
+    common.add_frontend_args(parser)
 
-    args_cli, remaining_args = setup_preset_cli(parser, argv, agent_library="skrl")
-    _common.enable_cameras_for_video(args_cli)
+    args_cli, remaining_args = setup_preset_cli(parser, argv)
+    common.enable_cameras_for_video(args_cli)
     sys.argv = [sys.argv[0]] + remaining_args
 
     return args_cli, remaining_args
@@ -121,13 +119,11 @@ def run(argv: list[str]) -> BenchmarkResult:
     import contextlib
     import os
 
-    import gymnasium as gym
-
     from isaaclab.app import launch_simulation
     from isaaclab.benchmark import BaseIsaacLabBenchmark, BenchmarkMonitor, BenchmarkResult, builders, capture, stepping
     from isaaclab.benchmark.schema import StartupTime
 
-    from isaaclab_rl.skrl import SkrlVecEnvWrapper
+    from isaaclab_rl.skrl import SkrlVecEnvWrapper, resolve_skrl_agent_cfg_entry_point, resolve_skrl_algorithm
 
     # Importing the task packages registers their gym environments so the
     # requested ``--task`` can be resolved.
@@ -140,16 +136,11 @@ def run(argv: list[str]) -> BenchmarkResult:
 
     args_cli, remaining_args = _parse_args(argv)
 
-    # Resolve agent entry point (mirrors isaaclab_rl.entrypoints.backends.play_skrl).
-    if args_cli.agent is None:
-        algorithm = args_cli.algorithm.lower()
-        agent_cfg_entry_point = "skrl_cfg_entry_point" if algorithm == "ppo" else f"skrl_{algorithm}_cfg_entry_point"
-    else:
-        agent_cfg_entry_point = args_cli.agent
-        algorithm = agent_cfg_entry_point.split("_cfg")[0].split("skrl_")[-1].lower()
+    agent_cfg_entry_point = resolve_skrl_agent_cfg_entry_point(args_cli.agent, args_cli.algorithm)
 
     env_cfg, agent_cfg = resolve_task_config(args_cli.task, agent_cfg_entry_point)
-    _common.pre_launch_video_config(env_cfg, args_cli=args_cli)
+    algorithm = resolve_skrl_algorithm(agent_cfg, args_cli.algorithm)
+    common.pre_launch_video_config(env_cfg, args_cli=args_cli)
 
     start_utc = capture.now_utc_iso()
     app_t0 = time.perf_counter_ns()
@@ -157,12 +148,12 @@ def run(argv: list[str]) -> BenchmarkResult:
     with launch_simulation(env_cfg, args_cli):
         with contextlib.ExitStack() as cleanup:
             app_t1 = time.perf_counter_ns()
-            _common.apply_video_recording(env_cfg, args_cli.output_path, args_cli, subdir="play")
+            common.apply_video_recording(env_cfg, args_cli.output_path, args_cli, subdir="play")
 
             if args_cli.ml_framework.startswith("jax"):
                 import skrl
 
-                cleanup.enter_context(_common.preserve_attribute(skrl.config.jax, "backend"))
+                cleanup.enter_context(common.preserve_attribute(skrl.config.jax, "backend"))
                 skrl.config.jax.backend = "jax" if args_cli.ml_framework == "jax" else "numpy"
 
             if args_cli.num_envs is not None:
@@ -171,8 +162,8 @@ def run(argv: list[str]) -> BenchmarkResult:
             env_cfg.seed = agent_cfg["seed"]
 
             log_root_path = os.path.abspath(os.path.join("logs", "skrl", agent_cfg["agent"]["experiment"]["directory"]))
-            if args_cli.checkpoint in _common.CHECKPOINT_SELECTORS:
-                resume_path = _common.resolve_checkpoint_selector(
+            if args_cli.checkpoint in common.CHECKPOINT_SELECTORS:
+                resume_path = common.resolve_checkpoint_selector(
                     log_root_path,
                     args_cli.checkpoint,
                     library="skrl",
@@ -186,7 +177,7 @@ def run(argv: list[str]) -> BenchmarkResult:
                     },
                 )
             else:
-                resume_path = _common.resolve_play_checkpoint(args_cli.checkpoint, "skrl", args_cli.task, env_cfg)
+                resume_path = common.resolve_play_checkpoint(args_cli.checkpoint, "skrl", args_cli.task, env_cfg)
 
             cfg = capture.run_config_from_env_cfg(env_cfg)
             formatter_types = [value.strip() for value in args_cli.benchmark_formatter.split(",") if value.strip()]
@@ -204,7 +195,7 @@ def run(argv: list[str]) -> BenchmarkResult:
                         {"name": "task", "data": args_cli.task},
                         {"name": "num_envs", "data": args_cli.num_envs},
                         {"name": "num_steps", "data": args_cli.num_steps},
-                        {"name": "algorithm", "data": args_cli.algorithm},
+                        {"name": "algorithm", "data": algorithm.upper()},
                         {
                             "name": "environment_step_measurement_mode",
                             "data": ("serialized_synchronized" if args_cli.measure_sync_step else "host_return"),
@@ -215,7 +206,9 @@ def run(argv: list[str]) -> BenchmarkResult:
             )
 
             env_t0 = time.perf_counter_ns()
-            env = gym.make(args_cli.task, cfg=env_cfg)
+            env = common.create_isaaclab_env(
+                args_cli.task, env_cfg, args_cli, convert_marl_to_single_agent=algorithm == "ppo"
+            )
             cleanup.callback(lambda: env.close())
             env_t1 = time.perf_counter_ns()
 
diff --git a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_train_skrl.py b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_train_skrl.py
index a6c09f1dbe39..684420c31caf 100644
--- a/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_train_skrl.py
+++ b/source/isaaclab/isaaclab/benchmark/entrypoints/backends/skrl/benchmark_train_skrl.py
@@ -17,7 +17,7 @@
 
 from isaaclab.benchmark.entrypoints.training import _resolve_training_checkpoint_path
 
-from isaaclab_rl.entrypoints import common as _common
+from isaaclab_rl.entrypoints import common
 
 
 def _build_benchmark_trainer_class():
@@ -134,17 +134,14 @@ def _parse_args(argv: list[str]):
 
     from isaaclab_tasks.utils import setup_preset_cli
 
-    add_common_train_args = _common.add_common_train_args
-    enable_cameras_for_video = _common.enable_cameras_for_video
+    add_common_train_args = common.add_common_train_args
+    enable_cameras_for_video = common.enable_cameras_for_video
 
     parser = argparse.ArgumentParser(description="Benchmark RL training with SKRL.")
     add_common_train_args(
         parser,
         agent_default=None,
-        agent_help=(
-            "Name of the RL agent configuration entry point. Defaults to None, in which"
-            " case --algorithm is used to determine the default agent entry point."
-        ),
+        agent_help="Agent configuration entry point (default: the task's canonical SKRL configuration).",
         include_distributed=True,
         max_iterations_type=parse_positive_int,
     )
@@ -158,9 +155,9 @@ def _parse_args(argv: list[str]):
     parser.add_argument(
         "--algorithm",
         type=str,
-        default="PPO",
+        default=None,
         choices=["AMP", "PPO"],
-        help="RL algorithm used for benchmark training.",
+        help="Optional algorithm selector; with --agent, the resolved agent.class must match.",
     )
     parser.add_argument("--output_path", type=str, default=".", help="Directory to write the output JSON.")
     parser.add_argument(
@@ -203,7 +200,7 @@ def _parse_args(argv: list[str]):
     add_success_cli_args(parser, include_check_success=False)
     add_launcher_args(parser)
 
-    args_cli, remaining_args = setup_preset_cli(parser, argv, agent_library="skrl")
+    args_cli, remaining_args = setup_preset_cli(parser, argv)
     validate_distributed_args(parser, args_cli)
     enable_cameras_for_video(args_cli)
     sys.argv = [sys.argv[0]] + remaining_args
@@ -239,7 +236,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
     from isaaclab.benchmark.metrics import RL_LIBRARY_DESCRIPTORS, parse_tf_logs
     from isaaclab.benchmark.schema import StartupTime
 
-    from isaaclab_rl.skrl import SkrlVecEnvWrapper
+    from isaaclab_rl.skrl import SkrlVecEnvWrapper, resolve_skrl_agent_cfg_entry_point, resolve_skrl_algorithm
 
     import isaaclab_tasks  # noqa: F401
 
@@ -248,7 +245,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
 
     from isaaclab_tasks.utils import resolve_task_config
 
-    apply_env_overrides = _common.apply_env_overrides
+    apply_env_overrides = common.apply_env_overrides
     from isaaclab.benchmark.entrypoints.early_stop import (
         SuccessRateTrackerWrapper,
         build_success_kwargs,
@@ -261,16 +258,11 @@ def run(argv: list[str]) -> BenchmarkResult | None:
     args_cli, remaining_args = _parse_args(argv)
     distributed = DistributedContext.from_env(args_cli.distributed)
 
-    # Derive the default agent entry point from the selected algorithm.
-    if args_cli.agent is None:
-        algorithm = args_cli.algorithm.lower()
-        agent_cfg_entry_point = "skrl_cfg_entry_point" if algorithm == "ppo" else f"skrl_{algorithm}_cfg_entry_point"
-    else:
-        agent_cfg_entry_point = args_cli.agent
-        algorithm = agent_cfg_entry_point.split("_cfg")[0].split("skrl_")[-1].lower()
+    agent_cfg_entry_point = resolve_skrl_agent_cfg_entry_point(args_cli.agent, args_cli.algorithm)
 
     config_t0 = time.perf_counter_ns()
     env_cfg, agent_cfg = resolve_task_config(args_cli.task, agent_cfg_entry_point)
+    algorithm = resolve_skrl_algorithm(agent_cfg, args_cli.algorithm)
     config_t1 = time.perf_counter_ns()
 
     start_utc = capture.now_utc_iso()
@@ -279,7 +271,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
     with launch_simulation(env_cfg, args_cli):
         with contextlib.ExitStack() as cleanup:
             cleanup.enter_context(
-                _common.scoped_torch_backend_flags(
+                common.scoped_torch_backend_flags(
                     cuda_matmul_allow_tf32=True,
                     cudnn_allow_tf32=True,
                     cudnn_deterministic=False,
@@ -297,7 +289,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
             agent_cfg["trainer"]["close_environment_at_exit"] = False
 
             agent_cfg["seed"] = args_cli.seed if args_cli.seed is not None else agent_cfg.get("seed", 0)
-            _common.validate_distributed_device(args_cli)
+            common.validate_distributed_device(args_cli)
             if distributed.enabled:
                 # skrl reads the rank environment itself and pins the device; offsetting the seed by
                 # the rank decorrelates exploration across ranks, as in regular skrl training.
@@ -317,7 +309,7 @@ def run(argv: list[str]) -> BenchmarkResult | None:
             # skrl silences experiment logging on every rank but global rank 0, so only that rank
             # has a populated run directory to describe.
             if distributed.is_main:
-                _common.write_run_manifest(
+                common.write_run_manifest(
                     log_dir,
                     library="skrl",
                     task=args_cli.task,
@@ -357,10 +349,10 @@ def run(argv: list[str]) -> BenchmarkResult | None:
             )
 
             env_cfg.log_dir = log_dir
-            _common.apply_video_recording(env_cfg, log_dir, args_cli, subdir="benchmark")
+            common.apply_video_recording(env_cfg, log_dir, args_cli, subdir="benchmark")
 
             env_t0 = time.perf_counter_ns()
-            env = _common.create_isaaclab_env(
+            env = common.create_isaaclab_env(
                 args_cli.task, env_cfg, args_cli, convert_marl_to_single_agent=algorithm == "ppo"
             )
             cleanup.callback(lambda: env.close())
diff --git a/source/isaaclab/isaaclab/benchmark/sensor_suites/contact.py b/source/isaaclab/isaaclab/benchmark/sensor_suites/contact.py
index 9f45afb55c0d..794fd4ab3383 100644
--- a/source/isaaclab/isaaclab/benchmark/sensor_suites/contact.py
+++ b/source/isaaclab/isaaclab/benchmark/sensor_suites/contact.py
@@ -37,7 +37,7 @@ def create_contact_sensor_scene_cfg(
     from isaaclab.scene import InteractiveSceneCfg
     from isaaclab.sensors import ContactSensorCfg
     from isaaclab.terrains import TerrainImporterCfg
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
 
     @configclass
     class ContactSensorBenchmarkSceneCfg(InteractiveSceneCfg):
diff --git a/source/isaaclab/isaaclab/cli/__init__.py b/source/isaaclab/isaaclab/cli/__init__.py
index 2961bdd8e83b..c071e06cc5ec 100644
--- a/source/isaaclab/isaaclab/cli/__init__.py
+++ b/source/isaaclab/isaaclab/cli/__init__.py
@@ -19,11 +19,11 @@
 from .commands.misc import (
     command_build_docs,
     command_build_isaacsim,
+    command_editor,
     command_new,
     command_run_docker,
     command_run_isaacsim,
     command_test,
-    command_vscode_settings,
 )
 from .utils import (
     ISAACLAB_ROOT,
@@ -31,7 +31,6 @@
     run_python_command,
 )
 
-
 _TASK_ENTRY_POINT_GROUP = "isaaclab.tasks"
 
 
@@ -68,6 +67,30 @@ def play(args: list[str] | None = None) -> None:
     _exit_on_error(run_play_cli(args))
 
 
+def leapp(args: list[str] | None = None) -> None:
+    """Export or deploy a policy with LEAPP."""
+    parser = argparse.ArgumentParser(
+        description="Export or deploy policies with LEAPP.",
+        prog=f"{Path(sys.argv[0]).name} leapp",
+    )
+    parser.add_argument("command", choices=("export", "deploy"), help="LEAPP workflow to run.")
+    if args is None:
+        args = sys.argv[1:]
+    if not args or args[0] in ("-h", "--help"):
+        parser.parse_args(args)
+    parsed_args = parser.parse_args(args[:1])
+    command_args = args[1:]
+
+    if parsed_args.command == "export":
+        from isaaclab_rl.entrypoints import run_export_cli
+
+        _exit_on_error(run_export_cli(command_args))
+    else:
+        from isaaclab.cli.commands.deploy import command_deploy_leapp
+
+        _exit_on_error(command_deploy_leapp(command_args))
+
+
 def zero_agent(args: list[str] | None = None) -> None:
     """Run an environment with a zero-action agent."""
     from isaaclab_rl.entrypoints import run_zero_agent_cli
@@ -125,6 +148,7 @@ def cli() -> None:
     """Parse CLI arguments and run the requested command."""
     subcommands = {
         "benchmark": benchmark,
+        "leapp": leapp,
         "microbenchmark": microbenchmark,
         "train": train,
         "train_multigpu": train_multigpu,
@@ -151,6 +175,7 @@ def cli() -> None:
             "  benchmark       Run a runtime, startup, training, or play benchmark\n"
             "                  (append _multigpu to a workflow to run it across GPUs)\n"
             "  microbenchmark  Run a component micro-benchmark\n"
+            "  leapp           Export or deploy a policy with LEAPP\n"
             "  train           Train an RL policy\n"
             "  train_multigpu  Train an RL policy across multiple GPUs\n"
             "  play            Play a trained RL policy\n"
@@ -244,10 +269,9 @@ def cli() -> None:
         help="Run the docker container helper script (docker/container.sh).",
     )
     parser.add_argument(
-        "-v",
-        "--vscode",
-        action="store_true",
-        help="Generate the VSCode settings file from template.",
+        "--editor",
+        nargs=argparse.REMAINDER,
+        help="Generate editor settings and import paths for the current workspace.",
     )
     parser.add_argument(
         "-d",
@@ -307,8 +331,8 @@ def cli() -> None:
     elif args.isaacsim_source:
         command_build_isaacsim(args.isaacsim_source)
 
-    elif args.vscode:
-        command_vscode_settings()
+    elif args.editor is not None:
+        command_editor(args.editor)
 
     elif args.docs:
         command_build_docs()
diff --git a/source/isaaclab/isaaclab/cli/commands/deploy.py b/source/isaaclab/isaaclab/cli/commands/deploy.py
new file mode 100644
index 000000000000..6b53131e9a73
--- /dev/null
+++ b/source/isaaclab/isaaclab/cli/commands/deploy.py
@@ -0,0 +1,91 @@
+# 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
+
+"""Commands for deploying exported policies."""
+
+from __future__ import annotations
+
+import argparse
+import sys
+from pathlib import Path
+
+import torch
+
+from isaaclab.app import AppLauncher
+
+import isaaclab_tasks  # noqa: F401
+from isaaclab_tasks.utils.hydra import resolve_task_config
+
+
+def command_deploy_leapp(argv: list[str] | None = None) -> int:
+    """Deploy a LEAPP pipeline in an Isaac Lab simulation.
+
+    Args:
+        argv: Command-line arguments excluding the executable and ``leapp deploy`` tokens.
+
+    Returns:
+        Process exit code.
+    """
+    parser = argparse.ArgumentParser(
+        description="Deploy a LEAPP-exported policy in simulation.",
+        prog=f"{Path(sys.argv[0]).name} leapp deploy",
+    )
+    parser.add_argument("--task", required=True, help="Name of the registered Isaac Lab task.")
+    parser.add_argument("--pipeline", required=True, help="Path to the exported LEAPP YAML pipeline description.")
+    parser.add_argument("--seed", type=int, default=None, help="Seed for the environment.")
+    AppLauncher.add_app_launcher_args(parser)
+
+    if argv is None:
+        argv = sys.argv[1:]
+    args_cli, hydra_args = parser.parse_known_args(AppLauncher._fuse_kit_args(argv))
+
+    original_argv = sys.argv
+    sys.argv = [original_argv[0]] + hydra_args
+    simulation_app = None
+    env = None
+    try:
+        simulation_app = AppLauncher(args_cli).app
+
+        # Runtime environment classes load simulation modules and must only be
+        # imported after SimulationApp has initialized Kit.
+        from isaaclab.envs import LeappDeploymentEnv
+
+        task_name = args_cli.task.split(":")[-1]
+        env_cfg, _ = resolve_task_config(task_name, "")
+
+        if args_cli.seed is not None:
+            env_cfg.seed = args_cli.seed
+        if args_cli.device is not None:
+            env_cfg.sim.device = args_cli.device
+
+        env = LeappDeploymentEnv(env_cfg, args_cli.pipeline)
+
+        if getattr(args_cli, "headless", False):
+            print(
+                "[WARN]: Running deploy without a viewport. This happens when headless mode is active, "
+                "including the default case where no visualizer was selected. The policy may be "
+                "stepping normally, but no viewport will appear unless you specify the "
+                "`--visualizer` field."
+            )
+
+        print(f"[INFO]: Deploying task '{task_name}' with LEAPP pipeline: {args_cli.pipeline}")
+        print(f"[INFO]: Num envs: {env.num_envs}, decimation: {env.cfg.decimation}, step_dt: {env.step_dt:.4f}s")
+
+        env.reset()
+        with torch.inference_mode():
+            while simulation_app.is_running():
+                env.step()
+    except KeyboardInterrupt:
+        return 0
+    finally:
+        try:
+            if env is not None:
+                env.close()
+        finally:
+            if simulation_app is not None:
+                simulation_app.close()
+            sys.argv = original_argv
+
+    return 0
diff --git a/source/isaaclab/isaaclab/cli/commands/install.py b/source/isaaclab/isaaclab/cli/commands/install.py
index b30bcfeaec5a..436f3b703135 100644
--- a/source/isaaclab/isaaclab/cli/commands/install.py
+++ b/source/isaaclab/isaaclab/cli/commands/install.py
@@ -26,7 +26,7 @@
     print_warning,
     run_command,
 )
-from .misc import command_vscode_settings
+from .misc import command_editor
 
 _PACKAGE_INDEX_RETRIES = "12"
 _PACKAGE_INSTALL_RETRY_ATTEMPTS = 3
@@ -1356,6 +1356,6 @@ def append_submodules_once(package_dirs: tuple[str, ...]) -> None:
             if saved_pythonpath is not None:
                 os.environ["PYTHONPATH"] = saved_pythonpath
 
-    # Install vscode update unless we're in docker.
+    # Update editor settings unless we're in Docker.
     if not (os.path.exists("/.dockerenv") or os.path.exists("/run/.containerenv")):
-        command_vscode_settings()
+        command_editor([], project_dir=ISAACLAB_ROOT)
diff --git a/source/isaaclab/isaaclab/cli/commands/misc.py b/source/isaaclab/isaaclab/cli/commands/misc.py
index 612f1e1e6cb7..d456ee20ca50 100644
--- a/source/isaaclab/isaaclab/cli/commands/misc.py
+++ b/source/isaaclab/isaaclab/cli/commands/misc.py
@@ -5,6 +5,7 @@
 
 """Misc commands"""
 
+import argparse
 import platform
 import shutil
 import sys
@@ -17,7 +18,6 @@
     is_windows,
     print_error,
     print_info,
-    print_warning,
     run_command,
     run_python_command,
 )
@@ -61,20 +61,26 @@ def command_test(test_args: list[str]) -> None:
     run_python_command("-m", ["pytest", str(ISAACLAB_ROOT / "tools")] + test_args)
 
 
-def command_vscode_settings() -> None:
-    """Update the vscode settings from template and Isaac Sim settings"""
+def command_editor(editor_args: list[str], project_dir: Path | None = None) -> None:
+    """Generate editor settings and import paths for a workspace.
 
-    print_info("Setting up vscode settings...")
+    Args:
+        editor_args: Editor setup command arguments.
+        project_dir: Workspace root. Defaults to the current directory.
+    """
+    parser = argparse.ArgumentParser(prog="isaaclab --editor", description="Set up editor paths and settings.")
+    parser.add_argument("--isaac_path", help="Absolute path to the Isaac Sim installation.")
+    parser.add_argument("--verbose", action="store_true", help="Print discovered extension paths.")
+    args = parser.parse_args(editor_args)
 
-    # Path to setup_vscode.py.
-    setup_vscode_script = ISAACLAB_ROOT / ".vscode" / "tools" / "setup_vscode.py"
+    # The installation CLI must start before Isaac Lab's runtime dependencies are installed.
+    from ...utils.editor import setup_editor
 
-    # Check if the file exists before attempting to run it.
-    if setup_vscode_script.exists():
-        run_python_command(setup_vscode_script, [])
-        print_info("VS Code settings generated successfully.")
-    else:
-        print_warning("Unable to find the script 'setup_vscode.py'. Aborting vscode settings setup.")
+    print_info("Setting up editor paths and settings...")
+    try:
+        setup_editor(project_dir or Path.cwd(), isaac_path=args.isaac_path, verbose=args.verbose)
+    except ValueError as error:
+        parser.error(str(error))
 
 
 def command_build_docs() -> None:
@@ -189,7 +195,7 @@ def _resolve_isaacsim_release_dir(isaacsim_root: Path) -> Path:
 
 def _repoint_source_build_prebundles() -> None:
     """Keep Isaac Sim's prebundled packages from shadowing the active environment."""
-    # ``install`` imports ``command_vscode_settings`` from this module, so defer this import until
+    # ``install`` imports ``command_editor`` from this module, so defer this import until
     # both command modules are initialized. Reuse the same protection as the legacy installer.
     from .install import _repoint_prebundle_packages
 
diff --git a/source/isaaclab/isaaclab/cloner/cloner_cfg.py b/source/isaaclab/isaaclab/cloner/cloner_cfg.py
index 58f962eb964b..a174185841fc 100644
--- a/source/isaaclab/isaaclab/cloner/cloner_cfg.py
+++ b/source/isaaclab/isaaclab/cloner/cloner_cfg.py
@@ -10,7 +10,7 @@
 
 import numpy as np
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .cloner_strategies import sequential
 
diff --git a/source/isaaclab/isaaclab/controllers/differential_ik_cfg.py b/source/isaaclab/isaaclab/controllers/differential_ik_cfg.py
index 58c2fbcce2ca..4cd916df1878 100644
--- a/source/isaaclab/isaaclab/controllers/differential_ik_cfg.py
+++ b/source/isaaclab/isaaclab/controllers/differential_ik_cfg.py
@@ -8,7 +8,7 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING, Literal
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .differential_ik import DifferentialIKController
diff --git a/source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py b/source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py
index 05a518043dd2..8245b0e50ab0 100644
--- a/source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py
+++ b/source/isaaclab/isaaclab/controllers/joint_impedance_cfg.py
@@ -8,7 +8,7 @@
 from collections.abc import Sequence
 from dataclasses import MISSING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/controllers/operational_space.py b/source/isaaclab/isaaclab/controllers/operational_space.py
index 406ae70c152d..da6a51fda40e 100644
--- a/source/isaaclab/isaaclab/controllers/operational_space.py
+++ b/source/isaaclab/isaaclab/controllers/operational_space.py
@@ -193,7 +193,8 @@ def set_command(
                 targets (i.e., pose/wrench) and impedance parameters.
             current_ee_pose_b (torch.Tensor, optional): Current end-effector pose, in root frame, of shape
                 (``num_envs``, 7), containing position and quaternion ``(x, y, z, w)``. Required for relative
-                commands. Defaults to None.
+                commands and used as the orientation fallback for degenerate absolute pose quaternions.
+                Defaults to None.
             current_task_frame_pose_b: Current pose of the task frame, in root frame, in which the targets and the
                 (motion/wrench) control axes are defined. It is a tensor of shape (``num_envs``, 7),
                 containing position and the quaternion ``(x, y, z, w)``. Defaults to None.
@@ -202,6 +203,9 @@ def set_command(
             Task-space targets, ordered according to 'command_types':
 
                 Absolute pose: shape (``num_envs``, 7), containing position and quaternion ``(x, y, z, w)``.
+                The quaternion is normalized before use. Entries that cannot be normalized (e.g. all zeros or
+                non-finite) fall back to the current end-effector orientation when ``current_ee_pose_b`` is
+                provided, and to the identity orientation otherwise.
                 Relative pose: shape (``num_envs``, 6), containing delta position and rotation in axis-angle form.
                 Absolute wrench: shape (``num_envs``, 6), containing force and torque.
 
@@ -291,8 +295,23 @@ def set_command(
                 )
                 self.desired_ee_pose_task = torch.cat([desired_ee_pos_task, desired_ee_rot_task], dim=-1)
             elif command_type == "pose_abs":
-                # compute targets
-                self.desired_ee_pose_task = target.clone()
+                # normalize the target orientation so that unnormalized policy outputs do not scale the
+                # orientation error; degenerate quaternions fall back to the current end-effector orientation
+                desired_ee_pose_task = target.clone()
+                desired_ee_quat_task = desired_ee_pose_task[:, 3:7]
+                normalized_quat = desired_ee_quat_task / torch.linalg.norm(desired_ee_quat_task, dim=-1, keepdim=True)
+                is_valid = torch.isfinite(normalized_quat).all(dim=-1, keepdim=True)
+                if current_ee_pose_b is not None:
+                    _, fallback_quat = subtract_frame_transforms(
+                        current_task_frame_pose_b[:, :3],
+                        current_task_frame_pose_b[:, 3:],
+                        current_ee_pose_b[:, :3],
+                        current_ee_pose_b[:, 3:],
+                    )
+                else:
+                    fallback_quat = current_task_frame_pose_b.new_tensor([0.0, 0.0, 0.0, 1.0]).expand(self.num_envs, 4)
+                desired_ee_pose_task[:, 3:7] = torch.where(is_valid, normalized_quat, fallback_quat)
+                self.desired_ee_pose_task = desired_ee_pose_task
             elif command_type == "wrench_abs":
                 # compute targets
                 self.desired_ee_wrench_task = target.clone()
diff --git a/source/isaaclab/isaaclab/controllers/operational_space_cfg.py b/source/isaaclab/isaaclab/controllers/operational_space_cfg.py
index 22f9fa193781..280caf7d32df 100644
--- a/source/isaaclab/isaaclab/controllers/operational_space_cfg.py
+++ b/source/isaaclab/isaaclab/controllers/operational_space_cfg.py
@@ -9,7 +9,7 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .operational_space import OperationalSpaceController
diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py
index d62c45ee30e2..bb0839fcf1bf 100644
--- a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py
+++ b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik_cfg.py
@@ -10,7 +10,7 @@
 from dataclasses import field
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .pink_task_cfg import PinkIKTaskCfg
 
diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py b/source/isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py
index bdab08b68862..c6472131babc 100644
--- a/source/isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py
+++ b/source/isaaclab/isaaclab/controllers/pink_ik/pink_task_cfg.py
@@ -10,7 +10,7 @@
 from dataclasses import MISSING, field
 from typing import Any
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/controllers/rmp_flow_cfg.py b/source/isaaclab/isaaclab/controllers/rmp_flow_cfg.py
index a55954e6aafb..e94e94f2377b 100644
--- a/source/isaaclab/isaaclab/controllers/rmp_flow_cfg.py
+++ b/source/isaaclab/isaaclab/controllers/rmp_flow_cfg.py
@@ -9,7 +9,7 @@
 
 from dataclasses import MISSING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/devices/device_base.py b/source/isaaclab/isaaclab/devices/device_base.py
index e175dc1ef500..00c7100ab523 100644
--- a/source/isaaclab/isaaclab/devices/device_base.py
+++ b/source/isaaclab/isaaclab/devices/device_base.py
@@ -16,7 +16,7 @@
 import torch
 
 from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/devices/gamepad/se2_gamepad_cfg.py b/source/isaaclab/isaaclab/devices/gamepad/se2_gamepad_cfg.py
index f7156ae1f49c..fc4239538070 100644
--- a/source/isaaclab/isaaclab/devices/gamepad/se2_gamepad_cfg.py
+++ b/source/isaaclab/isaaclab/devices/gamepad/se2_gamepad_cfg.py
@@ -9,7 +9,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..device_base import DeviceCfg
 
diff --git a/source/isaaclab/isaaclab/devices/gamepad/se3_gamepad_cfg.py b/source/isaaclab/isaaclab/devices/gamepad/se3_gamepad_cfg.py
index 2d21e3980713..123105fa10dc 100644
--- a/source/isaaclab/isaaclab/devices/gamepad/se3_gamepad_cfg.py
+++ b/source/isaaclab/isaaclab/devices/gamepad/se3_gamepad_cfg.py
@@ -9,7 +9,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..device_base import DeviceCfg
 
diff --git a/source/isaaclab/isaaclab/devices/haply/se3_haply.py b/source/isaaclab/isaaclab/devices/haply/se3_haply.py
index 871aee4689f3..f9e190de8a4a 100644
--- a/source/isaaclab/isaaclab/devices/haply/se3_haply.py
+++ b/source/isaaclab/isaaclab/devices/haply/se3_haply.py
@@ -16,7 +16,7 @@
 import numpy as np
 import torch
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 try:
     import websockets
diff --git a/source/isaaclab/isaaclab/devices/keyboard/se2_keyboard_cfg.py b/source/isaaclab/isaaclab/devices/keyboard/se2_keyboard_cfg.py
index 0e3679f82b31..acecde3ae7d6 100644
--- a/source/isaaclab/isaaclab/devices/keyboard/se2_keyboard_cfg.py
+++ b/source/isaaclab/isaaclab/devices/keyboard/se2_keyboard_cfg.py
@@ -9,7 +9,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..device_base import DeviceCfg
 
diff --git a/source/isaaclab/isaaclab/devices/keyboard/se3_keyboard_cfg.py b/source/isaaclab/isaaclab/devices/keyboard/se3_keyboard_cfg.py
index 5279dc82a124..3ac55205360a 100644
--- a/source/isaaclab/isaaclab/devices/keyboard/se3_keyboard_cfg.py
+++ b/source/isaaclab/isaaclab/devices/keyboard/se3_keyboard_cfg.py
@@ -9,7 +9,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..device_base import DeviceCfg
 
diff --git a/source/isaaclab/isaaclab/devices/retargeter_base.py b/source/isaaclab/isaaclab/devices/retargeter_base.py
index e474cb620870..0859dd5342cf 100644
--- a/source/isaaclab/isaaclab/devices/retargeter_base.py
+++ b/source/isaaclab/isaaclab/devices/retargeter_base.py
@@ -19,7 +19,7 @@
 from enum import Enum
 from typing import Any
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse_cfg.py b/source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse_cfg.py
index 1a287317a3ba..91e6a823833a 100644
--- a/source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse_cfg.py
+++ b/source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse_cfg.py
@@ -9,7 +9,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..device_base import DeviceCfg
 
diff --git a/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse.py b/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse.py
index 243f8eb6483f..49ce997da486 100644
--- a/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse.py
+++ b/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse.py
@@ -85,7 +85,9 @@ def __init__(self, cfg: Se3SpaceMouseCfg):
 
     def __del__(self):
         """Destructor for the class."""
-        self._thread.join()
+        thread = getattr(self, "_thread", None)
+        if thread is not None and thread.is_alive():
+            thread.join()
 
     def __str__(self) -> str:
         """Returns: A string containing the information of joystick."""
diff --git a/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse_cfg.py b/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse_cfg.py
index d6b8f1d4a206..ba63dae831b6 100644
--- a/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse_cfg.py
+++ b/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse_cfg.py
@@ -9,7 +9,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..device_base import DeviceCfg
 
diff --git a/source/isaaclab/isaaclab/envs/common.py b/source/isaaclab/isaaclab/envs/common.py
index 7a4fdde5b4b1..f1db323d74fe 100644
--- a/source/isaaclab/isaaclab/envs/common.py
+++ b/source/isaaclab/isaaclab/envs/common.py
@@ -12,7 +12,7 @@
 import gymnasium as gym
 import torch
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Deprecated: ViewerCfg
diff --git a/source/isaaclab/isaaclab/envs/direct_marl_env_cfg.py b/source/isaaclab/isaaclab/envs/direct_marl_env_cfg.py
index fb1f12bdfb02..599eab724029 100644
--- a/source/isaaclab/isaaclab/envs/direct_marl_env_cfg.py
+++ b/source/isaaclab/isaaclab/envs/direct_marl_env_cfg.py
@@ -13,7 +13,7 @@
 
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.noise import NoiseModelCfg
 
 from .common import AgentID, SpaceType, ViewerCfg
diff --git a/source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py b/source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py
index 73db3f42f02c..074c8731b893 100644
--- a/source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py
+++ b/source/isaaclab/isaaclab/envs/direct_rl_env_cfg.py
@@ -12,7 +12,7 @@
     from isaaclab.devices.openxr import XrCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.noise import NoiseModelCfg
 
 from .common import SpaceType, ViewerCfg
diff --git a/source/isaaclab/isaaclab/envs/manager_based_env_cfg.py b/source/isaaclab/isaaclab/envs/manager_based_env_cfg.py
index ee704f685fce..30dc55facfe0 100644
--- a/source/isaaclab/isaaclab/envs/manager_based_env_cfg.py
+++ b/source/isaaclab/isaaclab/envs/manager_based_env_cfg.py
@@ -23,7 +23,7 @@
 from isaaclab.managers import RecorderManagerBaseCfg as DefaultEmptyRecorderManagerCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .common import ViewerCfg
 from .utils.video_recorder_cfg import VideoRecorderCfg
diff --git a/source/isaaclab/isaaclab/envs/manager_based_rl_env_cfg.py b/source/isaaclab/isaaclab/envs/manager_based_rl_env_cfg.py
index 5c5966b1386c..4f379ca0f805 100644
--- a/source/isaaclab/isaaclab/envs/manager_based_rl_env_cfg.py
+++ b/source/isaaclab/isaaclab/envs/manager_based_rl_env_cfg.py
@@ -7,7 +7,7 @@
 
 from dataclasses import MISSING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .manager_based_env_cfg import ManagerBasedEnvCfg
 
diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py b/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py
index 5890e1da9fb2..6bd98583073e 100644
--- a/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py
+++ b/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py
@@ -10,7 +10,7 @@
 
 from isaaclab.controllers import DifferentialIKControllerCfg, OperationalSpaceControllerCfg
 from isaaclab.managers.action_manager import ActionTermCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .binary_joint_actions import AbsBinaryJointPositionAction, BinaryJointPositionAction, BinaryJointVelocityAction
diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/pink_actions_cfg.py b/source/isaaclab/isaaclab/envs/mdp/actions/pink_actions_cfg.py
index 05edc8a01ff2..b5910b64d0f6 100644
--- a/source/isaaclab/isaaclab/envs/mdp/actions/pink_actions_cfg.py
+++ b/source/isaaclab/isaaclab/envs/mdp/actions/pink_actions_cfg.py
@@ -8,7 +8,7 @@
 
 from isaaclab.controllers.pink_ik import PinkIKControllerCfg
 from isaaclab.managers.action_manager import ActionTermCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .pink_task_space_actions import PinkInverseKinematicsAction
diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_actions_cfg.py b/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_actions_cfg.py
index 2f9058cf1fb9..a988785bddb3 100644
--- a/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_actions_cfg.py
+++ b/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_actions_cfg.py
@@ -10,7 +10,7 @@
 
 from isaaclab.controllers.rmp_flow_cfg import RmpFlowControllerCfg
 from isaaclab.managers.action_manager import ActionTermCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .rmpflow_task_space_actions import RMPFlowAction
diff --git a/source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py b/source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py
index 8d166c3245c1..a0c0af004cfa 100644
--- a/source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py
+++ b/source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py
@@ -10,7 +10,7 @@
 from isaaclab.managers import CommandTermCfg
 from isaaclab.markers import VisualizationMarkersCfg
 from isaaclab.markers.config import BLUE_ARROW_X_MARKER_CFG, FRAME_MARKER_CFG, GREEN_ARROW_X_MARKER_CFG
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .null_command import NullCommand
diff --git a/source/isaaclab/isaaclab/envs/mdp/observations.py b/source/isaaclab/isaaclab/envs/mdp/observations.py
index 4bdc05664686..b8c5a9a14fa6 100644
--- a/source/isaaclab/isaaclab/envs/mdp/observations.py
+++ b/source/isaaclab/isaaclab/envs/mdp/observations.py
@@ -557,8 +557,8 @@ def __call__(
         # forward the images through the model
         features = self._inference_fn(self._model, image_data, **(inference_kwargs or {}))
 
-        # move the features back to the image device
-        return features.detach().to(image_device)
+        # observation terms must be flat after the environment batch dimension
+        return features.flatten(start_dim=1).detach().to(image_device)
 
     """
     Helper functions.
@@ -574,11 +574,39 @@ def _prepare_theia_transformer_model(self, model_name: str, model_device: str) -
         Returns:
             A dictionary containing the model and inference functions.
         """
-        from transformers import AutoModel
+        from transformers import AutoConfig
+        from transformers.dynamic_module_utils import get_class_from_dynamic_module
 
         def _load_model() -> torch.nn.Module:
             """Load the Theia transformer model."""
-            model = AutoModel.from_pretrained(f"theaiinstitute/{model_name}", trust_remote_code=True).eval()
+            pretrained_model_name = f"theaiinstitute/{model_name}"
+            config = AutoConfig.from_pretrained(pretrained_model_name, trust_remote_code=True)
+            model_class = get_class_from_dynamic_module(config.auto_map["AutoModel"], pretrained_model_name)
+
+            # Theia initializes a pretrained backbone inside its constructor. Transformers 5 constructs
+            # models on the meta device, where nested ``from_pretrained`` calls are prohibited. Limit the
+            # legacy initialization behavior to the trusted remote class and restore it after loading.
+            had_init_context = "get_init_context" in model_class.__dict__
+            original_init_context = model_class.__dict__.get("get_init_context")
+            had_tied_weight_keys = "all_tied_weights_keys" in model_class.__dict__
+            original_tied_weight_keys = model_class.__dict__.get("all_tied_weights_keys")
+
+            def _get_init_context(_cls, *_args, **_kwargs):
+                return []
+
+            model_class.get_init_context = classmethod(_get_init_context)
+            model_class.all_tied_weights_keys = {}
+            try:
+                model = model_class.from_pretrained(pretrained_model_name, config=config).eval()
+            finally:
+                if had_init_context:
+                    model_class.get_init_context = original_init_context
+                else:
+                    del model_class.get_init_context
+                if had_tied_weight_keys:
+                    model_class.all_tied_weights_keys = original_tied_weight_keys
+                else:
+                    del model_class.all_tied_weights_keys
             return model.to(model_device)
 
         def _inference(model, images: torch.Tensor) -> torch.Tensor:
diff --git a/source/isaaclab/isaaclab/envs/mdp/recorders/recorders_cfg.py b/source/isaaclab/isaaclab/envs/mdp/recorders/recorders_cfg.py
index 7c06d78d92d8..473501591053 100644
--- a/source/isaaclab/isaaclab/envs/mdp/recorders/recorders_cfg.py
+++ b/source/isaaclab/isaaclab/envs/mdp/recorders/recorders_cfg.py
@@ -5,7 +5,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.managers.recorder_manager import RecorderManagerBaseCfg, RecorderTermCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .recorders import (
diff --git a/source/isaaclab/isaaclab/envs/mimic_env_cfg.py b/source/isaaclab/isaaclab/envs/mimic_env_cfg.py
index ed0d5ecd4cfd..990c792b895c 100644
--- a/source/isaaclab/isaaclab/envs/mimic_env_cfg.py
+++ b/source/isaaclab/isaaclab/envs/mimic_env_cfg.py
@@ -15,7 +15,7 @@
 import enum
 
 from isaaclab.managers.recorder_manager import RecorderManagerBaseCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/envs/utils/io_descriptors.py b/source/isaaclab/isaaclab/envs/utils/io_descriptors.py
index f14ae14e5f78..3a9d54f12e5a 100644
--- a/source/isaaclab/isaaclab/envs/utils/io_descriptors.py
+++ b/source/isaaclab/isaaclab/envs/utils/io_descriptors.py
@@ -8,7 +8,7 @@
 from collections.abc import Callable
 from typing import TYPE_CHECKING, Any, Concatenate, ParamSpec, TypeVar
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     import torch
diff --git a/source/isaaclab/isaaclab/envs/utils/video_recorder.py b/source/isaaclab/isaaclab/envs/utils/video_recorder.py
index 89968bb1535a..dd669224bd58 100644
--- a/source/isaaclab/isaaclab/envs/utils/video_recorder.py
+++ b/source/isaaclab/isaaclab/envs/utils/video_recorder.py
@@ -84,6 +84,10 @@ def __init__(self, cfg: VideoRecorderCfg, env: object):
         # Set to True after the first unrecoverable frame-capture error so that
         # subsequent steps do not propagate the exception or repeat the log message.
         self._frame_error_logged: bool = False
+        # Set to True after the Kit/Newton cubric warning is emitted. The condition it
+        # reports is fixed configuration state, so warning once per recorder is enough;
+        # without this the message repeats on every captured frame.
+        self._cubric_warning_logged: bool = False
 
     def step(self) -> None:
         """Advance the recorder by one env step."""
@@ -186,9 +190,10 @@ def _frame_from_visualizer(self, viz_type: str, sub: str) -> np.ndarray | None:
         # Kit Replicator requires cubric to propagate Newton Fabric transforms to RTX's
         # scene delegate. Without cubric, frames will be black. Log a warning but allow
         # the capture to proceed — users with cubric available will get correct frames.
-        if viz_type == "kit":
+        if viz_type == "kit" and not self._cubric_warning_logged:
             physics_backend = getattr(getattr(sim, "physics_manager", None), "video_capture_backend", lambda: None)()
             if physics_backend == "newton_gl":
+                self._cubric_warning_logged = True
                 logger.warning(
                     "[VideoRecorder] source='visualizer:kit' with Newton physics requires cubric "
                     "to propagate Fabric transforms to RTX. Frames may be black if cubric is "
@@ -196,6 +201,8 @@ def _frame_from_visualizer(self, viz_type: str, sub: str) -> np.ndarray | None:
                 )
 
         viz = candidates[0]
+        if not sim.is_rendering:
+            sim.forward()
         if sub == "streaming_view":
             if not hasattr(viz, "render_tiled_rgb_array"):
                 raise RuntimeError(
diff --git a/source/isaaclab/isaaclab/envs/utils/video_recorder_cfg.py b/source/isaaclab/isaaclab/envs/utils/video_recorder_cfg.py
index 9f10526ca575..3b3c4abd48e4 100644
--- a/source/isaaclab/isaaclab/envs/utils/video_recorder_cfg.py
+++ b/source/isaaclab/isaaclab/envs/utils/video_recorder_cfg.py
@@ -7,7 +7,7 @@
 
 from __future__ import annotations
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/managers/manager_base.py b/source/isaaclab/isaaclab/managers/manager_base.py
index 0c01926c1aa0..eb93ddc7ba9f 100644
--- a/source/isaaclab/isaaclab/managers/manager_base.py
+++ b/source/isaaclab/isaaclab/managers/manager_base.py
@@ -39,7 +39,7 @@ class should also have a corresponding configuration class that defines the conf
 
     .. code-block:: python
 
-        from isaaclab.utils.configclass import configclass
+        from isaaclab.utils import configclass
         from isaaclab.utils.mdp import ManagerBase, ManagerTermBaseCfg
 
 
diff --git a/source/isaaclab/isaaclab/managers/manager_term_cfg.py b/source/isaaclab/isaaclab/managers/manager_term_cfg.py
index 3fad3881679d..5408f7f215d4 100644
--- a/source/isaaclab/isaaclab/managers/manager_term_cfg.py
+++ b/source/isaaclab/isaaclab/managers/manager_term_cfg.py
@@ -13,7 +13,7 @@
 
 import torch
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.modifiers import ModifierCfg
 from isaaclab.utils.noise import NoiseCfg, NoiseModelCfg
 
diff --git a/source/isaaclab/isaaclab/managers/recorder_manager.py b/source/isaaclab/isaaclab/managers/recorder_manager.py
index 67a189736da0..2e6ebf0b2446 100644
--- a/source/isaaclab/isaaclab/managers/recorder_manager.py
+++ b/source/isaaclab/isaaclab/managers/recorder_manager.py
@@ -15,7 +15,7 @@
 import warp as wp
 from prettytable import PrettyTable
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.datasets import EpisodeData, HDF5DatasetFileHandler
 
 from .manager_base import ManagerBase, ManagerTermBase
diff --git a/source/isaaclab/isaaclab/managers/scene_entity_cfg.py b/source/isaaclab/isaaclab/managers/scene_entity_cfg.py
index 40250ceeb4d0..2fe118c2da26 100644
--- a/source/isaaclab/isaaclab/managers/scene_entity_cfg.py
+++ b/source/isaaclab/isaaclab/managers/scene_entity_cfg.py
@@ -10,7 +10,7 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from isaaclab.assets import Articulation, RigidObject, RigidObjectCollection
diff --git a/source/isaaclab/isaaclab/markers/visualization_markers_cfg.py b/source/isaaclab/isaaclab/markers/visualization_markers_cfg.py
index 6c6b98ec3268..c32ed3d1d454 100644
--- a/source/isaaclab/isaaclab/markers/visualization_markers_cfg.py
+++ b/source/isaaclab/isaaclab/markers/visualization_markers_cfg.py
@@ -11,7 +11,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.sim.spawners import SpawnerCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from isaaclab.markers import VisualizationMarkers
diff --git a/source/isaaclab/isaaclab/physics/physics_manager.py b/source/isaaclab/isaaclab/physics/physics_manager.py
index fa5259ff1e61..631daca21166 100644
--- a/source/isaaclab/isaaclab/physics/physics_manager.py
+++ b/source/isaaclab/isaaclab/physics/physics_manager.py
@@ -15,7 +15,6 @@
 from typing import TYPE_CHECKING, Any, ClassVar
 
 from isaaclab.sim.utils.stage import get_current_stage
-from isaaclab.utils._device import set_cuda_device
 
 if TYPE_CHECKING:
     from isaaclab.scene_data import SceneDataBackend
@@ -379,12 +378,6 @@ def initialize(cls, sim_context: SimulationContext) -> None:
         PhysicsManager._device = sim_context.cfg.device
         PhysicsManager._sim_time = 0.0
 
-        # Synchronize the process-wide CUDA device before backend-specific
-        # initialization allocates state. PyTorch must select the device before
-        # Warp so that both runtimes retain the same primary CUDA context.
-        if "cuda" in PhysicsManager._device:
-            set_cuda_device(PhysicsManager._device)
-
         # The OVD Recorder (omni.physx.pvd) only records PhysX simulations. On other backends the
         # recording would silently never start, so the process would run until manually killed
         # instead of stopping at `--anim_recording_stop_time` and saving the animation.
diff --git a/source/isaaclab/isaaclab/physics/physics_manager_cfg.py b/source/isaaclab/isaaclab/physics/physics_manager_cfg.py
index 330621cf5577..176160e42d8f 100644
--- a/source/isaaclab/isaaclab/physics/physics_manager_cfg.py
+++ b/source/isaaclab/isaaclab/physics/physics_manager_cfg.py
@@ -10,7 +10,7 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING, Any
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from isaaclab_ov.physics import OvPhysxCfg
diff --git a/source/isaaclab/isaaclab/renderers/render_context.py b/source/isaaclab/isaaclab/renderers/render_context.py
index aa132a98b2d8..c08fe2e7f143 100644
--- a/source/isaaclab/isaaclab/renderers/render_context.py
+++ b/source/isaaclab/isaaclab/renderers/render_context.py
@@ -8,6 +8,7 @@
 from __future__ import annotations
 
 import logging
+import os
 from typing import Any
 
 import torch
@@ -21,6 +22,22 @@
 
 logger = logging.getLogger(__name__)
 
+RENDER_PROFILE_SCOPE = "IsaacLab::Renderer::render"
+"""Name of the timed scope bracketing :meth:`BaseRenderer.render`, emitted when render profiling is on.
+
+Every backend renders through the same call, so a profile can compare them under one scope name
+instead of one internal name per backend. ``wp.ScopedTimer`` prints one ``"<name> took X.XX ms"``
+line per call, which ``scripts/benchmarks/benchmark_renderer.py`` parses back out of the run log.
+"""
+
+_RENDER_PROFILE_ENABLED = os.environ.get("ISAACLAB_RENDER_PROFILE", "0") != "0"
+"""Whether to time and print :data:`RENDER_PROFILE_SCOPE`, read once from ``ISAACLAB_RENDER_PROFILE``.
+
+Off by default because the timer synchronizes the device on entry and exit. That is what lets it
+measure completed device work rather than submitted work, but it also removes CPU/GPU overlap, so
+an enabled run is a profiling aid and not a throughput measurement.
+"""
+
 
 @wp.kernel(enable_backward=False)
 def _write_material(
@@ -340,9 +357,20 @@ def render_into_camera(
         camera_data: CameraData,
         physics_step_count: int,
     ) -> None:
-        """Sync scene state, render, and read outputs into ``camera_data``."""
+        """Sync scene state, render, and read outputs into ``camera_data``.
+
+        Only the render itself is bracketed by :data:`RENDER_PROFILE_SCOPE`, so a profile
+        attributes neither the scene-state sync before it nor the output readback after it to
+        rendering. See :data:`_RENDER_PROFILE_ENABLED` for how to turn the timer on.
+        """
         self.update_scene_state(physics_step_count)
-        renderer.render(render_data)
+        with wp.ScopedTimer(
+            RENDER_PROFILE_SCOPE,
+            active=_RENDER_PROFILE_ENABLED,
+            print=True,
+            synchronize=True,
+        ):
+            renderer.render(render_data)
         renderer.read_output(render_data, camera_data)
 
     def reset_stage_prepare_flag(self) -> None:
diff --git a/source/isaaclab/isaaclab/renderers/renderer_cfg.py b/source/isaaclab/isaaclab/renderers/renderer_cfg.py
index e30be7ce934b..43d8a59a9b28 100644
--- a/source/isaaclab/isaaclab/renderers/renderer_cfg.py
+++ b/source/isaaclab/isaaclab/renderers/renderer_cfg.py
@@ -9,7 +9,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .base_renderer import BaseRenderer
diff --git a/source/isaaclab/isaaclab/scene/interactive_scene.py b/source/isaaclab/isaaclab/scene/interactive_scene.py
index 2584bcc48959..b1be7b95571f 100644
--- a/source/isaaclab/isaaclab/scene/interactive_scene.py
+++ b/source/isaaclab/isaaclab/scene/interactive_scene.py
@@ -84,7 +84,7 @@ class InteractiveScene:
     .. code-block:: python
 
         from isaaclab.scene import InteractiveSceneCfg
-        from isaaclab.utils.configclass import configclass
+        from isaaclab.utils import configclass
 
         from isaaclab_assets.robots.anymal import ANYMAL_C_CFG
 
diff --git a/source/isaaclab/isaaclab/scene/interactive_scene_cfg.py b/source/isaaclab/isaaclab/scene/interactive_scene_cfg.py
index cd9581256b01..9eff736281d0 100644
--- a/source/isaaclab/isaaclab/scene/interactive_scene_cfg.py
+++ b/source/isaaclab/isaaclab/scene/interactive_scene_cfg.py
@@ -11,8 +11,7 @@
 
 from isaaclab.cloner import CloneCfg, InclusionSet
 from isaaclab.cloner import add as clone_add
-from isaaclab.utils import find_unique_string_name
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass, find_unique_string_name
 
 if TYPE_CHECKING:
     from isaaclab.assets import AssetBaseCfg
@@ -41,7 +40,7 @@ class InteractiveSceneCfg:
         from isaaclab.assets import AssetBaseCfg
         from isaaclab.scene import InteractiveSceneCfg
         from isaaclab.sensors.ray_caster import GridPatternCfg, RayCasterCfg
-        from isaaclab.utils.configclass import configclass
+        from isaaclab.utils import configclass
 
         from isaaclab_assets.robots.anymal import ANYMAL_C_CFG
 
diff --git a/source/isaaclab/isaaclab/scene_data/scene_data_provider.py b/source/isaaclab/isaaclab/scene_data/scene_data_provider.py
index 04c394d4bdab..9ebfc0d27031 100644
--- a/source/isaaclab/isaaclab/scene_data/scene_data_provider.py
+++ b/source/isaaclab/isaaclab/scene_data/scene_data_provider.py
@@ -35,6 +35,24 @@
 }
 
 
+def _publication_device(data: Any) -> wp.Device:
+    """Return the common device of a populated scene-data publication."""
+    arrays = tuple(array for name in data._cls.vars if (array := getattr(data, name)) is not None)
+    if not arrays:
+        raise ValueError(f"{data._cls.__name__} contains no published arrays.")
+    device = arrays[0].device
+    if any(array.device != device for array in arrays[1:]):
+        raise ValueError(f"{data._cls.__name__} arrays must share one device.")
+    return device
+
+
+def _init_output(output: Any, count: int, device: wp.Device) -> None:
+    """Allocate missing output fields on the source publication device."""
+    for field_name, field_value in output._cls.vars.items():
+        if getattr(output, field_name) is None:
+            setattr(output, field_name, wp.empty(count, dtype=field_value.type.dtype, device=device))
+
+
 class SceneDataProvider:
     def __init__(self, backend: SceneDataBackend):
         """Initialize the scene data provider.
@@ -172,7 +190,7 @@ def get_transforms(
                 for field_name in input._cls.vars:
                     setattr(output, field_name, getattr(input, field_name))
             else:
-                self.init_output(output)
+                _init_output(output, self.transform_count, _publication_device(input))
                 for field_name in input._cls.vars:
                     wp.copy(getattr(output, field_name), getattr(input, field_name))
             return True
@@ -180,8 +198,15 @@ def get_transforms(
         conversion_kernel_name = f"convert_{input._cls.__name__}_to_{output._cls.__name__}"
 
         if conversion_kernel := getattr(ConversionKernels, conversion_kernel_name, None):
-            self.init_output(output)
-            wp.launch(kernel=conversion_kernel, dim=self.transform_count, inputs=[input, mapping], outputs=[output])
+            device = _publication_device(input)
+            _init_output(output, self.transform_count, device)
+            wp.launch(
+                kernel=conversion_kernel,
+                dim=self.transform_count,
+                inputs=[input, mapping],
+                outputs=[output],
+                device=device,
+            )
             return True
 
         return False
@@ -202,9 +227,8 @@ def init_output(
             output: A :class:`SceneDataFormat` struct whose ``None``-valued fields
                 will be replaced with empty arrays of length :attr:`transform_count`.
         """
-        for field_name, field_value in output._cls.vars.items():
-            if getattr(output, field_name) is None:
-                setattr(output, field_name, wp.empty(self.transform_count, dtype=field_value.type.dtype))
+        input = self.backend.transforms
+        _init_output(output, self.transform_count, _publication_device(input))
 
     def create_mapping(self, paths: list[str | None]) -> wp.array(dtype=wp.int32) | None:
         """Create an index mapping from sim backend transforms to desired output ordering.
@@ -232,7 +256,8 @@ def create_mapping(self, paths: list[str | None]) -> wp.array(dtype=wp.int32) |
                     path_to_out[out_path] = out_idx
             mapping = [path_to_out.get(path, -1) for path in input_paths]
             if not np.array_equal(mapping, np.arange(len(input_paths))):
-                return wp.array(mapping, dtype=wp.int32)
+                input = self.backend.transforms
+                return wp.array(mapping, dtype=wp.int32, device=_publication_device(input))
         return None
 
     def create_geometry_mapping(
@@ -275,7 +300,8 @@ def create_geometry_mapping(
 
         if identity and all(value >= 0 for value in mapping):
             return None
-        return wp.array(mapping, dtype=wp.int32)
+        points = self.backend.points
+        return wp.array(mapping, dtype=wp.int32, device=_publication_device(points))
 
     def get_points(
         self,
@@ -309,7 +335,7 @@ def get_points(
             return True
 
         if output.points is None:
-            output.points = wp.empty(self.point_count, dtype=wp.vec3f)
+            output.points = wp.empty(self.point_count, dtype=wp.vec3f, device=input_points.points.device)
 
         entity_counts = self.backend.geometry_counts
         if not entity_counts:
diff --git a/source/isaaclab/isaaclab/sensors/camera/camera.py b/source/isaaclab/isaaclab/sensors/camera/camera.py
index 969bc4e36d4e..bca7dfc07a87 100644
--- a/source/isaaclab/isaaclab/sensors/camera/camera.py
+++ b/source/isaaclab/isaaclab/sensors/camera/camera.py
@@ -198,6 +198,7 @@ def __init__(self, cfg: CameraCfg):
 
             settings = get_settings_manager()
             settings.set_bool("/isaaclab/render/rtx_sensors", True)
+            settings.set_bool("/physics/fabricUpdateTransformations", True)
             if require_hdr_output:
                 settings.set_bool("/rtx/rtpt/gaussian/skipTonemapping/enabled", False)
         elif renderer_type == "ovrtx" and require_hdr_output:
diff --git a/source/isaaclab/isaaclab/sensors/camera/camera_cfg.py b/source/isaaclab/isaaclab/sensors/camera/camera_cfg.py
index e4f8a4dfbed1..8d86034b30a0 100644
--- a/source/isaaclab/isaaclab/sensors/camera/camera_cfg.py
+++ b/source/isaaclab/isaaclab/sensors/camera/camera_cfg.py
@@ -11,7 +11,7 @@
 
 from isaaclab.renderers import RendererCfg
 from isaaclab.sim import FisheyeCameraCfg, PinholeCameraCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..sensor_base_cfg import SensorBaseCfg
 from .camera_isp import CameraISPMode
diff --git a/source/isaaclab/isaaclab/sensors/camera/tiled_camera_cfg.py b/source/isaaclab/isaaclab/sensors/camera/tiled_camera_cfg.py
index 1aa3443d7a4f..856f9de17a59 100644
--- a/source/isaaclab/isaaclab/sensors/camera/tiled_camera_cfg.py
+++ b/source/isaaclab/isaaclab/sensors/camera/tiled_camera_cfg.py
@@ -6,7 +6,7 @@
 import warnings
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .camera_cfg import CameraCfg
 
diff --git a/source/isaaclab/isaaclab/sensors/contact_sensor/base_contact_sensor.py b/source/isaaclab/isaaclab/sensors/contact_sensor/base_contact_sensor.py
index d520251bc59e..34000f62f7f6 100644
--- a/source/isaaclab/isaaclab/sensors/contact_sensor/base_contact_sensor.py
+++ b/source/isaaclab/isaaclab/sensors/contact_sensor/base_contact_sensor.py
@@ -148,13 +148,34 @@ def find_sensors(self, name_keys: str | Sequence[str], preserve_order: bool = Fa
         """
         return string_utils.resolve_matching_names(name_keys, self.body_names, preserve_order)
 
+    def _resolve_first_transition_tolerance(self, abs_tol: float | None) -> float:
+        """Resolves the tolerance used to detect a first contact or first air transition.
+
+        Valid air and contact timers are integer multiples of the sensor update interval, so half an
+        interval is the midpoint between "one update ago" and "two updates ago". Using it as the
+        tolerance keeps the comparison robust to the float32 rounding error of the sensor clock,
+        which grows with simulated time and quickly exceeds any fixed tolerance.
+
+        Args:
+            abs_tol: The caller-provided tolerance [s]. If None, half the sensor update interval
+                is used.
+
+        Returns:
+            The absolute tolerance to add to the queried time period [s].
+        """
+        if abs_tol is not None:
+            return abs_tol
+        # An update period of 0.0 means the sensor is updated on every physics step.
+        return 0.5 * max(self.cfg.update_period, self._sim_physics_dt)
+
     @abstractmethod
-    def compute_first_contact(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArray:
+    def compute_first_contact(self, dt: float, abs_tol: float | None = None) -> ProxyArray:
         """Checks if bodies that have established contact within the last :attr:`dt` seconds.
 
         This function checks if the bodies have established contact within the last :attr:`dt` seconds
         by comparing the current contact time with the given time period. If the contact time is less
-        than the given time period, then the bodies are considered to be in contact.
+        than the given time period, then the bodies are considered to be in contact. Outdated sensor
+        buffers are refreshed before the comparison.
 
         .. note::
             The function assumes that :attr:`dt` is a factor of the sensor update time-step. In other
@@ -164,7 +185,8 @@ def compute_first_contact(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArra
 
         Args:
             dt: The time period since the contact was established.
-            abs_tol: The absolute tolerance for the comparison.
+            abs_tol: The absolute tolerance for the comparison [s]. Defaults to None, in which case
+                half the sensor update interval is used.
 
         Returns:
             A boolean tensor indicating the bodies that have established contact within the last
@@ -177,12 +199,13 @@ def compute_first_contact(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArra
         raise NotImplementedError(f"Compute first contact is not implemented for {self.__class__.__name__}.")
 
     @abstractmethod
-    def compute_first_air(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArray:
+    def compute_first_air(self, dt: float, abs_tol: float | None = None) -> ProxyArray:
         """Checks if bodies that have broken contact within the last :attr:`dt` seconds.
 
         This function checks if the bodies have broken contact within the last :attr:`dt` seconds
         by comparing the current air time with the given time period. If the air time is less
-        than the given time period, then the bodies are considered to not be in contact.
+        than the given time period, then the bodies are considered to not be in contact. Outdated sensor
+        buffers are refreshed before the comparison.
 
         .. note::
             It assumes that :attr:`dt` is a factor of the sensor update time-step. In other words,
@@ -192,7 +215,8 @@ def compute_first_air(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArray:
 
         Args:
             dt: The time period since the contract is broken.
-            abs_tol: The absolute tolerance for the comparison.
+            abs_tol: The absolute tolerance for the comparison [s]. Defaults to None, in which case
+                half the sensor update interval is used.
 
         Returns:
             A boolean tensor indicating the bodies that have broken contact within the last :attr:`dt` seconds.
diff --git a/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_cfg.py b/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_cfg.py
index 9efbd3824c92..ce4fe2eb7662 100644
--- a/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_cfg.py
+++ b/source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor_cfg.py
@@ -7,7 +7,7 @@
 
 from isaaclab.markers import VisualizationMarkersCfg
 from isaaclab.markers.config import BLUE_ARROW_X_MARKER_CFG, CONTACT_SENSOR_MARKER_CFG, RED_ARROW_X_MARKER_CFG
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..sensor_base_cfg import SensorBaseCfg
 
diff --git a/source/isaaclab/isaaclab/sensors/frame_transformer/frame_transformer_cfg.py b/source/isaaclab/isaaclab/sensors/frame_transformer/frame_transformer_cfg.py
index 03aec5ca9155..b41c7d6d5f0d 100644
--- a/source/isaaclab/isaaclab/sensors/frame_transformer/frame_transformer_cfg.py
+++ b/source/isaaclab/isaaclab/sensors/frame_transformer/frame_transformer_cfg.py
@@ -9,7 +9,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.markers.config import FRAME_MARKER_CFG, VisualizationMarkersCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..sensor_base_cfg import SensorBaseCfg
 
diff --git a/source/isaaclab/isaaclab/sensors/imu/imu_cfg.py b/source/isaaclab/isaaclab/sensors/imu/imu_cfg.py
index 4797e0dc0339..a095c7f27642 100644
--- a/source/isaaclab/isaaclab/sensors/imu/imu_cfg.py
+++ b/source/isaaclab/isaaclab/sensors/imu/imu_cfg.py
@@ -7,7 +7,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..sensor_base_cfg import SensorBaseCfg
 
diff --git a/source/isaaclab/isaaclab/sensors/joint_wrench/joint_wrench_sensor_cfg.py b/source/isaaclab/isaaclab/sensors/joint_wrench/joint_wrench_sensor_cfg.py
index d482603dd48f..4bdb0ab74f06 100644
--- a/source/isaaclab/isaaclab/sensors/joint_wrench/joint_wrench_sensor_cfg.py
+++ b/source/isaaclab/isaaclab/sensors/joint_wrench/joint_wrench_sensor_cfg.py
@@ -7,7 +7,7 @@
 
 from typing import TYPE_CHECKING, Literal
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..sensor_base_cfg import SensorBaseCfg
 
diff --git a/source/isaaclab/isaaclab/sensors/pva/pva_cfg.py b/source/isaaclab/isaaclab/sensors/pva/pva_cfg.py
index 5e7166ca1911..38f3d627608a 100644
--- a/source/isaaclab/isaaclab/sensors/pva/pva_cfg.py
+++ b/source/isaaclab/isaaclab/sensors/pva/pva_cfg.py
@@ -9,7 +9,7 @@
 
 from isaaclab.markers import VisualizationMarkersCfg
 from isaaclab.markers.config import RED_ARROW_X_MARKER_CFG
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..sensor_base_cfg import SensorBaseCfg
 
diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_cfg.py
index fa60dcf14722..c625ccffedf4 100644
--- a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_cfg.py
+++ b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_cfg.py
@@ -8,7 +8,7 @@
 import logging
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .multi_mesh_ray_caster_cfg import MultiMeshRayCasterCfg
 from .ray_caster_camera_cfg import RayCasterCameraCfg
diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_cfg.py
index c88f3199bb48..3e7de9429c60 100644
--- a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_cfg.py
+++ b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_cfg.py
@@ -9,7 +9,7 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .ray_caster_cfg import RayCasterCfg
 
diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/patterns/patterns_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/patterns/patterns_cfg.py
index 71582913c6f3..aa946ffac7bc 100644
--- a/source/isaaclab/isaaclab/sensors/ray_caster/patterns/patterns_cfg.py
+++ b/source/isaaclab/isaaclab/sensors/ray_caster/patterns/patterns_cfg.py
@@ -13,7 +13,7 @@
 
 import torch
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from . import patterns
 
diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py
index 84238380aef8..574c95020437 100644
--- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py
+++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py
@@ -8,7 +8,7 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING, Literal
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .patterns import PinholeCameraPatternCfg
 from .ray_caster_cfg import RayCasterCfg
diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py
index ebed1c3a6400..e354987f36a3 100644
--- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py
+++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py
@@ -13,7 +13,7 @@
 from isaaclab.markers import VisualizationMarkersCfg
 from isaaclab.markers.config import RAY_CASTER_MARKER_CFG
 from isaaclab.sim.spawners.sensors.sensors_cfg import SensorFrameCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..sensor_base_cfg import SensorBaseCfg
 from .patterns.patterns_cfg import PatternBaseCfg
diff --git a/source/isaaclab/isaaclab/sensors/sensor_base_cfg.py b/source/isaaclab/isaaclab/sensors/sensor_base_cfg.py
index 85ca01aab4eb..785c182e58cb 100644
--- a/source/isaaclab/isaaclab/sensors/sensor_base_cfg.py
+++ b/source/isaaclab/isaaclab/sensors/sensor_base_cfg.py
@@ -6,7 +6,7 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .sensor_base import SensorBase
diff --git a/source/isaaclab/isaaclab/sim/converters/asset_converter_base_cfg.py b/source/isaaclab/isaaclab/sim/converters/asset_converter_base_cfg.py
index b34ce4f4f24b..457792d3ecf7 100644
--- a/source/isaaclab/isaaclab/sim/converters/asset_converter_base_cfg.py
+++ b/source/isaaclab/isaaclab/sim/converters/asset_converter_base_cfg.py
@@ -8,7 +8,7 @@
 from dataclasses import MISSING
 from enum import StrEnum
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/sim/converters/mesh_converter_cfg.py b/source/isaaclab/isaaclab/sim/converters/mesh_converter_cfg.py
index 3fc200120ad5..d0c5980b284b 100644
--- a/source/isaaclab/isaaclab/sim/converters/mesh_converter_cfg.py
+++ b/source/isaaclab/isaaclab/sim/converters/mesh_converter_cfg.py
@@ -5,7 +5,7 @@
 
 from isaaclab.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg
 from isaaclab.sim.schemas import schemas_cfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/sim/converters/mjcf_converter_cfg.py b/source/isaaclab/isaaclab/sim/converters/mjcf_converter_cfg.py
index ca111cb494db..d08cdf493906 100644
--- a/source/isaaclab/isaaclab/sim/converters/mjcf_converter_cfg.py
+++ b/source/isaaclab/isaaclab/sim/converters/mjcf_converter_cfg.py
@@ -8,7 +8,7 @@
 from typing import Literal
 
 from isaaclab.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/sim/converters/urdf_converter_cfg.py b/source/isaaclab/isaaclab/sim/converters/urdf_converter_cfg.py
index 49a2ef83b38f..d1ed21b75215 100644
--- a/source/isaaclab/isaaclab/sim/converters/urdf_converter_cfg.py
+++ b/source/isaaclab/isaaclab/sim/converters/urdf_converter_cfg.py
@@ -9,7 +9,7 @@
 from typing import Literal
 
 from isaaclab.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/sim/schemas/schemas_actuators.py b/source/isaaclab/isaaclab/sim/schemas/schemas_actuators.py
index dd8e0056ff42..486aaca05399 100644
--- a/source/isaaclab/isaaclab/sim/schemas/schemas_actuators.py
+++ b/source/isaaclab/isaaclab/sim/schemas/schemas_actuators.py
@@ -419,10 +419,9 @@ def _resave_checkpoint_with_metadata(
     """Re-save a neural-network checkpoint with updated metadata.
 
     Resolves the configured path through the shared asset cache, loads the
-    original TorchScript or dict checkpoint, merges *metadata* into any
-    existing metadata (Lab config values take precedence), and writes the
-    result to a temporary ``.pt`` file that persists for the lifetime of the
-    process.
+    original TorchScript checkpoint, merges *metadata* into any existing
+    metadata (Lab config values take precedence), and writes the result to a
+    temporary ``.pt`` file that persists for the lifetime of the process.
 
     Returns:
         Path to the temporary checkpoint file.
@@ -437,29 +436,17 @@ def _resave_checkpoint_with_metadata(
     local_path = retrieve_file_path(original_path)
 
     extra_files: dict[str, str] = {"metadata.json": ""}
-    is_torchscript = True
     try:
         net = torch.jit.load(local_path, map_location="cpu", _extra_files=extra_files)
         existing_meta = json.loads(extra_files["metadata.json"]) if extra_files["metadata.json"] else {}
-    except Exception:
-        is_torchscript = False
-        checkpoint = torch.load(local_path, map_location="cpu", weights_only=False)
-        if not isinstance(checkpoint, dict) or "model" not in checkpoint:
-            raise ValueError(
-                f"Cannot load checkpoint at '{original_path}'; "
-                "expected a TorchScript archive or a dict with a 'model' key"
-            )
-        net = checkpoint["model"]
-        existing_meta = checkpoint.get("metadata", {})
+    except Exception as exc:
+        raise ValueError(f"Cannot load checkpoint at '{original_path}'; expected a TorchScript archive") from exc
 
     merged = {**existing_meta, **metadata}
 
     with tempfile.NamedTemporaryFile(suffix=".pt", delete=False) as tmp:
         tmp_path = tmp.name
-    if is_torchscript:
-        extra_out = {"metadata.json": json.dumps(merged)}
-        torch.jit.save(net, tmp_path, _extra_files=extra_out)
-    else:
-        torch.save({"model": net, "metadata": merged}, tmp_path)
+    extra_out = {"metadata.json": json.dumps(merged)}
+    torch.jit.save(net, tmp_path, _extra_files=extra_out)
 
     return tmp_path
diff --git a/source/isaaclab/isaaclab/sim/schemas/schemas_cfg.py b/source/isaaclab/isaaclab/sim/schemas/schemas_cfg.py
index 4957d1eccfe0..59d3a14bb2d0 100644
--- a/source/isaaclab/isaaclab/sim/schemas/schemas_cfg.py
+++ b/source/isaaclab/isaaclab/sim/schemas/schemas_cfg.py
@@ -9,7 +9,7 @@
 from collections.abc import Callable
 from typing import ClassVar, Literal
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 # Names that moved out of this submodule into ``isaaclab_physx.sim.schemas.schemas_cfg``.
 # Resolved lazily so callers using ``from isaaclab.sim.schemas.schemas_cfg import
diff --git a/source/isaaclab/isaaclab/sim/simulation_cfg.py b/source/isaaclab/isaaclab/sim/simulation_cfg.py
index d3105f8011a6..11af689c3af8 100644
--- a/source/isaaclab/isaaclab/sim/simulation_cfg.py
+++ b/source/isaaclab/isaaclab/sim/simulation_cfg.py
@@ -15,7 +15,7 @@
 
 from isaaclab.physics import PhysicsCfg
 from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialBaseCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 
@@ -84,8 +84,8 @@ class SimulationCfg:
         with the GUI enabled. This is to allow certain GUI features to work properly.
     """
 
-    use_newton_actuators: bool = False
-    """Use native actuators for supported explicit actuator configurations.
+    use_newton_actuators: bool = True
+    """Use native actuators for supported explicit actuator configurations. Default is True.
 
     When ``True``, supported explicit configs, such as :class:`IdealPDActuatorCfg`
     and :class:`DCMotorCfg`, author ``NewtonActuator`` USD prims. Newton executes
@@ -94,7 +94,8 @@ class SimulationCfg:
 
     Config values take precedence over existing USD actuators for covered joints.
     Joints without a config keep their USD-authored actuators. Implicit actuators
-    are unchanged: the solver applies their drive gains.
+    are unchanged: the solver applies their drive gains. Set this flag to ``False``
+    to use the deprecated Isaac Lab actuator execution path.
     """
 
     physics: PhysicsCfg | None = None
@@ -127,10 +128,10 @@ class SimulationCfg:
     """The visualizer configuration(s). Default is an empty list."""
 
     default_visualizer_cfg: VisualizerCfg | None = None
-    """Default visualizer camera hint applied to any visualizer that is selected at runtime.
+    """Default visualizer settings applied to any visualizer that is selected at runtime.
 
     This is a hint only — it does **not** add a visualizer to :attr:`visualizer_cfgs`.
     Fields such as :attr:`~isaaclab.visualizers.VisualizerCfg.eye` and
-    :attr:`~isaaclab.visualizers.VisualizerCfg.lookat` are forwarded to each resolved
+    :attr:`~isaaclab.visualizers.VisualizerCfg.background_color` are forwarded to each resolved
     visualizer unless that visualizer already has an explicitly customised value.
     """
diff --git a/source/isaaclab/isaaclab/sim/simulation_context.py b/source/isaaclab/isaaclab/sim/simulation_context.py
index b162c725a801..9c57b32d8eef 100644
--- a/source/isaaclab/isaaclab/sim/simulation_context.py
+++ b/source/isaaclab/isaaclab/sim/simulation_context.py
@@ -14,6 +14,7 @@
 from typing import TYPE_CHECKING, Any, TypeVar, cast
 
 import torch
+import warp as wp
 
 import isaaclab.sim as sim_utils
 import isaaclab.sim.utils.stage as stage_utils
@@ -179,6 +180,11 @@ def __init__(self, cfg: SimulationCfg | None = None):
             device_id = max(0, int(cuda_device) if cuda_device is not None else 0)
             self.cfg.device = f"cuda:{device_id}"
 
+        # Select the process device before constructing any physics, rendering, or visualization backend.
+        if "cuda" in self.cfg.device:
+            torch.cuda.set_device(self.cfg.device)
+        wp.set_device(self.cfg.device)
+
         self.physics_manager: type[PhysicsManager] = self._physics.class_type
         # Must be set before physics_manager.initialize() so that any render callbacks
         # registered during initialize() (e.g. PhysxManager's headless video pump) succeed.
@@ -210,6 +216,9 @@ def __init__(self, cfg: SimulationCfg | None = None):
         # cameras rather than inheriting a stale True from a previously torn-down simulation. RTX
         # cameras created for this instance re-set it to True before it is read.
         self.set_setting("/isaaclab/render/rtx_sensors", False)
+        # Preserve rendering initialization, then avoid continuous Fabric synchronization when
+        # the only visualizer is used for on-demand headless capture.
+        self.set_setting("/physics/fabricUpdateTransformations", self.is_rendering)
         # Set by camera sensors, which draw visual-only geometry regardless of renderer backend.
         self._visual_shapes_required = False
         self._pending_camera_view: tuple[tuple[float, float, float], tuple[float, float, float]] | None = None
@@ -341,7 +350,7 @@ def is_rendering(self) -> bool:
         return (
             self._has_gui
             or self.get_setting("/isaaclab/render/rtx_sensors")
-            or bool(self.resolve_visualizer_types())
+            or self._has_continuous_visualizers()
             or self._xr_enabled
         )
 
@@ -515,6 +524,31 @@ def resolve_visualizer_types(self) -> list[str]:
             visualizer_cfgs = [visualizer_cfgs]
         return [cfg.visualizer_type for cfg in visualizer_cfgs if getattr(cfg, "visualizer_type", None)]
 
+    def _has_continuous_visualizers(self) -> bool:
+        """Return whether the resolved visualizers require per-step updates."""
+        visualizer_types = self.resolve_visualizer_types()
+        if not visualizer_types:
+            return False
+
+        visualizer_cfgs = self.cfg.visualizer_cfgs
+        if visualizer_cfgs is None:
+            visualizer_cfgs = []
+        elif not isinstance(visualizer_cfgs, list):
+            visualizer_cfgs = [visualizer_cfgs]
+
+        if self._is_cli_visualizer_explicit():
+            for visualizer_type in visualizer_types:
+                matching_cfgs = [
+                    cfg for cfg in visualizer_cfgs if getattr(cfg, "visualizer_type", None) == visualizer_type
+                ]
+                if not matching_cfgs or any(not getattr(cfg, "headless", False) for cfg in matching_cfgs):
+                    return True
+            return False
+
+        return any(
+            getattr(cfg, "visualizer_type", None) and not getattr(cfg, "headless", False) for cfg in visualizer_cfgs
+        )
+
     def _resolve_visualizer_cfgs(self) -> list[Any]:
         """Resolve final visualizer configs from cfg and optional CLI override.
 
diff --git a/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py b/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py
index 728d1942bd65..a2b370eaab26 100644
--- a/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py
+++ b/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py
@@ -237,8 +237,8 @@ def spawn_ground_plane(
         # apply scale to the mesh
         environment_prim.GetAttribute("xformOp:scale").Set(scale)
 
-        # The bundled asset maps its texture through ``primvars:st`` alone, so rescale the UVs with the
-        # plane to keep the 5 m tile -- and therefore the 1 m grid -- metric in every renderer.
+        # The default asset maps its texture through ``primvars:st`` alone, so rescale the UVs with the
+        # plane to keep the 2 m tile -- and therefore the 1 m checks -- metric in every renderer.
         from . import from_files_cfg  # noqa: PLC0415
 
         if cfg.usd_path == from_files_cfg._DEFAULT_GROUND_PLANE_USD:
diff --git a/source/isaaclab/isaaclab/sim/spawners/from_files/from_files_cfg.py b/source/isaaclab/isaaclab/sim/spawners/from_files/from_files_cfg.py
index 50306b686e65..956211c73cd8 100644
--- a/source/isaaclab/isaaclab/sim/spawners/from_files/from_files_cfg.py
+++ b/source/isaaclab/isaaclab/sim/spawners/from_files/from_files_cfg.py
@@ -11,11 +11,13 @@
 from isaaclab.sim import converters, schemas
 from isaaclab.sim.spawners import materials
 from isaaclab.sim.spawners.spawner_cfg import DeformableObjectSpawnerCfg, RigidObjectSpawnerCfg, SpawnerCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
-_DEFAULT_GROUND_PLANE_USD = f"{ISAACLAB_NUCLEUS_DIR}/Environments/Grid/default_ground_plane.usda"
-_DEFAULT_GROUND_PLANE_TILE_SIZE = 5.0
+_DEFAULT_GROUND_PLANE_USD = (
+    f"{ISAACLAB_NUCLEUS_DIR}/Environments/Grid/default_ground_plane_checker_v1/default_ground_plane.usda"
+)
+_DEFAULT_GROUND_PLANE_TILE_SIZE = 2.0
 
 
 @configclass
@@ -363,7 +365,7 @@ class UsdFileWithCompliantContactCfg(UsdFileCfg):
 class GroundPlaneCfg(SpawnerCfg):
     """Create a ground plane prim.
 
-    This uses Isaac Lab's warm-white ground plane with NVIDIA-green metric grid lines by default.
+    This uses Isaac Lab's metric checker ground plane with NVIDIA-green landmarks by default.
     """
 
     func: Callable | str = "{DIR}.from_files:spawn_ground_plane"
@@ -374,8 +376,8 @@ class GroundPlaneCfg(SpawnerCfg):
     color: tuple[float, float, float] | None = None
     """The color tint of the ground plane. Defaults to None.
 
-    If None, the authored material colors remain unchanged. An explicit value tints the diffuse
-    component; authored emission remains unchanged.
+    If None, the authored material colors remain unchanged. An explicit value multiplicatively
+    tints the diffuse texture without changing its authored roughness.
     """
 
     size: tuple[float, float] = (100.0, 100.0)
diff --git a/source/isaaclab/isaaclab/sim/spawners/lights/lights_cfg.py b/source/isaaclab/isaaclab/sim/spawners/lights/lights_cfg.py
index 5016f092135b..653e83a108cc 100644
--- a/source/isaaclab/isaaclab/sim/spawners/lights/lights_cfg.py
+++ b/source/isaaclab/isaaclab/sim/spawners/lights/lights_cfg.py
@@ -10,7 +10,7 @@
 from typing import Literal
 
 from isaaclab.sim.spawners.spawner_cfg import SpawnerCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/sim/spawners/materials/physics_materials_cfg.py b/source/isaaclab/isaaclab/sim/spawners/materials/physics_materials_cfg.py
index dba1d5e18342..a97de8c65f65 100644
--- a/source/isaaclab/isaaclab/sim/spawners/materials/physics_materials_cfg.py
+++ b/source/isaaclab/isaaclab/sim/spawners/materials/physics_materials_cfg.py
@@ -11,7 +11,7 @@
 from typing import ClassVar
 
 from isaaclab.sim.schemas.schemas_cfg import SchemaFragment
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 # Names that moved out of this submodule into ``isaaclab_physx.sim.spawners.materials.physics_materials_cfg``.
 # Resolved lazily so callers using ``from isaaclab.sim.spawners.materials.physics_materials_cfg
diff --git a/source/isaaclab/isaaclab/sim/spawners/materials/visual_materials_cfg.py b/source/isaaclab/isaaclab/sim/spawners/materials/visual_materials_cfg.py
index 16568443bf9b..fb610aeb856f 100644
--- a/source/isaaclab/isaaclab/sim/spawners/materials/visual_materials_cfg.py
+++ b/source/isaaclab/isaaclab/sim/spawners/materials/visual_materials_cfg.py
@@ -9,7 +9,7 @@
 from dataclasses import MISSING
 
 from isaaclab.sim.spawners.spawner_cfg import SpawnerCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/sim/spawners/meshes/meshes_cfg.py b/source/isaaclab/isaaclab/sim/spawners/meshes/meshes_cfg.py
index d000f081d683..17f3cc2d986c 100644
--- a/source/isaaclab/isaaclab/sim/spawners/meshes/meshes_cfg.py
+++ b/source/isaaclab/isaaclab/sim/spawners/meshes/meshes_cfg.py
@@ -11,7 +11,7 @@
 
 from isaaclab.sim.spawners import materials
 from isaaclab.sim.spawners.spawner_cfg import DeformableObjectSpawnerCfg, RigidObjectSpawnerCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/sim/spawners/sensors/sensors_cfg.py b/source/isaaclab/isaaclab/sim/spawners/sensors/sensors_cfg.py
index dccf09b2e0b1..de114b85cec8 100644
--- a/source/isaaclab/isaaclab/sim/spawners/sensors/sensors_cfg.py
+++ b/source/isaaclab/isaaclab/sim/spawners/sensors/sensors_cfg.py
@@ -11,7 +11,7 @@
 
 import isaaclab.utils.sensors as sensor_utils
 from isaaclab.sim.spawners.spawner_cfg import SpawnerCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/sim/spawners/shapes/shapes_cfg.py b/source/isaaclab/isaaclab/sim/spawners/shapes/shapes_cfg.py
index 18bf7e73e03a..a9df7efb6cb2 100644
--- a/source/isaaclab/isaaclab/sim/spawners/shapes/shapes_cfg.py
+++ b/source/isaaclab/isaaclab/sim/spawners/shapes/shapes_cfg.py
@@ -11,7 +11,7 @@
 
 from isaaclab.sim.spawners import materials
 from isaaclab.sim.spawners.spawner_cfg import RigidObjectSpawnerCfg, SpawnerCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from isaaclab.sim import schemas
diff --git a/source/isaaclab/isaaclab/sim/spawners/spawner_cfg.py b/source/isaaclab/isaaclab/sim/spawners/spawner_cfg.py
index 4ead8683f7cc..d68ae01761fd 100644
--- a/source/isaaclab/isaaclab/sim/spawners/spawner_cfg.py
+++ b/source/isaaclab/isaaclab/sim/spawners/spawner_cfg.py
@@ -9,7 +9,7 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from pxr import Usd
diff --git a/source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers_cfg.py b/source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers_cfg.py
index 285c1765016b..ea69ee914fed 100644
--- a/source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers_cfg.py
+++ b/source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers_cfg.py
@@ -7,7 +7,7 @@
 
 from isaaclab.sim.spawners.from_files import UsdFileCfg
 from isaaclab.sim.spawners.spawner_cfg import DeformableObjectSpawnerCfg, RigidObjectSpawnerCfg, SpawnerCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab/isaaclab/terrains/height_field/hf_terrains_cfg.py b/source/isaaclab/isaaclab/terrains/height_field/hf_terrains_cfg.py
index 397daf8e5cc6..f587123dbd9d 100644
--- a/source/isaaclab/isaaclab/terrains/height_field/hf_terrains_cfg.py
+++ b/source/isaaclab/isaaclab/terrains/height_field/hf_terrains_cfg.py
@@ -5,7 +5,7 @@
 
 from dataclasses import MISSING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..sub_terrain_cfg import SubTerrainBaseCfg
 
diff --git a/source/isaaclab/isaaclab/terrains/sub_terrain_cfg.py b/source/isaaclab/isaaclab/terrains/sub_terrain_cfg.py
index 1f95b58602ed..c5fcabe51db5 100644
--- a/source/isaaclab/isaaclab/terrains/sub_terrain_cfg.py
+++ b/source/isaaclab/isaaclab/terrains/sub_terrain_cfg.py
@@ -10,7 +10,7 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     import numpy as np
diff --git a/source/isaaclab/isaaclab/terrains/terrain_generator_cfg.py b/source/isaaclab/isaaclab/terrains/terrain_generator_cfg.py
index 9d944c83fdf3..605b8116e7dd 100644
--- a/source/isaaclab/isaaclab/terrains/terrain_generator_cfg.py
+++ b/source/isaaclab/isaaclab/terrains/terrain_generator_cfg.py
@@ -17,7 +17,7 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING, Literal
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .sub_terrain_cfg import SubTerrainBaseCfg
 
diff --git a/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py b/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py
index e46d5f4715c7..545dd92be207 100644
--- a/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py
+++ b/source/isaaclab/isaaclab/terrains/terrain_importer_cfg.py
@@ -10,7 +10,7 @@
 
 import isaaclab.sim as sim_utils
 from isaaclab.sim.spawners import materials
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .terrain_generator_cfg import TerrainGeneratorCfg
diff --git a/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains_cfg.py b/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains_cfg.py
index da2cb580f8c3..1e82a88aee77 100644
--- a/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains_cfg.py
+++ b/source/isaaclab/isaaclab/terrains/trimesh/mesh_terrains_cfg.py
@@ -7,7 +7,7 @@
 from dataclasses import MISSING
 from typing import Literal
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..sub_terrain_cfg import SubTerrainBaseCfg
 
diff --git a/source/isaaclab/isaaclab/test/env_cfgs.py b/source/isaaclab/isaaclab/test/env_cfgs.py
index d4a54ae4c08e..55ec3c757126 100644
--- a/source/isaaclab/isaaclab/test/env_cfgs.py
+++ b/source/isaaclab/isaaclab/test/env_cfgs.py
@@ -15,7 +15,7 @@
 import isaaclab.sim as sim_utils
 from isaaclab.envs import DirectMARLEnvCfg, ManagerBasedEnvCfg, ManagerBasedRLEnvCfg
 from isaaclab.scene import InteractiveSceneCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 _DEFAULT_DECIMATION = 4
 _DEFAULT_EPISODE_LENGTH_S = 5.0
diff --git a/source/isaaclab/isaaclab/test/integration_scene_cfgs.py b/source/isaaclab/isaaclab/test/integration_scene_cfgs.py
index 3b31a250232c..31d11ec67b7d 100644
--- a/source/isaaclab/isaaclab/test/integration_scene_cfgs.py
+++ b/source/isaaclab/isaaclab/test/integration_scene_cfgs.py
@@ -9,8 +9,8 @@
 from isaaclab.actuators import ImplicitActuatorCfg
 from isaaclab.assets import ArticulationCfg, RigidObjectCfg
 from isaaclab.scene import InteractiveSceneCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 _CARTPOLE_TEST_CFG = ArticulationCfg(
     prim_path="{ENV_REGEX_NS}/Robot",
diff --git a/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py b/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py
index 5d02550b395b..bacdccb6a957 100644
--- a/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py
+++ b/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py
@@ -14,7 +14,7 @@
 from isaaclab.managers import ManagerBase
 from isaaclab.sim import SimulationContext
 from isaaclab.ui.live_plots.manager_live_plots import DirectScalarLivePlots, ManagerLivePlots
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .image_plot import ImagePlot
 from .line_plot import LiveLinePlot
diff --git a/source/isaaclab/isaaclab/utils/__init__.py b/source/isaaclab/isaaclab/utils/__init__.py
index 130765b79f89..5c210a0e10a9 100644
--- a/source/isaaclab/isaaclab/utils/__init__.py
+++ b/source/isaaclab/isaaclab/utils/__init__.py
@@ -5,6 +5,21 @@
 
 """Sub-package containing utilities for common operations and helper functions."""
 
+import importlib
+
 import lazy_loader as lazy
 
-__getattr__, __dir__, __all__ = lazy.attach_stub(__name__, __file__)
+_stub_getattr, __dir__, __all__ = lazy.attach_stub(__name__, __file__)
+
+
+def __getattr__(name: str):
+    # ``configclass`` names both a sub-module of this package and the decorator that sub-module
+    # defines, so ``isaaclab.utils.configclass`` can only ever be one of the two. Importing the
+    # sub-module binds the module object here and shadows the lazily attached decorator, while
+    # resolving the decorator first leaves the module unreachable through this package. Always hand
+    # out the sub-module, which is callable and therefore usable as the decorator as well, so the
+    # name means the same thing regardless of which was imported first. The import machinery binds
+    # the sub-module here on its way out, so later lookups never reach this function.
+    if name == "configclass":
+        return importlib.import_module(f"{__name__}.configclass")
+    return _stub_getattr(name)
diff --git a/source/isaaclab/isaaclab/utils/assets.py b/source/isaaclab/isaaclab/utils/assets.py
index 2bafdceea3f3..92b49891d134 100644
--- a/source/isaaclab/isaaclab/utils/assets.py
+++ b/source/isaaclab/isaaclab/utils/assets.py
@@ -37,8 +37,11 @@
 _USD_EXTENSIONS = {".usd", ".usda", ".usdc", ".usdz"}
 _MDL_RESOURCE_RE = re.compile(r'"([^"\\]*(?:\\.[^"\\]*)*)"|/\*.*?\*/|//[^\r\n]*', re.DOTALL)
 _MDL_TEXTURE_RE = re.compile(r"\.(?:bmp|dds|exr|hdr|ies|jpe?g|ktx2?|png|tga|tiff?|tx)(?:[?#].*)?$", re.IGNORECASE)
-_MDL_IMPORT_RE = re.compile(r"\bimport\s+([^;]+);")
-_MDL_USING_IMPORT_RE = re.compile(r"\busing\s+(.+?)\s+import\s+[^;]+;")
+_MDL_MODULE_PATTERN = r"(?:(?:\.\.::)++|\.::)[A-Za-z_]\w*+(?:::[A-Za-z_]\w*+)*+(?:::\*)?"
+_MDL_IMPORT_RE = re.compile(rf"\bimport\s++({_MDL_MODULE_PATTERN});")
+_MDL_USING_IMPORT_RE = re.compile(
+    rf"\busing\s++({_MDL_MODULE_PATTERN})\s++import\s++(?:\*|[A-Za-z_]\w*+(?:\s*+,\s*+[A-Za-z_]\w*+)*+);"
+)
 _MDL_RELATIVE_IMPORT_RE = re.compile(
     r"(?P<prefix>(?:\.\.::)+|\.::)(?P<module>[A-Za-z_]\w*(?:::[A-Za-z_]\w*)*)(?P<wildcard>::\*)?"
 )
diff --git a/source/isaaclab/isaaclab/utils/configclass.py b/source/isaaclab/isaaclab/utils/configclass.py
index 373c0b6cd638..ed4dab878517 100644
--- a/source/isaaclab/isaaclab/utils/configclass.py
+++ b/source/isaaclab/isaaclab/utils/configclass.py
@@ -8,6 +8,7 @@
 import dataclasses
 import inspect
 import re
+import sys
 import types
 from collections.abc import Callable
 from copy import deepcopy
@@ -53,7 +54,7 @@ def configclass(cls, **kwargs):
 
         from dataclasses import MISSING
 
-        from isaaclab.utils.configclass import configclass
+        from isaaclab.utils import configclass
 
 
         @configclass
@@ -638,3 +639,20 @@ def checked_apply(src: Any, target: Any) -> None:
                 f"{target_path} has no attribute `{f.name}`. {type(src).__name__} is out of sync with target."
             )
         setattr(target, f.name, getattr(src, f.name))
+
+
+class _CallableModule(types.ModuleType):
+    """Module type that makes :mod:`isaaclab.utils.configclass` usable as the decorator it defines.
+
+    This sub-module and the :func:`configclass` decorator share a name, so ``isaaclab.utils.configclass``
+    can only resolve to one object. Making the module callable lets it be both: ``@configclass`` works
+    on the value exported by :mod:`isaaclab.utils`, and the module's own members stay reachable through
+    ``import isaaclab.utils.configclass as ...`` and dotted attribute access.
+    """
+
+    def __call__(self, cls: type) -> type:
+        """Apply the :func:`configclass` decorator to ``cls``."""
+        return configclass(cls)
+
+
+sys.modules[__name__].__class__ = _CallableModule
diff --git a/source/isaaclab/isaaclab/utils/editor.py b/source/isaaclab/isaaclab/utils/editor.py
new file mode 100644
index 000000000000..cd60f651a374
--- /dev/null
+++ b/source/isaaclab/isaaclab/utils/editor.py
@@ -0,0 +1,235 @@
+# 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
+
+"""Utilities for generating editor import paths for Isaac Lab projects."""
+
+import importlib.metadata
+import importlib.util
+import json
+import os
+import pathlib
+import re
+import subprocess
+import sys
+
+_DEFAULT_VSCODE_SETTINGS_TEMPLATE = """
+{
+    "editor.rulers": [120],
+
+    "python.languageServer": "Pylance",
+    "python.jediEnabled": false,
+    "python.defaultInterpreterPath": "",
+
+    "python.formatting.provider": "black",
+    "python.formatting.blackArgs": ["--line-length", "120"],
+
+    "python.linting.pylintEnabled": false,
+    "python.linting.flake8Enabled": true,
+
+    "[python]": {
+        "editor.tabSize": 4
+    }
+}
+"""
+
+
+def setup_editor(project_dir: pathlib.Path, isaac_path: str | None = None, verbose: bool = False) -> None:
+    """Generate editor settings and Pyright import paths for a project.
+
+    Args:
+        project_dir: Project root where the editor configuration is written.
+        isaac_path: Explicit Isaac Sim installation path, or None to discover it.
+        verbose: Whether to print every generated Pyright search path.
+    """
+    isaacsim_dir = resolve_isaacsim_dir(project_dir, isaac_path)
+    extra_paths = build_extra_paths(project_dir, isaacsim_dir)
+    write_pyright_config(project_dir, extra_paths)
+    if verbose:
+        for path in extra_paths:
+            print(f"Registered Pyright search path: {path}")
+
+    vscode_dir = project_dir / ".vscode"
+    settings_template = vscode_dir / "tools" / "settings.template.json"
+    if settings_template.is_file():
+        settings = settings_template.read_text(encoding="utf-8")
+        settings_source = settings_template.as_posix()
+    else:
+        settings = _DEFAULT_VSCODE_SETTINGS_TEMPLATE
+        settings_source = "Isaac Lab defaults"
+    settings = _overwrite_default_python_interpreter(settings, isaacsim_dir)
+
+    vscode_dir.mkdir(parents=True, exist_ok=True)
+    header = (
+        "// This file is automatically generated by `isaaclab --editor`.\n"
+        "// Do not edit this file directly.\n"
+        f"// Generated from: {settings_source}\n"
+    )
+    settings_path = vscode_dir / "settings.json"
+    settings_path.write_text(header + settings, encoding="utf-8")
+
+    launch_path = vscode_dir / "launch.json"
+    launch_template = vscode_dir / "tools" / "launch.template.json"
+    if not launch_path.exists() and launch_template.is_file():
+        launch_header = header.replace(settings_source, launch_template.as_posix())
+        launch_path.write_text(launch_header + launch_template.read_text(encoding="utf-8"), encoding="utf-8")
+
+    print(f"Editor settings generated at {settings_path}")
+    print(f"Pyright configuration generated at {project_dir / 'pyrightconfig.json'}")
+
+
+def resolve_isaacsim_dir(project_dir: pathlib.Path, isaac_path: str | None = None) -> pathlib.Path | None:
+    """Resolve the Isaac Sim installation directory.
+
+    Args:
+        project_dir: Project root containing an optional ``_isaac_sim`` link.
+        isaac_path: Explicit Isaac Sim path, or None to discover the installation.
+
+    Returns:
+        The resolved installation directory, or None if Isaac Sim is unavailable.
+
+    Raises:
+        ValueError: If an explicit path does not identify a directory.
+    """
+    if isaac_path:
+        explicit_path = pathlib.Path(isaac_path).expanduser()
+        if not _is_isaacsim_dir(explicit_path):
+            raise ValueError(f"Not an Isaac Sim directory (missing .vscode/settings.json): {explicit_path}")
+        return explicit_path.resolve()
+
+    env_path = os.environ.get("ISAAC_PATH")
+    if env_path and _is_isaacsim_dir(pathlib.Path(env_path)):
+        return pathlib.Path(env_path).resolve()
+
+    probe = subprocess.run(
+        [sys.executable, "-c", "import isaacsim, os; print(os.environ.get('ISAAC_PATH', ''))"],
+        capture_output=True,
+        text=True,
+        check=False,
+        stdin=subprocess.DEVNULL,
+    )
+    for line in reversed(probe.stdout.splitlines()):
+        candidate = pathlib.Path(line.strip()).expanduser()
+        if line.strip() and _is_isaacsim_dir(candidate):
+            return candidate.resolve()
+
+    fallback = project_dir / "_isaac_sim"
+    return fallback.resolve() if _is_isaacsim_dir(fallback) else None
+
+
+def read_isaacsim_extra_paths(isaacsim_dir: pathlib.Path | None) -> list[pathlib.Path]:
+    """Read Isaac Sim's Python extension paths.
+
+    Args:
+        isaacsim_dir: Isaac Sim installation directory, or None.
+
+    Returns:
+        Absolute extension search paths.
+    """
+    if isaacsim_dir is None:
+        print("[WARN] Isaac Sim was not found; simulator extension paths were not added.")
+        return []
+
+    settings_file = isaacsim_dir / ".vscode" / "settings.json"
+    if not settings_file.is_file():
+        print(f"[WARN] Isaac Sim VS Code settings were not found: {settings_file}")
+        return []
+
+    settings = settings_file.read_text(encoding="utf-8")
+    match = re.search(r'"python\.analysis\.extraPaths"\s*:\s*\[(.*?)\]', settings, flags=re.DOTALL)
+    if match is None:
+        print(f"[WARN] python.analysis.extraPaths was not found in {settings_file}")
+        return []
+
+    paths = []
+    for encoded_path in re.findall(r'"((?:\\.|[^"\\])*)"', match.group(1)):
+        path = pathlib.Path(json.loads(f'"{encoded_path}"'))
+        paths.append(path if path.is_absolute() else isaacsim_dir / path)
+    return paths
+
+
+def find_isaaclab_package_paths() -> list[pathlib.Path]:
+    """Find Isaac Lab package roots visible to the active interpreter.
+
+    Returns:
+        Import roots for installed Isaac Lab packages.
+    """
+    paths = []
+    package_names = sorted(name for name in importlib.metadata.packages_distributions() if name.startswith("isaaclab"))
+    for package_name in package_names:
+        spec = importlib.util.find_spec(package_name)
+        if spec is None:
+            continue
+        if spec.submodule_search_locations:
+            paths.extend(pathlib.Path(location).parent for location in spec.submodule_search_locations)
+        elif spec.origin:
+            paths.append(pathlib.Path(spec.origin).parent)
+    return paths
+
+
+def build_extra_paths(project_dir: pathlib.Path, isaacsim_dir: pathlib.Path | None) -> list[str]:
+    """Build Pyright search paths for simulator, local, and installed packages.
+
+    Args:
+        project_dir: Project root used to discover local ``source/*`` or ``src`` packages.
+        isaacsim_dir: Isaac Sim installation directory, or None.
+
+    Returns:
+        Deduplicated paths, relative to the project where practical.
+    """
+    paths = read_isaacsim_extra_paths(isaacsim_dir)
+    source_dir = project_dir / "source"
+    if source_dir.is_dir():
+        paths.extend(path for path in sorted(source_dir.iterdir()) if path.is_dir())
+    src_dir = project_dir / "src"
+    if src_dir.is_dir():
+        paths.append(src_dir)
+    paths.extend(find_isaaclab_package_paths())
+
+    formatted_paths = []
+    seen = set()
+    resolved_project_dir = project_dir.resolve()
+    for path in paths:
+        resolved_path = path.resolve()
+        try:
+            formatted_path = resolved_path.relative_to(resolved_project_dir).as_posix()
+        except ValueError:
+            formatted_path = resolved_path.as_posix()
+        if formatted_path not in seen:
+            seen.add(formatted_path)
+            formatted_paths.append(formatted_path)
+    return formatted_paths
+
+
+def write_pyright_config(project_dir: pathlib.Path, extra_paths: list[str]):
+    """Write a machine-local Pyright configuration that preserves project policy.
+
+    Args:
+        project_dir: Project root where the configuration is written.
+        extra_paths: Additional import search paths.
+    """
+    config: dict[str, object] = {"extraPaths": extra_paths}
+    if (project_dir / "pyproject.toml").is_file():
+        config["extends"] = "./pyproject.toml"
+    (project_dir / "pyrightconfig.json").write_text(json.dumps(config, indent=4) + "\n", encoding="utf-8")
+
+
+def _is_isaacsim_dir(path: pathlib.Path) -> bool:
+    """Check whether a directory contains the settings used for extension discovery."""
+    return path.is_dir() and (path / ".vscode" / "settings.json").is_file()
+
+
+def _overwrite_default_python_interpreter(settings: str, isaacsim_dir: pathlib.Path | None) -> str:
+    """Set the editor's default Python interpreter."""
+    python_exe = pathlib.Path(sys.executable)
+    if "kit/python/bin/python3" in python_exe.as_posix() and isaacsim_dir is not None:
+        wrapper = isaacsim_dir / "python.sh"
+        if wrapper.is_file():
+            python_exe = wrapper
+    return re.sub(
+        r'"python\.defaultInterpreterPath": ".*?"',
+        f'"python.defaultInterpreterPath": "{python_exe.as_posix()}"',
+        settings,
+        flags=re.DOTALL,
+    )
diff --git a/source/isaaclab/isaaclab/utils/leapp/export_annotator.py b/source/isaaclab/isaaclab/utils/leapp/export_annotator.py
index a5c645d826be..3d78038a30fa 100644
--- a/source/isaaclab/isaaclab/utils/leapp/export_annotator.py
+++ b/source/isaaclab/isaaclab/utils/leapp/export_annotator.py
@@ -139,7 +139,7 @@ def __init__(self, export_method: str, required_obs_groups: set[str] | None = No
         self._captured_write_term_names: set[str] = set()
         self._fallback_term_names: set[str] = set()
         self._pending_action_output_export: bool = False
-        self._uses_last_action_state: bool = False
+        self._last_action_state_terms: dict[str, str | None] = {}
         self._action_term_scene_keys: dict[str, str] = {}
 
     def setup(self, env):
@@ -330,7 +330,6 @@ def _patch_observation_manager(self, obs_manager, proxy_env):
                 func_name = getattr(original_func, "__name__", None)
 
                 if func_name == "last_action":
-                    self._uses_last_action_state = True
                     term_cfg.func = self._wrap_last_action(original_func)
                 elif func_name == "generated_commands":
                     term_cfg.func = self._wrap_generated_commands(original_func, term_cfg)
@@ -436,8 +435,14 @@ def patched_apply_action():
 
             self._action_output_cache.extend(self._collect_action_outputs(action_manager))
             self._action_output_cache.extend(self._collect_processed_action_fallbacks(action_manager))
-            if self._uses_last_action_state:
-                annotate.update_state(task_name, {"last_action": action_manager._action})
+            if self._last_action_state_terms:
+                last_action_updates = {}
+                for state_name, action_name in self._last_action_state_terms.items():
+                    if action_name is None:
+                        last_action_updates[state_name] = action_manager._action
+                    else:
+                        last_action_updates[state_name] = action_manager.get_term(action_name).raw_actions
+                annotate.update_state(task_name, last_action_updates)
             fallback_terms = self._fallback_term_names
             static_values = self._collect_action_static_outputs(action_manager, fallback_terms)
             annotate.output_tensors(
@@ -521,10 +526,10 @@ def wrapped(*args, **kwargs):
     def _wrap_last_action(self, original_func):
         """Wrap ``last_action`` as a LEAPP state tensor.
 
-        ``last_action`` is feedback state, not a regular dangling input.  We
-        therefore register it through ``annotate.state_tensors(...)`` on the
-        observation side and update it through ``annotate.update_state(...)``
-        after the traced action pass.
+        ``last_action`` is feedback state, not a regular dangling input.  Each
+        named action term is registered as its own state so LEAPP does not need
+        to preserve tracing through a slice between task boundaries.  An
+        unnamed observation keeps the full action as a separate state.
 
         Args:
             original_func: Original ``last_action`` observation term.
@@ -546,7 +551,9 @@ def wrapped(env, action_name=None, **kwargs):
                 Annotated last-action tensor.
             """
             result = original_func(env, action_name, **kwargs)
-            return annotate.state_tensors(task_name, {"last_action": result})
+            state_name = "last_action" if action_name is None else f"last_action_{action_name}"
+            self._last_action_state_terms[state_name] = action_name
+            return annotate.state_tensors(task_name, {state_name: result})
 
         wrapped.__name__ = original_func.__name__
         return wrapped
diff --git a/source/isaaclab/isaaclab/utils/modifiers/modifier_cfg.py b/source/isaaclab/isaaclab/utils/modifiers/modifier_cfg.py
index 74c7f158fd79..90d5535afb17 100644
--- a/source/isaaclab/isaaclab/utils/modifiers/modifier_cfg.py
+++ b/source/isaaclab/isaaclab/utils/modifiers/modifier_cfg.py
@@ -11,7 +11,7 @@
 
 import torch
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .modifier import DigitalFilter, Integrator
diff --git a/source/isaaclab/isaaclab/utils/noise/noise_cfg.py b/source/isaaclab/isaaclab/utils/noise/noise_cfg.py
index a1c6235ece6a..4265a12cda84 100644
--- a/source/isaaclab/isaaclab/utils/noise/noise_cfg.py
+++ b/source/isaaclab/isaaclab/utils/noise/noise_cfg.py
@@ -11,7 +11,7 @@
 
 import torch
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .noise_model import NoiseModel, NoiseModelWithAdditiveBias
diff --git a/source/isaaclab/isaaclab/utils/warp/kernels.py b/source/isaaclab/isaaclab/utils/warp/kernels.py
index 5a8e68264918..eda3973e5dc3 100644
--- a/source/isaaclab/isaaclab/utils/warp/kernels.py
+++ b/source/isaaclab/isaaclab/utils/warp/kernels.py
@@ -344,8 +344,14 @@ def reshape_tiled_image(
     is assumed to be tiled in the x and y directions. The output image is a batch of images with the
     specified height, width, and number of channels.
 
+    The tiled buffer is indexed as a 3D array rather than flattened to 1D so that the number of
+    cameras and the camera resolution are bounded per dimension instead of by their product. A
+    flattened view of a large tiled buffer can exceed the maximum size of a single Warp array
+    dimension, see https://nvidia.github.io/warp/stable/user_guide/limitations.html#arrays.
+
     Args:
-        tiled_image_buffer: The input image buffer. Shape is (height * width * num_channels * num_cameras,).
+        tiled_image_buffer: The input image buffer. Shape is
+            (num_tiles_y * image_height, num_tiles_x * image_width, num_channels).
         batched_image: The output image. Shape is (num_cameras, height, width, num_channels).
         image_width: The width of the image.
         image_height: The height of the image.
@@ -358,32 +364,29 @@ def reshape_tiled_image(
     # resolve the tile indices
     tile_x_id = camera_id % num_tiles_x
     tile_y_id = camera_id // num_tiles_x
-    # compute the start index of the pixel in the tiled image buffer
-    pixel_start = (
-        num_channels * num_tiles_x * image_width * (image_height * tile_y_id + height_id)
-        + num_channels * tile_x_id * image_width
-        + num_channels * width_id
-    )
+    # resolve the pixel position within the tiled image buffer
+    row = image_height * tile_y_id + height_id
+    col = image_width * tile_x_id + width_id
 
     # copy the pixel values into the batched image
     for i in range(num_channels):
-        batched_image[camera_id, height_id, width_id, i] = batched_image.dtype(tiled_image_buffer[pixel_start + i])
+        batched_image[camera_id, height_id, width_id, i] = batched_image.dtype(tiled_image_buffer[row, col, i])
 
 
 # uint32 -> int32 conversion is required for non-colored segmentation annotators
 wp.overload(
     reshape_tiled_image,
-    {"tiled_image_buffer": wp.array(dtype=wp.uint32), "batched_image": wp.array(dtype=wp.uint32, ndim=4)},
+    {"tiled_image_buffer": wp.array(dtype=wp.uint32, ndim=3), "batched_image": wp.array(dtype=wp.uint32, ndim=4)},
 )
 # uint8 is used for 4 channel annotators
 wp.overload(
     reshape_tiled_image,
-    {"tiled_image_buffer": wp.array(dtype=wp.uint8), "batched_image": wp.array(dtype=wp.uint8, ndim=4)},
+    {"tiled_image_buffer": wp.array(dtype=wp.uint8, ndim=3), "batched_image": wp.array(dtype=wp.uint8, ndim=4)},
 )
 # float32 is used for single channel annotators
 wp.overload(
     reshape_tiled_image,
-    {"tiled_image_buffer": wp.array(dtype=wp.float32), "batched_image": wp.array(dtype=wp.float32, ndim=4)},
+    {"tiled_image_buffer": wp.array(dtype=wp.float32, ndim=3), "batched_image": wp.array(dtype=wp.float32, ndim=4)},
 )
 
 ##
diff --git a/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py b/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py
index 149d6887b9fb..266ad00fb2d0 100644
--- a/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py
+++ b/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py
@@ -9,7 +9,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .base_visualizer import BaseVisualizer
@@ -35,9 +35,10 @@ class VisualizerCfg:
     """Base configuration for all visualizer backends.
 
     Note:
-        This is an abstract base class and should not be instantiated directly.
-        Use specific configs from isaaclab_visualizers: KitVisualizerCfg, NewtonGLVisualizerCfg,
-        RerunVisualizerCfg, or ViserVisualizerCfg (from isaaclab_visualizers.kit/.newton/.rerun/.viser).
+        This configuration can be used directly as
+        :attr:`~isaaclab.sim.SimulationCfg.default_visualizer_cfg` to provide shared defaults.
+        To create a visualizer, use a concrete config from ``isaaclab_visualizers``, such as
+        ``KitVisualizerCfg`` or ``NewtonGLVisualizerCfg``.
     """
 
     class_type: type[BaseVisualizer] | str | None = None
@@ -53,6 +54,13 @@ class VisualizerCfg:
     focal_length: float = 12.0
     """Camera focal length in millimeters for visualizer camera views."""
 
+    background_color: tuple[float, float, float] | None = (0.30, 0.55, 0.82)
+    """Solid background color as normalized RGB values in ``[0, 1]``.
+
+    Kit, Newton GL, and Newton RTX honor this field. Set it to ``None`` to preserve the
+    backend's native background. Scene lighting remains independent of the visible background.
+    """
+
     # ── Streaming view ────────────────────────────────────────────────────────
     # Captures pixels from a camera sensor (existing or auto-created), tiles them
     # across envs and GT types, and shows the result as an image panel in interactive
@@ -75,7 +83,7 @@ class VisualizerCfg:
     :attr:`streaming_sensor_prim_path` is set).
 
     When ``None`` (the default), the visualizer adopts the first scene camera
-    sensor it discovers dynamically at initialisation time.  If no scene camera
+    sensor it discovers dynamically at initialization time.  If no scene camera
     exists the streaming panel remains empty.  Set this explicitly (e.g.
     ``"/World/envs/*/Robot"``) only when you need an auto-created follow-camera
     and no suitable scene camera is present.
@@ -104,9 +112,9 @@ class VisualizerCfg:
     streaming_gt_types: tuple[str, ...] = ("rgb",)
     """GT data types displayed left-to-right per environment row.
 
-    Valid values: ``"rgb"``, ``"depth"``, ``"segmentation"``.
+    Valid values: ``"rgb"``, ``"depth"``, ``"segmentation"``, ``"normals"``.
     Validated against :data:`~isaaclab.envs.utils.camera_colorizer.SUPPORTED_GT_TYPES`
-    at initialisation time (only when :attr:`streaming_view` is ``True``).
+    at initialization time (only when :attr:`streaming_view` is ``True``).
     """
 
     streaming_depth_min: float = 0.1
@@ -179,6 +187,11 @@ class VisualizerCfg:
     def __post_init__(self) -> None:
         import warnings
 
+        if self.background_color is not None:
+            if len(self.background_color) != 3 or any(not 0.0 <= value <= 1.0 for value in self.background_color):
+                raise ValueError("background_color must contain three normalized RGB values in [0, 1].")
+            self.background_color = tuple(float(value) for value in self.background_color)
+
         _simple = [
             ("tiled_cam_view", "streaming_view"),
             ("tiled_cam_prim_path", "streaming_sensor_prim_path"),
diff --git a/source/isaaclab/pyproject.toml b/source/isaaclab/pyproject.toml
index 98ee35130675..747c99356361 100644
--- a/source/isaaclab/pyproject.toml
+++ b/source/isaaclab/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab"
-version = "24.0.0"
+version = "24.2.2"
 description = "Extension providing main framework interfaces and abstractions for robot learning."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]
@@ -25,8 +25,8 @@ dependencies = []
 Homepage = "https://github.com/isaac-sim/IsaacLab"
 Repository = "https://github.com/isaac-sim/IsaacLab"
 
-# Only the ``isaaclab`` entry point is exposed; training/play are subcommands
-# (``isaaclab train`` / ``isaaclab play`` / ``isaaclab train_multigpu``) so they
+# Only the ``isaaclab`` entry point is exposed; training, play, export, and deploy are subcommands
+# (``isaaclab train`` / ``isaaclab play`` / ``isaaclab leapp export`` / ``isaaclab leapp deploy``) so they
 # do not clash with ``train``/``play`` scripts from other installed packages.
 [project.scripts]
 isaaclab = "isaaclab.cli:cli"
diff --git a/source/isaaclab/test/actuators/test_newton_adapter.py b/source/isaaclab/test/actuators/test_newton_adapter.py
index 0cb224fcee32..db6b4ec5681f 100644
--- a/source/isaaclab/test/actuators/test_newton_adapter.py
+++ b/source/isaaclab/test/actuators/test_newton_adapter.py
@@ -5,16 +5,20 @@
 
 """Tests for the PhysX-side Newton actuator adapter."""
 
+from pathlib import Path
+
 import numpy as np
 import pytest
+import torch
 from newton.actuators import ClampingDCMotor, ClampingMaxEffort, ClampingPositionBased, DrivePD
 
 from pxr import Usd, UsdGeom, UsdPhysics
 
 from isaaclab.actuators import ActuatorBaseCfg, DCMotor, DCMotorCfg, DelayedPDActuatorCfg, RemotizedPDActuatorCfg
 from isaaclab.actuators.newton import NewtonActuatorAdapter
-from isaaclab.sim.schemas.schemas_actuators import _author_actuator_prims
-from isaaclab.utils.configclass import configclass
+from isaaclab.sim import SimulationCfg
+from isaaclab.sim.schemas.schemas_actuators import _author_actuator_prims, _resave_checkpoint_with_metadata
+from isaaclab.utils import configclass
 
 _JOINT_NAMES = ["pd_a", "pd_b", "dc_a", "dc_b", "remote_a", "remote_b"]
 
@@ -37,6 +41,19 @@ class MisleadingImplicitActuatorDCMotor(DCMotor):
     """Explicit actuator whose class name contains ``ImplicitActuator``."""
 
 
+def _write_pickle_marker(marker_path: str) -> str:
+    Path(marker_path).write_text("deserialized", encoding="utf-8")
+    return "deserialized"
+
+
+class _PickleMarker:
+    def __init__(self, marker_path: str):
+        self.marker_path = marker_path
+
+    def __reduce__(self):
+        return _write_pickle_marker, (self.marker_path,)
+
+
 def _make_actuator_stage() -> Usd.Stage:
     stage = Usd.Stage.CreateInMemory()
     UsdGeom.Xform.Define(stage, "/World/Robot")
@@ -96,6 +113,25 @@ def _make_actuator_stage() -> Usd.Stage:
     return stage
 
 
+def test_newton_actuator_path_is_enabled_by_default():
+    """Use the Newton actuator path unless the legacy path is explicitly requested."""
+    assert SimulationCfg().use_newton_actuators
+    assert not SimulationCfg(use_newton_actuators=False).use_newton_actuators
+
+
+def test_checkpoint_metadata_rejects_pickle_without_deserializing(monkeypatch, tmp_path):
+    """Reject legacy pickle checkpoints before their payload can execute."""
+    checkpoint_path = tmp_path / "actuator.pt"
+    marker_path = tmp_path / "pickle-executed"
+    torch.save({"model": _PickleMarker(str(marker_path))}, checkpoint_path)
+    monkeypatch.setattr("isaaclab.utils.assets.retrieve_file_path", lambda _: str(checkpoint_path))
+
+    with pytest.raises(ValueError, match="expected a TorchScript archive"):
+        _resave_checkpoint_with_metadata(str(checkpoint_path), {})
+
+    assert not marker_path.exists()
+
+
 def test_from_usd_groups_by_structure_and_preserves_per_dof_values():
     """Aggregate scalar variants while keeping incompatible shared lookup tables separate."""
     actuators = NewtonActuatorAdapter.from_usd(
diff --git a/source/isaaclab/test/app/test_kwarg_launch.py b/source/isaaclab/test/app/test_kwarg_launch.py
index b346b7750aaf..7acbd4d4071e 100644
--- a/source/isaaclab/test/app/test_kwarg_launch.py
+++ b/source/isaaclab/test/app/test_kwarg_launch.py
@@ -5,6 +5,8 @@
 
 import argparse
 import logging
+import sys
+from types import SimpleNamespace
 
 import pytest
 from isaaclab_newton.physics import NewtonCfg, VBDSolverCfg
@@ -216,6 +218,35 @@ def test_deferred_cuda_device_synchronizes_torch_and_warp(monkeypatch: pytest.Mo
     assert devices == [2]
 
 
+def test_preloaded_torch_cuda_is_initialized_before_kit(monkeypatch: pytest.MonkeyPatch):
+    """Drain PyTorch's queued CUDA checks before Kit can change visible device indices."""
+    init_calls = []
+    torch = SimpleNamespace(
+        cuda=SimpleNamespace(
+            is_initialized=lambda: False,
+            init=lambda: init_calls.append(True),
+        )
+    )
+    monkeypatch.setitem(sys.modules, "torch", torch)
+    launcher = AppLauncher.__new__(AppLauncher)
+    launcher._deferred_cuda_device_id = 0
+
+    launcher._initialize_preloaded_torch_cuda()
+
+    assert init_calls == [True]
+
+
+def test_cuda_initialization_remains_deferred_when_torch_is_not_loaded(monkeypatch: pytest.MonkeyPatch):
+    """Do not import PyTorch solely to initialize CUDA before Kit."""
+    monkeypatch.delitem(sys.modules, "torch", raising=False)
+    launcher = AppLauncher.__new__(AppLauncher)
+    launcher._deferred_cuda_device_id = 0
+
+    launcher._initialize_preloaded_torch_cuda()
+
+    assert "torch" not in sys.modules
+
+
 def test_limit_cpu_threads_forwarded_to_simulation_app(monkeypatch: pytest.MonkeyPatch):
     """A SimulationApp thread limit must survive AppLauncher config resolution."""
     monkeypatch.setenv("HEADLESS", "0")
diff --git a/source/isaaclab/test/app/test_launch_simulation_require_kit.py b/source/isaaclab/test/app/test_launch_simulation_require_kit.py
index 372e4ed0a976..5d5cb2772eb3 100644
--- a/source/isaaclab/test/app/test_launch_simulation_require_kit.py
+++ b/source/isaaclab/test/app/test_launch_simulation_require_kit.py
@@ -15,6 +15,8 @@
 """
 
 import argparse
+import sys
+import types
 
 import pytest
 
@@ -111,11 +113,41 @@ def test_require_kit_rejects_ovrtx_runtime(monkeypatch: pytest.MonkeyPatch):
     )
     monkeypatch.setattr(sim_launcher, "scan", lambda _cfg, _launcher_args: config_scan)
 
-    with pytest.raises(ValueError, match="OVRTX renderer"):
+    with pytest.raises(ValueError, match="OVRTX runtime"):
         with launch_simulation(cfg=object(), launcher_args={"require_kit": True}):
             pass
 
 
+def test_newton_rtx_rejects_kit_before_loading_ovrtx(monkeypatch: pytest.MonkeyPatch):
+    calls = []
+    monkeypatch.setitem(
+        sys.modules, "ovrtx", types.SimpleNamespace(register_schema_paths=lambda: calls.append("register"))
+    )
+
+    with pytest.raises(ValueError, match="OVRTX runtime"):
+        with launch_simulation(sim_launcher.PhysxCfg(), {"visualizer": ["newton_rtx"]}):
+            pass
+
+    assert calls == []
+
+
+def test_kitless_ovrtx_registers_before_user_code(monkeypatch: pytest.MonkeyPatch):
+    calls = []
+    monkeypatch.setitem(
+        sys.modules, "ovrtx", types.SimpleNamespace(register_schema_paths=lambda: calls.append("register"))
+    )
+    monkeypatch.setattr(assets_utils, "configure_storage_profile", lambda: calls.append("storage"))
+    cfg = argparse.Namespace(
+        physics=sim_launcher.NewtonCfg(),
+        visualizer_cfgs=argparse.Namespace(visualizer_type="newton_rtx"),
+    )
+
+    with launch_simulation(cfg):
+        calls.append("user")
+
+    assert calls == ["register", "storage", "user"]
+
+
 def test_require_kit_false_does_not_suppress_a_kit_config(kit_branch_taken):
     # '--viz kit' requires Kit on its own; require_kit=False must not override that
     launcher_args = {"visualizer": ["kit"], "visualizer_explicit": True, "require_kit": False}
diff --git a/source/isaaclab/test/app/test_non_headless_launch.py b/source/isaaclab/test/app/test_non_headless_launch.py
index 0dab61f16e74..3a095af5f09a 100644
--- a/source/isaaclab/test/app/test_non_headless_launch.py
+++ b/source/isaaclab/test/app/test_non_headless_launch.py
@@ -24,7 +24,7 @@
 import isaaclab.sim as sim_utils
 from isaaclab.assets import AssetBaseCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 pytestmark = pytest.mark.integration
 
diff --git a/source/isaaclab/test/app/test_standalone_scripts.py b/source/isaaclab/test/app/test_standalone_scripts.py
index d42322320192..3d0b8c6480cf 100644
--- a/source/isaaclab/test/app/test_standalone_scripts.py
+++ b/source/isaaclab/test/app/test_standalone_scripts.py
@@ -114,24 +114,19 @@ def test_script_scope_rejects_empty_selection():
         select_script_scope(SPECS, "missing")
 
 
-def test_showroom_documents_options_for_each_mentioned_demo():
-    """Every demo showcased in the showroom must list its supported launch options."""
-
-    def documented_values(entry: str, label: str) -> set[str]:
-        match = re.search(rf"(?ms)^   \*\*{label}:\*\*[ \t]*(.+?)(?=\n\n|\Z)", entry)
-        assert match is not None, f"showroom entry does not list {label.lower()} options"
-        return set(re.findall(r"``([^`]+)``", match.group(1)))
-
-    showroom = (script_cases.ROOT / "docs/source/overview/showroom.rst").read_text(encoding="utf-8")
-    entries = re.findall(r"(?ms)^-  .*?(?=^-  |\Z)", showroom)
+def test_demo_browser_documents_options_for_each_demo():
+    """Every demo card must expose its supported launch options to the command builder."""
+    docs_source = script_cases.ROOT / "docs/source"
+    demos_page = (docs_source / "setup/demos.rst").read_text(encoding="utf-8")
+    cards = re.findall(r'(?s)<button[^>]+data-demo-path="[^"]+"[^>]*>', demos_page)
     documented_entries = {}
-    for entry in entries:
-        paths = set(re.findall(r"scripts/demos/[A-Za-z0-9_./-]+\.py", entry))
-        assert len(paths) <= 1, f"showroom entry references multiple demos: {paths}"
-        if paths:
-            documented_entries[paths.pop()] = entry
+    for card in cards:
+        attributes = dict(re.findall(r'data-demo-([\w-]+)="([^"]*)"', card))
+        path = attributes.pop("path")
+        assert path not in documented_entries, f"demo browser contains a duplicate card for {path}"
+        documented_entries[path] = attributes
 
-    referenced_paths = set(re.findall(r"scripts/demos/[A-Za-z0-9_./-]+\.py", showroom))
+    referenced_paths = set(re.findall(r"scripts/demos/[A-Za-z0-9_./-]+\.py", demos_page))
     assert documented_entries.keys() == referenced_paths
 
     demo_specs = {
@@ -140,23 +135,19 @@ def documented_values(entry: str, label: str) -> set[str]:
         if spec.relative_path.startswith("scripts/demos/") and spec.relative_path in referenced_paths
     }
     assert demo_specs.keys() == referenced_paths
+    image_paths = re.findall(r'<img src="../../([^"]+)"', demos_page)
+    assert image_paths
+    missing_images = [path for path in image_paths if not (docs_source / path).is_file()]
+    assert not missing_images, f"demo browser references missing images: {missing_images}"
     for path, spec in demo_specs.items():
         entry = documented_entries[path]
         expected_physics = {backend for _, backend in spec.physics_backends}
         expected_visualizers = set(spec.visualizers)
-        assert documented_values(entry, "Physics") == expected_physics, f"{path} documents incorrect physics options"
-        assert documented_values(entry, "Visualizer") == expected_visualizers, (
+        assert set(entry["physics"].split(",")) == expected_physics, f"{path} documents incorrect physics options"
+        assert set(entry["visualizers"].split(",")) == expected_visualizers, (
             f"{path} documents incorrect visualizer options"
         )
 
-        selectable_renderers = {backend for option, backend in spec.rendering_backends if option is not None}
-        if selectable_renderers:
-            assert documented_values(entry, "Renderer") == selectable_renderers, (
-                f"{path} documents incorrect renderer options"
-            )
-        else:
-            assert "**Renderer:**" not in entry, f"{path} advertises a renderer option that it does not expose"
-
 
 def test_commands_respect_script_launcher_capabilities():
     """Commands must enable cameras and avoid unsupported launcher arguments."""
diff --git a/source/isaaclab/test/assets/test_articulation_ordering_kernels.py b/source/isaaclab/test/assets/test_articulation_ordering_kernels.py
index 0948e64d6e93..2e35fecffbf3 100644
--- a/source/isaaclab/test/assets/test_articulation_ordering_kernels.py
+++ b/source/isaaclab/test/assets/test_articulation_ordering_kernels.py
@@ -15,6 +15,7 @@
     reorder_2d_user_to_backend,
     reorder_3d_backend_to_user,
     reorder_body_state_backend_to_user,
+    reorder_generalized_vector_backend_to_user,
     reorder_joint_state_backend_to_user,
     write_2d_user_to_backend_with_indices,
     write_2d_user_to_backend_with_mask,
@@ -685,3 +686,35 @@ def test_joint_state_writer_accepts_selector_widths(env_dtype: type, joint_dtype
 
     np.testing.assert_array_equal(user_position.numpy(), [[121.0, 0.0, 120.0], [111.0, 0.0, 110.0]])
     np.testing.assert_array_equal(backend_position.numpy(), [[120.0, 121.0, 0.0], [110.0, 111.0, 0.0]])
+
+
+@pytest.mark.parametrize("device", ["cpu", "cuda:0"])
+@pytest.mark.parametrize("num_base_dofs", [0, 6])
+@pytest.mark.parametrize("correct_signs", [False, True])
+def test_generalized_force_ordering_with_optional_signs(device, num_base_dofs, correct_signs):
+    """Preserve floating-base forces and optionally correct actuated-joint signs."""
+    if device.startswith("cuda") and not wp.is_cuda_available():
+        pytest.skip("CUDA is unavailable")
+    joint_order = np.array([2, 0, 1], dtype=np.int32)
+    signs = np.array([1, -1, 1], dtype=np.int32)
+    values = np.arange(1, 2 * (num_base_dofs + len(joint_order)) + 1, dtype=np.float32).reshape(2, -1)
+    backend = wp.array(values, dtype=wp.float32, device=device)
+    result = wp.zeros_like(backend)
+    wp.launch(
+        reorder_generalized_vector_backend_to_user,
+        dim=result.shape,
+        inputs=[
+            backend,
+            wp.array(joint_order, dtype=wp.int32, device=device),
+            wp.array(signs, dtype=wp.int32, device=device) if correct_signs else None,
+            num_base_dofs,
+            True,
+        ],
+        outputs=[result],
+        device=device,
+    )
+    expected = values.copy()
+    expected[:, num_base_dofs:] = values[:, num_base_dofs:][:, joint_order]
+    if correct_signs:
+        expected[:, num_base_dofs:] *= signs[joint_order]
+    np.testing.assert_array_equal(result.numpy(), expected)
diff --git a/source/isaaclab/test/benchmark/test_api.py b/source/isaaclab/test/benchmark/test_api.py
index 0cf850d966ee..e1bd364ca683 100644
--- a/source/isaaclab/test/benchmark/test_api.py
+++ b/source/isaaclab/test/benchmark/test_api.py
@@ -151,6 +151,7 @@ def test_play_request_uses_backend_arguments(backend: str, monkeypatch) -> None:
     assert args.warmup_steps == 12
     assert args.video is True
     assert args.video_length == 37
+    assert args.frontend == "torch"
     assert args.enable_cameras is True
     assert remaining_args == []
 
@@ -163,9 +164,7 @@ class VideoConfigured(Exception):
         pass
 
     entrypoint = importlib.import_module(dispatch._workflow_module("play", "rsl_rl"))
-    monkeypatch.setattr(entrypoint._common, "resolve_play_checkpoint", lambda *args: "/tmp/checkpoint")
-
-    import gymnasium as gym
+    monkeypatch.setattr(entrypoint.common, "resolve_play_checkpoint", lambda *args: "/tmp/checkpoint")
 
     import isaaclab.app as app
 
@@ -179,7 +178,8 @@ def launch_simulation(env_cfg, args):
             env_cfg.video_recorders = [VideoRecorderCfg(output_dir=configured_output_dir)]
         yield
 
-    def make_environment(task, *, cfg):
+    def create_environment(task, cfg, args, *, convert_marl_to_single_agent):
+        assert convert_marl_to_single_agent is True
         recorder = cfg.video_recorders[0]
         expected_output_dir = configured_output_dir or str(tmp_path / "videos" / "play")
         assert recorder.output_dir == expected_output_dir
@@ -187,7 +187,7 @@ def make_environment(task, *, cfg):
         raise VideoConfigured
 
     monkeypatch.setattr(app, "launch_simulation", launch_simulation)
-    monkeypatch.setattr(gym, "make", make_environment)
+    monkeypatch.setattr(entrypoint.common, "create_isaaclab_env", create_environment)
 
     with pytest.raises(VideoConfigured):
         entrypoint.run(
@@ -338,10 +338,10 @@ def test_backend_entrypoints_register_environment_cleanup_before_wrapping() -> N
     for entrypoint in entrypoints:
         source = entrypoint.read_text()
         compile(source, str(entrypoint), "exec")
-        creation_index = max(source.find("gym.make("), source.find("_common.create_isaaclab_env("))
+        creation_index = max(source.find("gym.make("), source.find("common.create_isaaclab_env("))
         cleanup_index = source.find("cleanup.callback(lambda: env.close())", creation_index)
         wrapper_indices = [
-            source.find(wrapper, creation_index) for wrapper in ("_common.wrap_record_video(env", "VecEnvWrapper(env")
+            source.find(wrapper, creation_index) for wrapper in ("common.wrap_record_video(env", "VecEnvWrapper(env")
         ]
         first_wrapper_index = min(index for index in wrapper_indices if index >= 0)
 
diff --git a/source/isaaclab/test/cli/test_install_command_parsing.py b/source/isaaclab/test/cli/test_install_command_parsing.py
index f456c638e682..a24f6df1cd1d 100644
--- a/source/isaaclab/test/cli/test_install_command_parsing.py
+++ b/source/isaaclab/test/cli/test_install_command_parsing.py
@@ -185,7 +185,7 @@ def test_ov_selector_installs_matching_root_extra(selector, expected_extra):
     f"{_INSTALL_MODULE}._maybe_uninstall_prebundled_torch",
     f"{_INSTALL_MODULE}._ensure_pink_ik_dependencies_installed",
     f"{_INSTALL_MODULE}._repoint_prebundle_packages",
-    f"{_INSTALL_MODULE}.command_vscode_settings",
+    f"{_INSTALL_MODULE}.command_editor",
     f"{_INSTALL_MODULE}.get_pip_command",
     f"{_INSTALL_MODULE}.extract_python_exe",
     # run_command is called directly inside command_install for pip/setuptools upgrades.
diff --git a/source/isaaclab/test/cli/test_installed_workflow_entrypoints.py b/source/isaaclab/test/cli/test_installed_workflow_entrypoints.py
index 9a8951730e8f..e43cbcf5fe8c 100644
--- a/source/isaaclab/test/cli/test_installed_workflow_entrypoints.py
+++ b/source/isaaclab/test/cli/test_installed_workflow_entrypoints.py
@@ -7,6 +7,7 @@
 
 from __future__ import annotations
 
+import subprocess
 import sys
 from unittest import mock
 
@@ -20,6 +21,18 @@
 pytestmark = pytest.mark.unit
 
 
+def test_cli_import_does_not_require_runtime_dependencies():
+    """The installation CLI must load before core runtime dependencies are installed."""
+    result = subprocess.run(
+        [sys.executable, "-c", 'import sys; sys.modules["lazy_loader"] = None; import isaaclab.cli'],
+        capture_output=True,
+        text=True,
+        check=False,
+    )
+
+    assert result.returncode == 0, result.stderr
+
+
 def test_resolves_partial_source_checkout_root(tmp_path):
     """Source root resolution must not require resources copied by later Docker layers."""
     package_root = tmp_path / "source" / "isaaclab" / "isaaclab"
@@ -38,15 +51,22 @@ def test_top_level_compatibility_api_is_preserved():
     main.assert_called_once_with()
 
 
-def test_legacy_vscode_option_uses_compatibility_dispatcher():
-    """The installed entry point must continue to recognize the legacy VS Code option."""
+def test_editor_option_uses_cli_dispatcher():
+    """The installed CLI must forward editor-specific arguments to the editor command."""
     with (
-        mock.patch.object(sys, "argv", ["isaaclab", "--generate-vscode-settings"]),
-        mock.patch.object(package_main, "generate_vscode_settings") as generate,
+        mock.patch.object(sys, "argv", ["isaaclab", "--editor", "--isaac_path", "/sim", "--verbose"]),
+        mock.patch.object(cli, "command_editor") as editor,
     ):
-        package_main.main()
+        cli.cli()
 
-    generate.assert_called_once_with()
+    editor.assert_called_once_with(["--isaac_path", "/sim", "--verbose"])
+
+
+@pytest.mark.parametrize("option", ["--vscode", "--generate-vscode-settings"])
+def test_removed_editor_options_are_rejected(option):
+    """Removed editor setup options must not remain as hidden compatibility paths."""
+    with mock.patch.object(sys, "argv", ["isaaclab", option]), pytest.raises(SystemExit, match="2"):
+        cli.cli()
 
 
 @pytest.mark.parametrize(
diff --git a/source/isaaclab/test/cli/test_leapp_entrypoint.py b/source/isaaclab/test/cli/test_leapp_entrypoint.py
new file mode 100644
index 000000000000..aba9a959b9eb
--- /dev/null
+++ b/source/isaaclab/test/cli/test_leapp_entrypoint.py
@@ -0,0 +1,84 @@
+# 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
+
+"""Tests for the installed LEAPP commands."""
+
+import os
+import subprocess
+import sys
+from unittest import mock
+
+import pytest
+
+import isaaclab.cli as cli
+
+pytestmark = pytest.mark.unit
+
+
+def test_deploy_module_does_not_import_pxr_before_app_launch():
+    """Importing deploy must not load pxr before SimulationApp starts."""
+    env = os.environ.copy()
+    env.update({"ACCEPT_EULA": "Y", "OMNI_KIT_ACCEPT_EULA": "Y"})
+    result = subprocess.run(
+        [sys.executable, "-c", "import sys; import isaaclab.cli.commands.deploy; assert 'pxr' not in sys.modules"],
+        env=env,
+        capture_output=True,
+        text=True,
+    )
+    assert result.returncode == 0, result.stderr
+
+
+def test_export_dispatches_in_process():
+    """``isaaclab leapp export`` forwards arguments to the library dispatcher."""
+    args = ["--rl_library", "rsl_rl", "--task", "Isaac-Cartpole"]
+
+    with (
+        mock.patch.object(sys, "argv", ["isaaclab", "leapp", "export", *args]),
+        mock.patch("isaaclab_rl.entrypoints.run_export_cli", return_value=0) as run_export,
+    ):
+        cli.cli()
+
+    run_export.assert_called_once_with(args)
+
+
+def test_export_propagates_nonzero_dispatch_status():
+    """Export failures become the CLI process status."""
+    with mock.patch("isaaclab_rl.entrypoints.run_export_cli", return_value=1):
+        with pytest.raises(SystemExit) as exc_info:
+            cli.leapp(["export", "--rl_library", "rsl_rl"])
+
+    assert exc_info.value.code == 1
+
+
+def test_deploy_dispatches_in_process():
+    """``isaaclab leapp deploy`` forwards LEAPP deployment arguments."""
+    args = [
+        "--task",
+        "Isaac-Cartpole",
+        "--pipeline",
+        "exported/Isaac-Cartpole.yaml",
+        "physics=newton_mjwarp",
+    ]
+
+    deploy = mock.Mock(return_value=0)
+    deploy_module = mock.Mock(command_deploy_leapp=deploy)
+    with (
+        mock.patch.object(sys, "argv", ["isaaclab", "leapp", "deploy", *args]),
+        mock.patch.dict(sys.modules, {"isaaclab.cli.commands.deploy": deploy_module}),
+    ):
+        cli.cli()
+
+    deploy.assert_called_once_with(args)
+
+
+def test_deploy_propagates_nonzero_status():
+    """Deployment failures become the CLI process status."""
+    deploy_module = mock.Mock()
+    deploy_module.command_deploy_leapp.return_value = 3
+    with mock.patch.dict(sys.modules, {"isaaclab.cli.commands.deploy": deploy_module}):
+        with pytest.raises(SystemExit) as exc_info:
+            cli.leapp(["deploy", "--task", "Isaac-Cartpole", "--pipeline", "policy.yaml"])
+
+    assert exc_info.value.code == 3
diff --git a/source/isaaclab/test/cli/test_source_package_metadata.py b/source/isaaclab/test/cli/test_source_package_metadata.py
index 9dc19fd15107..9f3d1fac25c7 100644
--- a/source/isaaclab/test/cli/test_source_package_metadata.py
+++ b/source/isaaclab/test/cli/test_source_package_metadata.py
@@ -57,9 +57,9 @@ def test_standalone_importers_are_opt_in(source_checkout_root: Path):
         pyproject = tomllib.load(f)
 
     project = pyproject["project"]
-    assert "isaacsim-asset-isolated>=6.0,<6.1" not in project["dependencies"]
+    assert "isaacsim-asset-isolated==6.1.0.0" not in project["dependencies"]
     assert "tinyobjloader==2.0.0rc13" not in project["dependencies"]
     assert project["optional-dependencies"]["importers"] == [
-        "isaacsim-asset-isolated>=6.0,<6.1",
+        "isaacsim-asset-isolated==6.1.0.0",
         "tinyobjloader==2.0.0rc13",
     ]
diff --git a/source/isaaclab/test/cli/test_uv_run_pyproject.py b/source/isaaclab/test/cli/test_uv_run_pyproject.py
index 9e402f1597cc..a79ef4a004d3 100644
--- a/source/isaaclab/test/cli/test_uv_run_pyproject.py
+++ b/source/isaaclab/test/cli/test_uv_run_pyproject.py
@@ -44,6 +44,7 @@ def test_uv_run_exposes_centralized_feature_extras(source_checkout_root: Path):
         "sb3",
         "skrl",
         "rl-games",
+        "wandb",
         "rsl-rl",
         "viser",
         "rerun",
@@ -95,6 +96,7 @@ def test_all_extra_aggregates_curated_ov_rl_and_visualizer_extras(source_checkou
         "tetrahedralization",
         "video",
         "leapp",
+        "wandb",
         "test",
         "dev",
     }
@@ -156,9 +158,9 @@ def spec(package: str) -> str:
     assert ovrtx_install_lines
     assert all(spec("ovrtx") in line or "steps.ov_pins.outputs.ovrtx" in line for line in ovrtx_install_lines)
 
-    # uv torch-stack overrides mirror the table.
+    # Direct torch-stack pins apply to both source and wheel installations.
     for package in ("torch", "torchvision", "torchaudio"):
-        assert f"{package}=={versions[package]}" in overrides
+        assert f"{package}=={versions[package]}" in dependencies
 
     # The Newton uv override is its single pin and may select a release or Git revision.
     newton_spec = next(requirement for requirement in overrides if requirement.startswith("newton[sim]"))
@@ -190,16 +192,14 @@ def test_uv_run_declares_no_extra_conflicts(source_checkout_root: Path):
     """No extra is forked: every combination resolves into a single environment.
 
     ``[tool.uv].conflicts`` used to fork ``isaacsim`` / ``teleop`` away from the OV runtimes,
-    and briefly away from the standalone importers. The overrides below reconcile the last of
-    those pins -- ``packaging`` for ovphysx, WebSockets for Viser, coverage for ``test``. The
-    importers install beside Isaac Sim without displacing it: the two distributions share no
-    files, and Kit serves ``isaacsim.asset`` from its extension roots either way.
+    and briefly away from the standalone importers. The remaining ``packaging`` override reconciles
+    ovphysx. The importers install beside Isaac Sim without displacing it: the two distributions share
+    no files, and Kit serves ``isaacsim.asset`` from its extension roots either way.
     """
     tool_uv = _root_pyproject(source_checkout_root)["tool"]["uv"]
 
     assert "conflicts" not in tool_uv
-    for override in ("packaging>=20,<27", "websockets>=14.0,<17.0.0", "coverage>=7.6.1"):
-        assert override in tool_uv["override-dependencies"]
+    assert "packaging>=20,<27" in tool_uv["override-dependencies"]
 
 
 def test_uv_run_isaacsim_is_an_opt_in_extra(source_checkout_root: Path):
diff --git a/source/isaaclab/test/cli/test_wheel_builder_metadata.py b/source/isaaclab/test/cli/test_wheel_builder_metadata.py
index 559c445324e7..52e6e57a51b1 100644
--- a/source/isaaclab/test/cli/test_wheel_builder_metadata.py
+++ b/source/isaaclab/test/cli/test_wheel_builder_metadata.py
@@ -109,15 +109,34 @@ def test_wheel_builder_includes_isaacsim_extra(source_checkout_root: Path, tmp_p
     assert any(dep.startswith("isaacsim[") for dep in optional_dependencies["isaacsim"])
 
 
+def test_wheel_builder_omits_integrations_without_published_wheels(source_checkout_root: Path, tmp_path):
+    """Git-only RL-Games and Robomimic requirements must stay out of published metadata."""
+    with (source_checkout_root / "pyproject.toml").open("rb") as f:
+        source_project = tomllib.load(f)["project"]
+    generated_project = _generate_wheel_pyproject(source_checkout_root, tmp_path)["project"]
+
+    # Source checkouts retain the integrations through their Git requirements.
+    assert any(dep.startswith("rl-games @ git+") for dep in source_project["optional-dependencies"]["rl-games"])
+    assert any(dep.startswith("robomimic @ git+") for dep in source_project["optional-dependencies"]["mimic"])
+
+    # The published wheel cannot expose the RL-Games extra or reference either Git-only distribution.
+    assert "rl-games" not in generated_project["optional-dependencies"]
+    generated_requirements = generated_project["dependencies"] + [
+        dep for requirements in generated_project["optional-dependencies"].values() for dep in requirements
+    ]
+    assert not any(dep.startswith("rl-games") for dep in generated_requirements)
+    assert not any(dep.startswith("robomimic") for dep in generated_requirements)
+
+
 def test_wheel_builder_keeps_standalone_importers_explicit(source_checkout_root: Path, tmp_path):
     """The wheel must expose standalone importers only through their explicit extra."""
     generated = _generate_wheel_pyproject(source_checkout_root, tmp_path)
     project = generated["project"]
 
-    assert "isaacsim-asset-isolated>=6.0,<6.1" not in project["dependencies"]
+    assert "isaacsim-asset-isolated==6.1.0.0" not in project["dependencies"]
     assert "tinyobjloader==2.0.0rc13" not in project["dependencies"]
     assert project["optional-dependencies"]["importers"] == [
-        "isaacsim-asset-isolated>=6.0,<6.1",
+        "isaacsim-asset-isolated==6.1.0.0",
         "tinyobjloader==2.0.0rc13",
     ]
 
@@ -135,6 +154,7 @@ def test_wheel_builder_expands_all_extra_into_concrete_requirements(source_check
         "isaacsim[",
         "isaacsim-asset-isolated",
         "ray",
+        "rl-games",
         "robomimic",
         "isaacteleop",
         "pytetwild",
@@ -192,11 +212,3 @@ def test_wheel_builder_uv_overrides_match_root_pyproject(source_checkout_root: P
     assert generated_overrides == root["tool"]["uv"]["override-dependencies"]
     assert published_overrides == generated_overrides
     assert install_ci_overrides == generated_overrides
-
-
-def test_wheel_builder_uv_overrides_relax_isaacsim_exact_pins(source_checkout_root: Path, tmp_path):
-    """The wheel resolver must relax Isaac Sim 6.0's exact pins so the extras co-resolve."""
-    overrides = _generate_uv_overrides(source_checkout_root, tmp_path)
-
-    for spec in ("typing-extensions>=4.15.0", "websockets>=14.0,<17.0.0", "coverage>=7.6.1"):
-        assert spec in overrides
diff --git a/source/isaaclab/test/controllers/test_operational_space.py b/source/isaaclab/test/controllers/test_operational_space.py
index acf78f830fb4..ab4c46acc2d9 100644
--- a/source/isaaclab/test/controllers/test_operational_space.py
+++ b/source/isaaclab/test/controllers/test_operational_space.py
@@ -39,7 +39,7 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors import ContactSensor, ContactSensorCfg
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass as lab_configclass
+from isaaclab.utils import configclass as lab_configclass
 from isaaclab.utils.math import (
     apply_delta_pose,
     combine_frame_transforms,
diff --git a/source/isaaclab/test/controllers/test_operational_space_features.py b/source/isaaclab/test/controllers/test_operational_space_features.py
index 4006242711d2..538deab907f2 100644
--- a/source/isaaclab/test/controllers/test_operational_space_features.py
+++ b/source/isaaclab/test/controllers/test_operational_space_features.py
@@ -49,3 +49,60 @@ def test_inertial_decoupling_handles_singular_task_inertia(partial_inertial_deco
         joint_efforts[:, 1:],
         torch.zeros(num_envs, num_joints - 1),
     )
+
+
+def _pose_abs_controller(num_envs: int) -> OperationalSpaceController:
+    cfg = OperationalSpaceControllerCfg(target_types=["pose_abs"], inertial_dynamics_decoupling=False)
+    return OperationalSpaceController(cfg, num_envs=num_envs, device="cpu")
+
+
+def test_pose_abs_target_quaternion_is_normalized():
+    """Scaling an absolute pose quaternion must not change the target orientation or the commanded efforts."""
+    num_envs = 2
+    unit_quat = torch.tensor([[0.0, 0.0, 0.3826834, 0.9238795]]).repeat(num_envs, 1)  # 45 deg about z
+    unit_target = torch.cat([torch.tensor([[0.1, 0.0, 0.0]]).repeat(num_envs, 1), unit_quat], dim=-1)
+    scaled_target = unit_target.clone()
+    scaled_target[0, 3:7] *= 3.0
+    scaled_target[1, 3:7] *= -0.25  # sign flip encodes the same rotation
+
+    current_pose = torch.tensor([[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]]).repeat(num_envs, 1)
+    jacobian = torch.zeros(num_envs, 6, 7)
+    jacobian[:, :6, :6] = torch.eye(6)
+
+    efforts = []
+    for target in (unit_target, scaled_target):
+        controller = _pose_abs_controller(num_envs)
+        controller.set_command(target, current_ee_pose_b=current_pose)
+        torch.testing.assert_close(
+            torch.linalg.norm(controller.desired_ee_pose_task[:, 3:7], dim=-1), torch.ones(num_envs)
+        )
+        efforts.append(
+            controller.compute(
+                jacobian_b=jacobian, current_ee_pose_b=current_pose, current_ee_vel_b=torch.zeros(num_envs, 6)
+            )
+        )
+
+    torch.testing.assert_close(efforts[0], efforts[1])
+    assert torch.isfinite(efforts[1]).all()
+
+
+def test_pose_abs_degenerate_quaternion_falls_back_to_current_orientation():
+    """Zero and non-finite quaternions keep the current orientation, or identity without a current pose."""
+    num_envs = 3
+    current_quat = torch.tensor([[0.0, 0.7071068, 0.0, 0.7071068]]).repeat(num_envs, 1)  # 90 deg about y
+    current_pose = torch.cat([torch.zeros(num_envs, 3), current_quat], dim=-1)
+    target = torch.zeros(num_envs, 7)
+    target[0, 3:7] = torch.tensor([0.0, 0.0, 0.0, 1.0])
+    target[1, 3:7] = 0.0
+    target[2, 3:7] = torch.tensor([float("nan"), 0.0, 0.0, 1.0])
+
+    controller = _pose_abs_controller(num_envs)
+    controller.set_command(target, current_ee_pose_b=current_pose)
+    torch.testing.assert_close(controller.desired_ee_pose_task[0, 3:7], torch.tensor([0.0, 0.0, 0.0, 1.0]))
+    torch.testing.assert_close(controller.desired_ee_pose_task[1:, 3:7], current_quat[1:])
+
+    controller = _pose_abs_controller(num_envs)
+    controller.set_command(target)
+    torch.testing.assert_close(
+        controller.desired_ee_pose_task[1:, 3:7], torch.tensor([[0.0, 0.0, 0.0, 1.0]]).repeat(num_envs - 1, 1)
+    )
diff --git a/source/isaaclab/test/devices/test_device_constructors.py b/source/isaaclab/test/devices/test_device_constructors.py
index aa754ea7fd74..25e5ecc62e4d 100644
--- a/source/isaaclab/test/devices/test_device_constructors.py
+++ b/source/isaaclab/test/devices/test_device_constructors.py
@@ -356,6 +356,13 @@ def test_se3spacemouse_constructors(mock_environment, mocker):
     assert result.shape == (7,)  # (pos_x, pos_y, pos_z, rot_x, rot_y, rot_z, gripper)
 
 
+def test_se3spacemouse_destructor_handles_partial_initialization():
+    """The destructor must tolerate construction failing before the listener thread exists."""
+    spacemouse = Se3SpaceMouse.__new__(Se3SpaceMouse)
+
+    spacemouse.__del__()
+
+
 """
 Test Haply devices.
 """
diff --git a/source/isaaclab/test/devices/test_physics_manager_device.py b/source/isaaclab/test/devices/test_physics_manager_device.py
deleted file mode 100644
index 6b8face7f304..000000000000
--- a/source/isaaclab/test/devices/test_physics_manager_device.py
+++ /dev/null
@@ -1,46 +0,0 @@
-# Copyright (c) 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
-
-"""Tests for physics-manager CUDA device initialization."""
-
-from types import SimpleNamespace
-
-from isaaclab.physics import PhysicsManager
-from isaaclab.physics import physics_manager as physics_manager_module
-
-
-def test_initialize_synchronizes_cuda_before_backend_setup(monkeypatch):
-    """The base manager must synchronize CUDA before backend-specific setup."""
-    calls = []
-    monkeypatch.setattr(physics_manager_module, "set_cuda_device", lambda device: calls.append(("cuda", device)))
-    monkeypatch.setattr(PhysicsManager, "_sim", None)
-    monkeypatch.setattr(PhysicsManager, "_cfg", None)
-    monkeypatch.setattr(PhysicsManager, "_device", "cuda:0")
-
-    class _TestManager(PhysicsManager):
-        @classmethod
-        def initialize(cls, sim_context):
-            super().initialize(sim_context)
-            calls.append(("backend", PhysicsManager._device))
-
-    sim_context = SimpleNamespace(cfg=SimpleNamespace(physics=object(), device="cuda:2"))
-
-    _TestManager.initialize(sim_context)
-
-    assert calls == [("cuda", "cuda:2"), ("backend", "cuda:2")]
-
-
-def test_initialize_does_not_synchronize_cpu_device(monkeypatch):
-    """CPU simulation must not initialize or select CUDA runtimes."""
-    devices = []
-    monkeypatch.setattr(physics_manager_module, "set_cuda_device", devices.append)
-    monkeypatch.setattr(PhysicsManager, "_sim", None)
-    monkeypatch.setattr(PhysicsManager, "_cfg", None)
-    monkeypatch.setattr(PhysicsManager, "_device", "cuda:0")
-    sim_context = SimpleNamespace(cfg=SimpleNamespace(physics=object(), device="cpu"))
-
-    PhysicsManager.initialize(sim_context)
-
-    assert devices == []
diff --git a/source/isaaclab/test/envs/check_manager_based_env_anymal_locomotion.py b/source/isaaclab/test/envs/check_manager_based_env_anymal_locomotion.py
index a505f3f7e504..07dc3d73bd14 100644
--- a/source/isaaclab/test/envs/check_manager_based_env_anymal_locomotion.py
+++ b/source/isaaclab/test/envs/check_manager_based_env_anymal_locomotion.py
@@ -46,8 +46,8 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors import RayCasterCfg, patterns
 from isaaclab.terrains import TerrainImporterCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, NVIDIA_NUCLEUS_DIR, check_file_path, read_file
-from isaaclab.utils.configclass import configclass
 from isaaclab.utils.noise import UniformNoiseCfg as Unoise
 
 ##
diff --git a/source/isaaclab/test/envs/check_manager_based_env_floating_cube.py b/source/isaaclab/test/envs/check_manager_based_env_floating_cube.py
index ef0a151434b5..4762cc855cc5 100644
--- a/source/isaaclab/test/envs/check_manager_based_env_floating_cube.py
+++ b/source/isaaclab/test/envs/check_manager_based_env_floating_cube.py
@@ -43,7 +43,7 @@
 from isaaclab.managers.action_manager import ActionTerm, ActionTermCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Scene definition
diff --git a/source/isaaclab/test/envs/test_env_rendering_logic.py b/source/isaaclab/test/envs/test_env_rendering_logic.py
index d384667d01f0..8aaf1bf72014 100644
--- a/source/isaaclab/test/envs/test_env_rendering_logic.py
+++ b/source/isaaclab/test/envs/test_env_rendering_logic.py
@@ -29,7 +29,7 @@
 )
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg, SimulationContext
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 pytestmark = [pytest.mark.integration, pytest.mark.rendering, pytest.mark.isaacsim_ci]
 
diff --git a/source/isaaclab/test/envs/test_manager_based_env.py b/source/isaaclab/test/envs/test_manager_based_env.py
index a4e1143645e3..3554701c39f3 100644
--- a/source/isaaclab/test/envs/test_manager_based_env.py
+++ b/source/isaaclab/test/envs/test_manager_based_env.py
@@ -25,7 +25,7 @@
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.test.env_cfgs import make_empty_manager_based_env_cfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 pytestmark = pytest.mark.integration
 
diff --git a/source/isaaclab/test/envs/test_modify_env_param_curr_term.py b/source/isaaclab/test/envs/test_modify_env_param_curr_term.py
index c18dfbb9b528..2f028ccf2cc6 100644
--- a/source/isaaclab/test/envs/test_modify_env_param_curr_term.py
+++ b/source/isaaclab/test/envs/test_modify_env_param_curr_term.py
@@ -24,7 +24,7 @@
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.test.env_cfgs import EmptyManagerCfg
 from isaaclab.test.integration_scene_cfgs import CartpoleTestSceneCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 pytestmark = pytest.mark.integration
 
diff --git a/source/isaaclab/test/envs/test_scale_randomization.py b/source/isaaclab/test/envs/test_scale_randomization.py
index d88029a8965e..096fec74714b 100644
--- a/source/isaaclab/test/envs/test_scale_randomization.py
+++ b/source/isaaclab/test/envs/test_scale_randomization.py
@@ -35,7 +35,7 @@
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 pytestmark = pytest.mark.integration
 
diff --git a/source/isaaclab/test/envs/test_stacked_image_mdp.py b/source/isaaclab/test/envs/test_stacked_image_mdp.py
index fcaa84a2034a..4e5f0c20d80a 100644
--- a/source/isaaclab/test/envs/test_stacked_image_mdp.py
+++ b/source/isaaclab/test/envs/test_stacked_image_mdp.py
@@ -19,7 +19,7 @@
 
 pytestmark = pytest.mark.integration
 
-from isaaclab.envs.mdp.observations import stacked_image
+from isaaclab.envs.mdp.observations import image_features, stacked_image
 
 NUM_ENVS = 4
 HEIGHT = 8
@@ -241,3 +241,17 @@ def test_clone_true_returns_independent_copy(self):
         cfg = SimpleNamespace(name="tiled_camera")
         out = image(env, sensor_cfg=cfg, data_type="rgb", normalize=False, clone=True)
         assert out.data_ptr() != camera_buf.data_ptr()
+
+
+def test_image_features_flattens_encoder_output():
+    """Feature extractors return a flat observation after the environment batch dimension."""
+    env = _make_env()
+    term = image_features.__new__(image_features)
+    term._model = object()
+    term._inference_fn = lambda *_args, **_kwargs: torch.arange(NUM_ENVS * 6 * 8).reshape(NUM_ENVS, 6, 8)
+    image_data = torch.zeros((NUM_ENVS, HEIGHT, WIDTH, CHANNELS), dtype=torch.uint8)
+
+    with mock.patch("isaaclab.envs.mdp.observations.image", return_value=image_data):
+        out = term(env)
+
+    assert out.shape == (NUM_ENVS, 48)
diff --git a/source/isaaclab/test/envs/test_stacked_image_obs_manager.py b/source/isaaclab/test/envs/test_stacked_image_obs_manager.py
index db7354ecd513..dec8843dd020 100644
--- a/source/isaaclab/test/envs/test_stacked_image_obs_manager.py
+++ b/source/isaaclab/test/envs/test_stacked_image_obs_manager.py
@@ -29,7 +29,7 @@
 import isaaclab.sim as sim_utils
 from isaaclab.envs.mdp.observations import stacked_image
 from isaaclab.managers import ObservationGroupCfg, ObservationManager, ObservationTermCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 pytestmark = [pytest.mark.integration, pytest.mark.isaacsim_ci]
 
diff --git a/source/isaaclab/test/envs/test_texture_randomization.py b/source/isaaclab/test/envs/test_texture_randomization.py
index eed858f57282..2fb3a1d4ca56 100644
--- a/source/isaaclab/test/envs/test_texture_randomization.py
+++ b/source/isaaclab/test/envs/test_texture_randomization.py
@@ -30,8 +30,8 @@
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.test.integration_scene_cfgs import CartpoleTestSceneCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import NVIDIA_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 pytestmark = pytest.mark.integration
 
diff --git a/source/isaaclab/test/envs/test_video_recorder.py b/source/isaaclab/test/envs/test_video_recorder.py
index 95983ae90ce2..83f64ced7948 100644
--- a/source/isaaclab/test/envs/test_video_recorder.py
+++ b/source/isaaclab/test/envs/test_video_recorder.py
@@ -229,6 +229,31 @@ def test_visualizer_source_auto_picks_first_with_render_rgb_array():
     assert viz.render_calls == 1
 
 
+def test_visualizer_source_refreshes_physics_before_on_demand_capture():
+    """On-demand capture reads a frame after physics transforms are synchronized."""
+    synchronized = False
+
+    class _FreshFrameViz(_FakeViz):
+        def render_rgb_array(self) -> np.ndarray:
+            return np.full_like(self._frame, 255 if synchronized else 0)
+
+    viz = _FreshFrameViz("kit")
+    env = _make_env(visualizers=[viz])
+    env.sim.is_rendering = False
+
+    def synchronize_physics() -> None:
+        nonlocal synchronized
+        synchronized = True
+
+    env.sim.forward.side_effect = synchronize_physics
+    recorder = VideoRecorder(_cfg(source="visualizer:kit"), env)
+
+    frame = recorder._get_frame()
+
+    assert frame is not None
+    assert np.all(frame == 255)
+
+
 def test_visualizer_source_auto_no_visualizer_logs_and_returns_none(caplog):
     """source='visualizer' with no visualizers logs an error once and returns None instead of raising."""
     import logging
@@ -245,6 +270,9 @@ def test_kit_visualizer_newton_physics_logs_warning(caplog):
 
     With cubric the capture succeeds; without it frames may be black.  Either way
     the recorder warns and does not hard-fail.
+
+    The warned-about condition is fixed configuration state, so the message is emitted
+    once per recorder rather than once per captured frame.
     """
     import logging
 
@@ -254,11 +282,15 @@ def test_kit_visualizer_newton_physics_logs_warning(caplog):
 
     recorder = VideoRecorder(_cfg(source="visualizer:kit"), env)
     with caplog.at_level(logging.WARNING, logger="isaaclab.envs.utils.video_recorder"):
-        recorder._get_frame()
-
-    assert any("source='visualizer:newton'" in r.message for r in caplog.records)
-    # The recorder attempts capture rather than short-circuiting.
-    assert kit_viz.render_calls == 1
+        for _ in range(5):
+            recorder._get_frame()
+        second_recorder = VideoRecorder(_cfg(source="visualizer:kit"), env)
+        second_recorder._get_frame()
+
+    cubric_warnings = [r for r in caplog.records if "source='visualizer:newton'" in r.message]
+    assert len(cubric_warnings) == 2
+    # Capture is still attempted on every frame rather than short-circuiting.
+    assert kit_viz.render_calls == 6
 
 
 def test_visualizer_newton_alias_resolves_newton_gl():
diff --git a/source/isaaclab/test/install_ci/Dockerfile.installci b/source/isaaclab/test/install_ci/Dockerfile.installci
index caf9b097d8af..e103b412e4aa 100644
--- a/source/isaaclab/test/install_ci/Dockerfile.installci
+++ b/source/isaaclab/test/install_ci/Dockerfile.installci
@@ -76,7 +76,8 @@ RUN pip install --break-system-packages \
     pytest-timeout>=2.0
 
 # Install uv system-wide so non-root users can invoke it without PATH trickery
-RUN curl -LsSf https://astral.sh/uv/install.sh | UV_INSTALL_DIR=/usr/local/bin sh
+RUN curl -LsSf --proto '=https' --proto-redir '=https' https://astral.sh/uv/install.sh | \
+    UV_INSTALL_DIR=/usr/local/bin sh
 
 # Install Miniconda into the isaaclab user's home directory so the runtime user
 # has full write access for creating environments and caching packages.
@@ -85,7 +86,8 @@ RUN ARCH=$(case "$(uname -m)" in \
       aarch64|arm64) echo "aarch64" ;; \
       *) echo "x86_64" ;; \
     esac) \
-    && curl -fsSL "https://repo.anaconda.com/miniconda/Miniconda3-${MINICONDA_VERSION}-Linux-${ARCH}.sh" \
+    && curl -fsSL --proto '=https' --proto-redir '=https' \
+      "https://repo.anaconda.com/miniconda/Miniconda3-${MINICONDA_VERSION}-Linux-${ARCH}.sh" \
       -o /tmp/miniconda.sh \
     && bash /tmp/miniconda.sh -b -p /home/isaaclab/miniconda3 \
     && rm /tmp/miniconda.sh \
diff --git a/source/isaaclab/test/install_ci/uv_pip/test_uv_pip_install_isaaclab_all_trains_cartpole.py b/source/isaaclab/test/install_ci/uv_pip/test_uv_pip_install_isaaclab_all_trains_cartpole.py
index 37e6c0b404c3..e821e5d5c53f 100644
--- a/source/isaaclab/test/install_ci/uv_pip/test_uv_pip_install_isaaclab_all_trains_cartpole.py
+++ b/source/isaaclab/test/install_ci/uv_pip/test_uv_pip_install_isaaclab_all_trains_cartpole.py
@@ -15,7 +15,7 @@
          Reinstall AFTER the wheel install: unsafe-best-match re-resolves torch from PyPI to CPU.)
     - (aarch64 only) export LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1
 Tests:
-    - python -c "import importlib.metadata as m; assert m.version('newton') == '1.6.0rc1'"
+    - python -c "import importlib.metadata as m; assert m.version('newton') == '1.6.0'"
         -> verify the wheel resolves the pinned Newton release
     - uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct --num_envs 16
         presets=newton_mjwarp --max_iterations 5; uv run isaaclab train --rl_library rsl_rl
@@ -57,7 +57,7 @@ def test_uv_pip_install_isaaclab_all_trains_cartpole(self, isaaclab_root, wheel,
             assert result.returncode == 0, f"uv pip install {wheel}[all] failed:\n{result.stdout}\n{result.stderr}"
 
             result = self.run_in_uv_env(
-                ["python", "-c", "import importlib.metadata as m; assert m.version('newton') == '1.6.0rc1'"],
+                ["python", "-c", "import importlib.metadata as m; assert m.version('newton') == '1.6.0'"],
                 cwd=isaaclab_root,
             )
             assert result.returncode == 0, (
diff --git a/source/isaaclab/test/install_ci/uv_pip/uv-overrides.txt b/source/isaaclab/test/install_ci/uv_pip/uv-overrides.txt
index 79c9ab0efc56..a495835d3dd7 100644
--- a/source/isaaclab/test/install_ci/uv_pip/uv-overrides.txt
+++ b/source/isaaclab/test/install_ci/uv_pip/uv-overrides.txt
@@ -1,12 +1,6 @@
 numpy>=2
 mujoco~=3.12.0
 mujoco-warp~=3.12.0
-newton[sim]==1.6.0rc1
+newton[sim]==1.6.0
 newton-usd-schemas>=0.4.1
-torch==2.11.0
-torchvision==0.26.0
-torchaudio==2.11.0
-typing-extensions>=4.15.0
-websockets>=14.0,<17.0.0
-coverage>=7.6.1
 packaging>=20,<27
diff --git a/source/isaaclab/test/managers/test_event_manager.py b/source/isaaclab/test/managers/test_event_manager.py
index cd17912515c4..cd3cde703a55 100644
--- a/source/isaaclab/test/managers/test_event_manager.py
+++ b/source/isaaclab/test/managers/test_event_manager.py
@@ -26,7 +26,7 @@
 from isaaclab.envs import ManagerBasedEnv
 from isaaclab.managers import EventManager, EventTermCfg, ManagerTermBase, ManagerTermBaseCfg
 from isaaclab.sim import SimulationContext
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 pytestmark = pytest.mark.integration
 
diff --git a/source/isaaclab/test/managers/test_manager_base.py b/source/isaaclab/test/managers/test_manager_base.py
index 039208d8e37f..658831e65e8c 100644
--- a/source/isaaclab/test/managers/test_manager_base.py
+++ b/source/isaaclab/test/managers/test_manager_base.py
@@ -22,8 +22,7 @@
 from isaaclab.envs import ManagerBasedEnv
 from isaaclab.managers import ManagerTermBase, ManagerTermBaseCfg
 from isaaclab.managers.manager_base import ManagerBase
-from isaaclab.utils import modifiers
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass, modifiers
 
 pytestmark = pytest.mark.integration
 
diff --git a/source/isaaclab/test/managers/test_observation_manager.py b/source/isaaclab/test/managers/test_observation_manager.py
index 7226029c9ce7..c839f7b7b473 100644
--- a/source/isaaclab/test/managers/test_observation_manager.py
+++ b/source/isaaclab/test/managers/test_observation_manager.py
@@ -29,8 +29,7 @@
     ObservationTermCfg,
     RewardTermCfg,
 )
-from isaaclab.utils import modifiers
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass, modifiers
 
 pytestmark = pytest.mark.integration
 
diff --git a/source/isaaclab/test/managers/test_observation_manager_unit.py b/source/isaaclab/test/managers/test_observation_manager_unit.py
index 0e223a4ed076..81db0fa1f7c5 100644
--- a/source/isaaclab/test/managers/test_observation_manager_unit.py
+++ b/source/isaaclab/test/managers/test_observation_manager_unit.py
@@ -16,8 +16,7 @@
 import torch
 
 from isaaclab.managers import ObservationGroupCfg, ObservationManager, ObservationTermCfg
-from isaaclab.utils import modifiers
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass, modifiers
 
 pytestmark = pytest.mark.unit
 
diff --git a/source/isaaclab/test/managers/test_recorder_manager.py b/source/isaaclab/test/managers/test_recorder_manager.py
index 007d62d194b6..84efee72be65 100644
--- a/source/isaaclab/test/managers/test_recorder_manager.py
+++ b/source/isaaclab/test/managers/test_recorder_manager.py
@@ -17,7 +17,7 @@
 
 from isaaclab.managers import DatasetExportMode, RecorderManager, RecorderManagerBaseCfg, RecorderTerm, RecorderTermCfg
 from isaaclab.test.utils import DeviceScope, test_devices
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 pytestmark = pytest.mark.unit
 
diff --git a/source/isaaclab/test/managers/test_recorder_manager_integration.py b/source/isaaclab/test/managers/test_recorder_manager_integration.py
index 8d29d27fa826..de0a5e2bd17b 100644
--- a/source/isaaclab/test/managers/test_recorder_manager_integration.py
+++ b/source/isaaclab/test/managers/test_recorder_manager_integration.py
@@ -22,7 +22,7 @@
 from isaaclab.envs import ManagerBasedEnv
 from isaaclab.managers import DatasetExportMode, RecorderManagerBaseCfg, RecorderTerm, RecorderTermCfg
 from isaaclab.test.env_cfgs import make_empty_manager_based_env_cfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 pytestmark = pytest.mark.integration
 
diff --git a/source/isaaclab/test/managers/test_reward_manager.py b/source/isaaclab/test/managers/test_reward_manager.py
index 6038404a7590..57b9fd57f02f 100644
--- a/source/isaaclab/test/managers/test_reward_manager.py
+++ b/source/isaaclab/test/managers/test_reward_manager.py
@@ -19,7 +19,7 @@
 
 from isaaclab.managers import RewardManager, RewardTermCfg
 from isaaclab.sim import SimulationContext
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 pytestmark = pytest.mark.integration
 
diff --git a/source/isaaclab/test/markers/check_markers_visibility.py b/source/isaaclab/test/markers/check_markers_visibility.py
index cc6edd2c1b57..d7a2edc31fe0 100644
--- a/source/isaaclab/test/markers/check_markers_visibility.py
+++ b/source/isaaclab/test/markers/check_markers_visibility.py
@@ -42,7 +42,7 @@
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import RayCasterCfg, patterns
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Pre-defined configs
diff --git a/source/isaaclab/test/markers/test_visualization_markers.py b/source/isaaclab/test/markers/test_visualization_markers.py
index ca7b1c4eaa4d..8b174394fa79 100644
--- a/source/isaaclab/test/markers/test_visualization_markers.py
+++ b/source/isaaclab/test/markers/test_visualization_markers.py
@@ -204,6 +204,68 @@ def test_environment_ids_author_point_instance_scene_partitions(sim):
     assert list(primvar.Get()) == ["env_1", "env_0"]
 
 
+def test_unchanged_environment_ids_do_not_rebuild_scene_partitions(sim, monkeypatch):
+    """Unchanged environment IDs should not rebuild partition tokens on every call.
+
+    Marker ownership is static in most tasks, but ``visualize`` runs every frame. Rebuilding the
+    token array anyway costs a device synchronization and one string per marker per frame.
+    """
+    from pxr import Sdf, UsdGeom, Vt
+
+    sim._has_offscreen_render = True
+    stage = sim_utils.get_current_stage()
+    for env_id in range(2):
+        env_prim = stage.DefinePrim(f"/World/envs/env_{env_id}", "Xform")
+        env_prim.CreateAttribute("primvars:omni:scenePartition", Sdf.ValueTypeNames.Token).Set(f"env_{env_id}")
+
+    config = VisualizationMarkersCfg(
+        prim_path="/World/Visuals/cached_partition_marker",
+        markers={"test": sim_utils.SphereCfg(radius=0.1)},
+    )
+    test_marker = VisualizationMarkers(config)
+    translations = torch.tensor([[0.0, 0.0, 0.0], [0.2, 0.0, 0.0]], device=sim.device)
+    environment_ids = torch.tensor([1, 0], device=sim.device)
+    test_marker.visualize(translations=translations, environment_ids=environment_ids)
+
+    rebuilt_token_arrays = []
+    original_token_array = Vt.TokenArray
+
+    def _counting_token_array(*args, **kwargs):
+        rebuilt_token_arrays.append(args)
+        return original_token_array(*args, **kwargs)
+
+    monkeypatch.setattr(Vt, "TokenArray", _counting_token_array)
+    # Markers move every frame while their environment ownership stays fixed.
+    test_marker.visualize(translations=translations + 0.1, environment_ids=environment_ids)
+
+    assert rebuilt_token_arrays == []
+    primvar = UsdGeom.PrimvarsAPI(stage.GetPrimAtPath(test_marker.prim_path)).GetPrimvar("omni:scenePartition")
+    assert list(primvar.Get()) == ["env_1", "env_0"]
+
+
+def test_changed_environment_ids_reauthor_scene_partitions(sim):
+    """New environment IDs should still update the authored partition tokens."""
+    from pxr import Sdf, UsdGeom
+
+    sim._has_offscreen_render = True
+    stage = sim_utils.get_current_stage()
+    for env_id in range(2):
+        env_prim = stage.DefinePrim(f"/World/envs/env_{env_id}", "Xform")
+        env_prim.CreateAttribute("primvars:omni:scenePartition", Sdf.ValueTypeNames.Token).Set(f"env_{env_id}")
+
+    config = VisualizationMarkersCfg(
+        prim_path="/World/Visuals/updated_partition_marker",
+        markers={"test": sim_utils.SphereCfg(radius=0.1)},
+    )
+    test_marker = VisualizationMarkers(config)
+    translations = torch.tensor([[0.0, 0.0, 0.0], [0.2, 0.0, 0.0]], device=sim.device)
+    test_marker.visualize(translations=translations, environment_ids=torch.tensor([1, 0], device=sim.device))
+    test_marker.visualize(translations=translations, environment_ids=torch.tensor([0, 1], device=sim.device))
+
+    primvar = UsdGeom.PrimvarsAPI(stage.GetPrimAtPath(test_marker.prim_path)).GetPrimvar("omni:scenePartition")
+    assert list(primvar.Get()) == ["env_0", "env_1"]
+
+
 def test_environment_ids_require_active_scene_partitions(sim):
     """Environment IDs should not partition markers when renderer stage preparation is inactive."""
     from pxr import UsdGeom
@@ -572,6 +634,8 @@ class _FakeMesh:
         uvs = np.zeros((0, 2), dtype=np.float32)
 
     class _FakeViewer:
+        device = "cpu"
+
         def __init__(self):
             self.meshes = []
 
@@ -579,7 +643,7 @@ def log_mesh(self, name, vertices, indices, **kwargs):
             self.meshes.append((name, vertices, indices, kwargs))
 
     monkeypatch.setattr(newton_markers, "_create_mesh", lambda cfg: _FakeMesh())
-    monkeypatch.setattr(newton_markers.wp, "array", lambda value, dtype=None: value)
+    monkeypatch.setattr(newton_markers.wp, "array", lambda value, dtype=None, device=None: value)
 
     spec = newton_markers._NewtonMarkerSpec(renderer="mesh", mesh_type="box", mesh_params={"size": (1.0, 1.0, 1.0)})
     viewer_a = _FakeViewer()
@@ -616,6 +680,7 @@ class _FakeNewtonMarkerMesh:
 class _FakeNewtonMarkerViewer:
     def __init__(self, world_offsets):
         self.world_offsets = world_offsets
+        self.device = world_offsets.device
         self.meshes = []
         self.instances = []
         self.lines = []
@@ -680,7 +745,7 @@ def _patch_newton_marker_render_deps(
     warp_world_offsets = wp.array(world_offsets, dtype=wp.vec3, device=world_offsets_device)
 
     monkeypatch.setattr(newton_markers, "_create_mesh", lambda cfg: _FakeNewtonMarkerMesh())
-    monkeypatch.setattr(newton_markers.wp, "array", lambda value, dtype=None: value)
+    monkeypatch.setattr(newton_markers.wp, "array", lambda value, dtype=None, device=None: value)
     return warp_world_offsets
 
 
@@ -719,6 +784,26 @@ def test_newton_marker_render_filters_visible_envs(monkeypatch: pytest.MonkeyPat
     assert viewer.instances[0]["xforms"][:, 0].tolist() == [2.0, 3.0, 6.0, 7.0]
 
 
+@pytest.mark.skipif(not torch.cuda.is_available(), reason="requires CUDA marker state")
+def test_newton_marker_render_uses_viewer_device(monkeypatch: pytest.MonkeyPatch):
+    world_offsets = wp.zeros(4, dtype=wp.vec3, device="cpu")
+    monkeypatch.setattr(newton_markers, "_create_mesh", lambda cfg: _FakeNewtonMarkerMesh())
+    marker = _make_newton_marker_for_render(
+        marker_names=["arrow"],
+        translations=torch.zeros((4, 3), device="cuda:0"),
+        marker_indices=torch.zeros(4, dtype=torch.int32, device="cuda:0"),
+    )
+    marker.orientations = marker.orientations.to("cuda:0")
+    marker.scales = marker.scales.to("cuda:0")
+    viewer = _FakeNewtonMarkerViewer(world_offsets)
+
+    marker.render(viewer, visible_env_ids=None, num_envs=4)
+
+    call = viewer.instances[0]
+    assert all(call[key].device == viewer.device for key in ("xforms", "scales", "colors", "materials"))
+    assert all(viewer.meshes[0][index].device == viewer.device for index in (1, 2))
+
+
 @pytest.mark.parametrize(
     ("visible_env_ids", "expected"),
     [
diff --git a/source/isaaclab/test/renderers/rigid_object_rendering_contract.py b/source/isaaclab/test/renderers/rigid_object_rendering_contract.py
index 820dd2344ba0..9b828a7c5b04 100644
--- a/source/isaaclab/test/renderers/rigid_object_rendering_contract.py
+++ b/source/isaaclab/test/renderers/rigid_object_rendering_contract.py
@@ -26,8 +26,8 @@
 from isaaclab.sensors.camera import Camera, CameraCfg
 from isaaclab.sim import SimulationContext
 from isaaclab.sim.schemas import UsdPhysicsRigidBodyCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 __all__ = ["RigidObjectRenderingBackend", "run_rigid_object_scale_and_pose_rendering_contract"]
 
diff --git a/source/isaaclab/test/renderers/test_simulation_render_context.py b/source/isaaclab/test/renderers/test_simulation_render_context.py
index 7aff3c4c9099..eed7bd67dd1f 100644
--- a/source/isaaclab/test/renderers/test_simulation_render_context.py
+++ b/source/isaaclab/test/renderers/test_simulation_render_context.py
@@ -7,10 +7,12 @@
 
 from __future__ import annotations
 
+import re
 from typing import Any, cast
 
 import pytest
 
+from isaaclab.renderers import render_context
 from isaaclab.renderers.base_renderer import BaseRenderer
 from isaaclab.renderers.output_contract import RenderBufferKind, RenderBufferSpec
 from isaaclab.renderers.render_context import RenderContext
@@ -207,6 +209,38 @@ def test_render_into_camera_calls_update_render_read_order():
     assert events == ["ut", "geo", "render", "read", "render", "read"]
 
 
+def test_render_into_camera_call_order_unaffected_by_render_profile_flag(monkeypatch):
+    """Enabling ``ISAACLAB_RENDER_PROFILE`` only wraps the render call in a printed timer.
+
+    The wrapping must not change the call order or drop the render call itself.
+    """
+    monkeypatch.setattr(render_context, "_RENDER_PROFILE_ENABLED", True)
+
+    ctx = RenderContext()
+    events: list[str] = []
+    cfg = IsaacRtxRendererCfg()
+    fake = _FakeBackend(event_log=events)
+    _set_entries(ctx, (cfg, fake))
+
+    ctx.render_into_camera(cast(BaseRenderer, fake), object(), CameraData(), physics_step_count=1)
+
+    assert events == ["ut", "geo", "render", "read"]
+
+
+def test_render_into_camera_prints_timing_line_when_render_profile_enabled(monkeypatch, capsys):
+    """The printed line must match the format ``scripts/benchmarks/benchmark_renderer.py`` parses."""
+    monkeypatch.setattr(render_context, "_RENDER_PROFILE_ENABLED", True)
+
+    ctx = RenderContext()
+    cfg = IsaacRtxRendererCfg()
+    fake = _FakeBackend()
+    _set_entries(ctx, (cfg, fake))
+
+    ctx.render_into_camera(cast(BaseRenderer, fake), object(), CameraData(), physics_step_count=1)
+
+    assert re.search(rf"{re.escape(render_context.RENDER_PROFILE_SCOPE)} took [\d.]+ ms", capsys.readouterr().out)
+
+
 def test_reset_stage_prepare_flag_allows_second_prepare_stage():
     """After reset_stage_prepare_flag, ensure_prepare_stage invokes prepare_stage again."""
     ctx = RenderContext()
diff --git a/source/isaaclab/test/scene/check_interactive_scene.py b/source/isaaclab/test/scene/check_interactive_scene.py
index 35c60999d0a7..31228e5d8653 100644
--- a/source/isaaclab/test/scene/check_interactive_scene.py
+++ b/source/isaaclab/test/scene/check_interactive_scene.py
@@ -33,7 +33,7 @@
 from isaaclab.sensors.ray_caster import RayCasterCfg, patterns
 from isaaclab.sim import SimulationContext
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.timer import Timer
 
 ##
diff --git a/source/isaaclab/test/scene/test_interactive_scene.py b/source/isaaclab/test/scene/test_interactive_scene.py
index 3679c6c4a66c..e95643c8b0f4 100644
--- a/source/isaaclab/test/scene/test_interactive_scene.py
+++ b/source/isaaclab/test/scene/test_interactive_scene.py
@@ -26,8 +26,8 @@
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import ContactSensorCfg
 from isaaclab.sim import build_simulation_context
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 pytestmark = pytest.mark.integration
 
diff --git a/source/isaaclab/test/scene/test_visual_material_scene.py b/source/isaaclab/test/scene/test_visual_material_scene.py
index d7c2bd9700a5..a4efca04a2a1 100644
--- a/source/isaaclab/test/scene/test_visual_material_scene.py
+++ b/source/isaaclab/test/scene/test_visual_material_scene.py
@@ -22,7 +22,7 @@
 from isaaclab.assets import AssetBaseCfg, VisualMaterial, VisualMaterialCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sim import build_simulation_context
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 pytestmark = pytest.mark.integration
 
diff --git a/source/isaaclab/test/scene_data/test_scene_data_geometry.py b/source/isaaclab/test/scene_data/test_scene_data_geometry.py
index 356ebac4e63a..7f13816a1d5f 100644
--- a/source/isaaclab/test/scene_data/test_scene_data_geometry.py
+++ b/source/isaaclab/test/scene_data/test_scene_data_geometry.py
@@ -8,6 +8,7 @@
 from __future__ import annotations
 
 import numpy as np
+import pytest
 import warp as wp
 
 from isaaclab.scene_data.scene_data_backend import SceneDataBackend, SceneDataFormat
@@ -20,6 +21,7 @@ def __init__(
         points: np.ndarray | None = None,
         geometry_paths: list[str] | None = None,
         geometry_counts: list[int] | None = None,
+        device: str | None = None,
     ):
         if points is None:
             points = np.array(
@@ -32,7 +34,7 @@ def __init__(
                 ],
                 dtype=np.float32,
             )
-        self._points = wp.array(points, dtype=wp.vec3f)
+        self._points = wp.array(points, dtype=wp.vec3f, device=device)
         self._geometry_paths = geometry_paths or ["/World/envs/env_0/A", "/World/envs/env_1/A"]
         self._geometry_counts = geometry_counts or [2, 3]
         self._scene_data = SceneDataFormat.Points()
@@ -88,6 +90,31 @@ def test_create_geometry_mapping_remaps_out_of_order_entities():
     assert mapping.numpy().tolist() == [3, 0]
 
 
+@pytest.mark.skipif(wp.get_cuda_device_count() == 0, reason="requires CUDA")
+def test_create_geometry_mapping_uses_points_device_with_empty_transforms():
+    """Geometry mapping follows its point publication, independently of transforms."""
+    with wp.ScopedDevice("cpu"):
+        provider = SceneDataProvider(_PointsBackend(device="cuda:0"))
+        mapping = provider.create_geometry_mapping(
+            ["/World/envs/env_1/A", "/World/envs/env_0/A"],
+            [0, 3],
+        )
+
+    assert mapping is not None
+    assert mapping.device == wp.get_device("cuda:0")
+
+
+def test_create_geometry_mapping_rejects_empty_points_publication():
+    backend = _PointsBackend()
+    backend._scene_data.points = None
+
+    with pytest.raises(ValueError, match="Points contains no published arrays"):
+        SceneDataProvider(backend).create_geometry_mapping(
+            ["/World/envs/env_1/A", "/World/envs/env_0/A"],
+            [0, 3],
+        )
+
+
 def test_get_points_copies_unpadded_entity_slices():
     backend = _PointsBackend()
     provider = SceneDataProvider(backend)
diff --git a/source/isaaclab/test/scene_data/test_scene_data_transforms.py b/source/isaaclab/test/scene_data/test_scene_data_transforms.py
new file mode 100644
index 000000000000..94539be89ccd
--- /dev/null
+++ b/source/isaaclab/test/scene_data/test_scene_data_transforms.py
@@ -0,0 +1,47 @@
+# 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
+
+"""Unit tests for SceneDataProvider transform conversion and index mapping."""
+
+from __future__ import annotations
+
+from types import SimpleNamespace
+
+import numpy as np
+import pytest
+import warp as wp
+
+from isaaclab.scene_data.scene_data_backend import SceneDataFormat
+from isaaclab.scene_data.scene_data_provider import SceneDataProvider
+
+
+@pytest.mark.skipif(
+    wp.get_cuda_device_count() == 0, reason="requires a CUDA device to reproduce the default-device mismatch"
+)
+def test_get_transforms_matches_backend_device_when_warp_default_is_cuda():
+    """Transform conversion must follow its CPU publication, not Warp's CUDA default."""
+    transforms = SceneDataFormat.Transform()
+    transforms.transforms = wp.array(
+        [[x, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0] for x in range(3)], dtype=wp.transformf, device="cpu"
+    )
+    provider = SceneDataProvider(
+        SimpleNamespace(
+            transforms=transforms,
+            transform_count=3,
+            transform_paths=["/World/a", "/World/b", "/World/c"],
+        )
+    )
+
+    with wp.ScopedDevice("cuda:0"):
+        mapping = provider.create_mapping(["/World/c", "/World/a", "/World/b"])
+        assert mapping is not None
+        assert str(mapping.device) == "cpu"
+
+        output = SceneDataFormat.Vec3_Quat()
+        assert provider.get_transforms(output, mapping=mapping, allow_passthrough=False)
+
+    assert str(output.positions.device) == "cpu"
+    assert str(output.orientations.device) == "cpu"
+    assert np.allclose(output.positions.numpy()[:, 0], [2.0, 0.0, 1.0])
diff --git a/source/isaaclab/test/sensors/generate_synthetic_gaussian_asset.py b/source/isaaclab/test/sensors/generate_synthetic_gaussian_asset.py
index 4e02663ad0ae..d6ebc6c5f95e 100644
--- a/source/isaaclab/test/sensors/generate_synthetic_gaussian_asset.py
+++ b/source/isaaclab/test/sensors/generate_synthetic_gaussian_asset.py
@@ -34,7 +34,7 @@
 from isaaclab.sensors.camera import Camera, CameraCfg
 from isaaclab.sensors.camera.camera_isp import CameraISPMode
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from collections.abc import Iterator
diff --git a/source/isaaclab/test/sensors/test_camera.py b/source/isaaclab/test/sensors/test_camera.py
index 541f9e879083..de0fb922d4e0 100644
--- a/source/isaaclab/test/sensors/test_camera.py
+++ b/source/isaaclab/test/sensors/test_camera.py
@@ -106,10 +106,12 @@ def test_camera_init(setup_sim_camera):
     """Test camera initialization."""
     # Create camera configuration
     sim, camera_cfg, dt = setup_sim_camera
+    sim.set_setting("/physics/fabricUpdateTransformations", False)
     # Create camera
     camera = Camera(camera_cfg)
     # Check simulation parameter is set correctly
     assert sim.get_setting("/isaaclab/render/rtx_sensors")
+    assert sim.get_setting("/physics/fabricUpdateTransformations")
     # Play sim
     sim.reset()
     # Check if camera is initialized
diff --git a/source/isaaclab/test/sensors/test_camera_opencv_distortion_ovrtx.py b/source/isaaclab/test/sensors/test_camera_opencv_distortion_ovrtx.py
index faf6d9cd7670..2ef4b77e9ac3 100644
--- a/source/isaaclab/test/sensors/test_camera_opencv_distortion_ovrtx.py
+++ b/source/isaaclab/test/sensors/test_camera_opencv_distortion_ovrtx.py
@@ -53,7 +53,7 @@
         OpenCvPinholeDistortionCfg,
         PinholeCameraCfg,
     )
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
     from isaaclab.utils.math import create_rotation_matrix_from_view, quat_from_matrix
 
 SIM_DT = 1.0 / 60.0
diff --git a/source/isaaclab/test/sensors/test_sensor_base.py b/source/isaaclab/test/sensors/test_sensor_base.py
index 84e94bb08213..05d523c4c491 100644
--- a/source/isaaclab/test/sensors/test_sensor_base.py
+++ b/source/isaaclab/test/sensors/test_sensor_base.py
@@ -25,7 +25,7 @@
 
 import isaaclab.sim as sim_utils
 from isaaclab.sensors import SensorBase, SensorBaseCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 pytestmark = pytest.mark.integration
 
diff --git a/source/isaaclab/test/sim/test_default_ground_plane.py b/source/isaaclab/test/sim/test_default_ground_plane.py
index a0318d9f3183..add499182754 100644
--- a/source/isaaclab/test/sim/test_default_ground_plane.py
+++ b/source/isaaclab/test/sim/test_default_ground_plane.py
@@ -15,6 +15,10 @@
 
 USD_PATH = from_files_cfg._DEFAULT_GROUND_PLANE_USD
 NVIDIA_GREEN = (118, 185, 0)
+OFF_WHITE = (221, 218, 210)
+DARK_GREY = (90, 93, 97)
+ROUGH = 255
+SMOOTH = 13
 
 
 @pytest.fixture(scope="module")
@@ -35,59 +39,60 @@ def test_default_ground_plane_usd_contract(default_ground_plane_asset: tuple[Pat
         "/World/Environment/Geometry",
         "/World/GroundPlane/CollisionPlane",
         "/World/Looks/theGrid/Shader",
-        "/World/SphereLight",
     ):
         assert stage.GetPrimAtPath(prim_path).IsValid()
+    assert not stage.GetPrimAtPath("/World/SphereLight").IsValid()
+    assert UsdGeom.Imageable(stage.GetPrimAtPath("/World/GroundPlane/CollisionPlane")).GetVisibilityAttr().Get() == (
+        UsdGeom.Tokens.invisible
+    )
 
     mesh = UsdGeom.Mesh(stage.GetPrimAtPath("/World/Environment/Geometry"))
-    shader = UsdShade.Shader(stage.GetPrimAtPath("/World/Looks/theGrid/Shader"))
-    # ``primvars:st`` is the only texture mapping: OmniPBR reads UV set 0 rather than projecting.
-    assert shader.GetInput("project_uvw").Get() is False
-    assert not shader.GetInput("world_or_object")
-    assert tuple(shader.GetInput("texture_scale").Get()) == pytest.approx((1.0, 1.0))
+    assert len(mesh.GetPointsAttr().Get()) == 4
+    assert list(mesh.GetFaceVertexCountsAttr().Get()) == [4]
     assert [tuple(uv) for uv in UsdGeom.PrimvarsAPI(mesh).GetPrimvar("st").Get()] == [
-        (-10.0, -10.0),
-        (10.0, -10.0),
-        (10.0, 10.0),
-        (-10.0, 10.0),
+        (-25.0, -25.0),
+        (25.0, -25.0),
+        (25.0, 25.0),
+        (-25.0, 25.0),
     ]
 
+    shader = UsdShade.Shader.Get(stage, "/World/Looks/theGrid/Shader")
+    assert shader.GetInput("project_uvw").Get() is False
+    assert tuple(shader.GetInput("texture_scale").Get()) == pytest.approx((1.0, 1.0))
+    assert shader.GetInput("reflection_roughness_constant").Get() == pytest.approx(1.0)
+    assert shader.GetInput("reflection_roughness_texture_influence").Get() == pytest.approx(1.0)
     for input_name, filename in (
         ("diffuse_texture", "default_ground_plane_albedo.png"),
-        ("emissive_color_texture", "default_ground_plane_emissive_color.png"),
-        ("emissive_mask_texture", "default_ground_plane_emissive_mask.png"),
+        ("reflectionroughness_texture", "default_ground_plane_roughness.png"),
     ):
         assert shader.GetInput(input_name).Get().path == f"./Materials/Textures/{filename}"
         assert (texture_dir / filename).is_file()
 
 
 def test_default_ground_plane_texture_contract(default_ground_plane_asset: tuple[Path, Path]):
-    """Validate the selected colors, metric line widths, and seamless landmark edge."""
+    """Validate the 1 m checker cells and 2 m NVIDIA-green landmarks."""
     _, texture_dir = default_ground_plane_asset
-    for filename in (
-        "default_ground_plane_albedo.png",
-        "default_ground_plane_emissive_color.png",
-        "default_ground_plane_emissive_mask.png",
-    ):
-        with Image.open(texture_dir / filename) as image:
-            assert image.size == (1000, 1000)
-
     with Image.open(texture_dir / "default_ground_plane_albedo.png") as image:
-        sample_y = 30
-
-        # A 10 mm primary line occupies two texels at 200 texels per meter.
-        assert image.getpixel((198, sample_y)) != NVIDIA_GREEN
-        assert [image.getpixel((x, sample_y)) for x in range(199, 201)] == [NVIDIA_GREEN] * 2
-        assert image.getpixel((201, sample_y)) != NVIDIA_GREEN
-
-        # The former 0.1 m grey subdivisions are absent from the texture.
-        subdivision_color = (217, 220, 213)
-        assert subdivision_color not in set(image.get_flattened_data())
-
-        # The 10 mm landmark is also two texels wide across the repeating texture seam.
-        assert image.getpixel((998, sample_y)) != NVIDIA_GREEN
-        assert [image.getpixel((x, sample_y)) for x in (999, 0)] == [NVIDIA_GREEN] * 2
-        assert image.getpixel((1, sample_y)) != NVIDIA_GREEN
+        assert image.size == (512, 512)
+        assert set(image.get_flattened_data()) == {OFF_WHITE, DARK_GREY, NVIDIA_GREEN}
+
+        pixels_per_meter = image.width / 2.0
+        for row in range(2):
+            for column in range(2):
+                center = (round((column + 0.5) * pixels_per_meter), round((row + 0.5) * pixels_per_meter))
+                expected_color = OFF_WHITE if (row + column) % 2 == 0 else DARK_GREY
+                assert image.getpixel(center) == expected_color
+
+        # Quarter diamonds join across repeated texture edges into one landmark every 2 m.
+        for corner in ((0, 0), (image.width - 1, 0), (0, image.height - 1), (image.width - 1,) * 2):
+            assert image.getpixel(corner) == NVIDIA_GREEN
+
+    with Image.open(texture_dir / "default_ground_plane_roughness.png") as image:
+        assert image.size == (512, 512)
+        assert set(image.get_flattened_data()) == {SMOOTH, ROUGH}
+        assert image.getpixel((128, 128)) == ROUGH
+        assert image.getpixel((384, 128)) == SMOOTH
+        assert image.getpixel((0, 0)) == ROUGH
 
 
 def test_ground_plane_defaults_to_hosted_appearance():
diff --git a/source/isaaclab/test/sim/test_newton_manager_visualization_state.py b/source/isaaclab/test/sim/test_newton_manager_visualization_state.py
index ef73acb8e209..e786c677f03a 100644
--- a/source/isaaclab/test/sim/test_newton_manager_visualization_state.py
+++ b/source/isaaclab/test/sim/test_newton_manager_visualization_state.py
@@ -323,12 +323,14 @@ def _finalize(device):
 
     builder.finalize = _finalize
     monkeypatch.setattr(nm, "build_visualization_builder_from_stage_envs", lambda *args, **kwargs: (builder, ([], [])))
+    NewtonManager._scene_data_mapping = object()
 
     NewtonManager._ensure_visualization_model()
 
     assert finalize_calls == ["cpu"]
     assert NewtonManager._model is not None
     assert NewtonManager._state_0 is not None
+    assert NewtonManager._scene_data_mapping is None
 
 
 def test_physx_shadow_model_is_rebuilt_after_physics_stop(monkeypatch):
diff --git a/source/isaaclab/test/sim/test_schema_fragments.py b/source/isaaclab/test/sim/test_schema_fragments.py
index 5ce4adef2920..7055976f8c5d 100644
--- a/source/isaaclab/test/sim/test_schema_fragments.py
+++ b/source/isaaclab/test/sim/test_schema_fragments.py
@@ -242,7 +242,7 @@ def test_apply_namespaced_raises_without_namespace():
     from typing import ClassVar
 
     from isaaclab.sim.schemas import RigidBodyFragment, apply_namespaced
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
 
     @configclass
     class _NoNamespaceFragment(RigidBodyFragment):
diff --git a/source/isaaclab/test/sim/test_simulation_context.py b/source/isaaclab/test/sim/test_simulation_context.py
index 325ec6e08176..a8a1d9d5a5db 100644
--- a/source/isaaclab/test/sim/test_simulation_context.py
+++ b/source/isaaclab/test/sim/test_simulation_context.py
@@ -17,6 +17,7 @@
 
 import numpy as np
 import pytest
+import warp as wp
 from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
 from isaaclab_physx.physics import IsaacEvents, PhysxCfg, PhysxManager
 
@@ -49,10 +50,17 @@ def test_setup_teardown():
 
 @pytest.mark.isaacsim_ci
 @pytest.mark.parametrize("device", test_devices())
-def test_init(device):
+def test_init(device, monkeypatch):
     """Test the simulation context initialization."""
     from isaaclab.sim.spawners.materials import RigidBodyMaterialCfg
 
+    original_initialize = PhysxManager.initialize.__func__
+
+    def initialize(cls, sim_context):
+        assert wp.get_device() == wp.get_device(device)
+        return original_initialize(cls, sim_context)
+
+    monkeypatch.setattr(PhysxManager, "initialize", classmethod(initialize))
     cfg = SimulationCfg(
         device=device,
         physics_prim_path="/Physics/PhysX",
@@ -673,6 +681,10 @@ def safe_callback(callback_name, event, obj_ref):
 
         # trigger events again - callbacks should handle the deleted object gracefully
         sim.play()
+        # regression check: a second play() after stop() with no reset() in between used to
+        # SIGSEGV inside PhysX's tensor view registry (see PhysxManager._on_stop); it must also
+        # still warm up and recreate the simulation view, not just avoid crashing
+        assert PhysxManager._view is not None
         # disable app control again
         sim._disable_app_control_on_stop_handle = True  # type: ignore
         sim.stop()
diff --git a/source/isaaclab/test/sim/test_simulation_context_visualizers.py b/source/isaaclab/test/sim/test_simulation_context_visualizers.py
index 37b637793e12..adc8480c50fe 100644
--- a/source/isaaclab/test/sim/test_simulation_context_visualizers.py
+++ b/source/isaaclab/test/sim/test_simulation_context_visualizers.py
@@ -817,6 +817,7 @@ def test_default_visualizer_cfg_applies_to_cli_created_configs():
         "/isaaclab/visualizer/max_visible_envs": None,
     }
     default_cfg = VisualizerCfg(
+        background_color=(0.1, 0.2, 0.3),
         streaming_cam_target_prim_path="/World/envs/*/Object",
         streaming_cam_eye=(1.0, -1.0, 0.5),
     )
@@ -826,6 +827,7 @@ def test_default_visualizer_cfg_applies_to_cli_created_configs():
 
     assert len(cfgs) == 1
     assert isinstance(cfgs[0], NewtonVisualizerCfg)
+    assert cfgs[0].background_color == (0.1, 0.2, 0.3)
     assert cfgs[0].streaming_cam_target_prim_path == "/World/envs/*/Object"
     assert cfgs[0].streaming_cam_eye == (1.0, -1.0, 0.5)
 
@@ -925,6 +927,19 @@ def test_is_rendering_true_when_only_cfg_visualizer_is_set():
     assert ctx.is_rendering is True
 
 
+def test_is_rendering_false_when_only_cfg_visualizer_is_headless():
+    """A capture-only headless visualizer must not trigger continuous rendering."""
+    cfg_visualizer = type("CfgVisualizer", (), {"visualizer_type": "kit", "headless": True})()
+    settings = {
+        "/isaaclab/render/rtx_sensors": False,
+        "/isaaclab/visualizer/types": "",
+        "/isaaclab/visualizer/explicit": False,
+        "/isaaclab/visualizer/disable_all": False,
+    }
+    ctx = _make_context_with_settings(settings, visualizer_cfgs=[cfg_visualizer])
+    assert ctx.is_rendering is False
+
+
 def test_is_rendering_false_when_cli_disable_all_even_with_cfg_visualizer():
     cfg_visualizer = type("CfgVisualizer", (), {"visualizer_type": "newton_gl"})()
     settings = {
diff --git a/source/isaaclab/test/sim/test_spawn_from_files.py b/source/isaaclab/test/sim/test_spawn_from_files.py
index 5c10e091a83c..a44a3f385a5a 100644
--- a/source/isaaclab/test/sim/test_spawn_from_files.py
+++ b/source/isaaclab/test/sim/test_spawn_from_files.py
@@ -142,12 +142,15 @@ def test_spawn_ground_plane(sim):
 
     mesh = UsdGeom.Mesh(sim.stage.GetPrimAtPath("/World/ground_plane/Environment/Geometry"))
     assert [tuple(uv) for uv in UsdGeom.PrimvarsAPI(mesh).GetPrimvar("st").Get()] == [
-        (-1.0, -2.0),
-        (1.0, -2.0),
-        (1.0, 2.0),
-        (-1.0, 2.0),
+        (-2.5, -5.0),
+        (2.5, -5.0),
+        (2.5, 5.0),
+        (-2.5, 5.0),
     ]
 
+    shader = UsdShade.Shader.Get(sim.stage, "/World/ground_plane/Looks/theGrid/Shader")
+    assert tuple(shader.GetInput("diffuse_tint").Get()) == pytest.approx((0.1, 0.1, 0.1))
+
 
 @pytest.mark.isaacsim_ci
 def test_spawn_usd_with_compliant_contact_material(sim):
diff --git a/source/isaaclab/test/terrains/test_terrain_importer.py b/source/isaaclab/test/terrains/test_terrain_importer.py
index 79229f1911d5..714b432095b5 100644
--- a/source/isaaclab/test/terrains/test_terrain_importer.py
+++ b/source/isaaclab/test/terrains/test_terrain_importer.py
@@ -139,10 +139,10 @@ def test_plane(device, use_custom_material):
         assert tuple(environment.GetAttribute("xformOp:scale").Get()) == pytest.approx((2.6, 2.6, 1.0))
         visual_mesh = UsdGeom.Mesh(sim.stage.GetPrimAtPath(f"{mesh_prim_path}/Environment/Geometry"))
         assert [tuple(uv) for uv in UsdGeom.PrimvarsAPI(visual_mesh).GetPrimvar("st").Get()] == [
-            (-26.0, -26.0),
-            (26.0, -26.0),
-            (26.0, 26.0),
-            (-26.0, 26.0),
+            (-65.0, -65.0),
+            (65.0, -65.0),
+            (65.0, 65.0),
+            (-65.0, 65.0),
         ]
 
         # Direct imports use the same bounded default instead of the legacy 2,000 km visual mesh.
@@ -153,10 +153,10 @@ def test_plane(device, use_custom_material):
             sim.stage.GetPrimAtPath(f"{terrain_importer.cfg.prim_path}/direct/Environment/Geometry")
         )
         assert [tuple(uv) for uv in UsdGeom.PrimvarsAPI(direct_mesh).GetPrimvar("st").Get()] == [
-            (-26.0, -26.0),
-            (26.0, -26.0),
-            (26.0, 26.0),
-            (-26.0, 26.0),
+            (-65.0, -65.0),
+            (65.0, -65.0),
+            (65.0, 65.0),
+            (-65.0, 65.0),
         ]
 
         # obtain underling mesh
diff --git a/source/isaaclab/test/utils/test_configclass.py b/source/isaaclab/test/utils/test_configclass.py
index 5916c1267c19..64c5f2d461ce 100644
--- a/source/isaaclab/test/utils/test_configclass.py
+++ b/source/isaaclab/test/utils/test_configclass.py
@@ -7,6 +7,8 @@
 
 import copy
 import os
+import subprocess
+import sys
 from collections.abc import Callable
 from dataclasses import MISSING, asdict, field
 from functools import wraps
@@ -1240,3 +1242,36 @@ class NotADataclass:
 
     with pytest.raises(TypeError, match="must be a dataclass"):
         checked_apply(NotADataclass(), object())
+
+
+@pytest.mark.parametrize("import_first", ["sub-module", "decorator"])
+def test_configclass_name_works_for_every_import_form(import_first):
+    """``isaaclab.utils.configclass`` serves both the decorator and the sub-module, in either order.
+
+    The name belongs to a sub-module and to the decorator that sub-module defines, so whichever was
+    imported first used to decide which one the other import forms got. A fresh interpreter is
+    required because that is settled on the very first import.
+    """
+    prologue = {
+        "sub-module": "import isaaclab.utils.configclass",
+        "decorator": "from isaaclab.utils import configclass",
+    }[import_first]
+    script = f"""
+{prologue}
+
+import isaaclab.utils.configclass as configclass_module
+assert configclass_module.checked_apply is not None
+
+import isaaclab.utils
+assert isaaclab.utils.configclass._field_module_dir is not None
+
+from isaaclab.utils import configclass
+
+@configclass
+class DemoCfg:
+    value: int = 1
+
+assert DemoCfg().to_dict() == {{"value": 1}}
+"""
+    result = subprocess.run([sys.executable, "-c", script], capture_output=True, text=True)
+    assert result.returncode == 0, result.stderr
diff --git a/source/isaaclab/test/utils/test_modifiers.py b/source/isaaclab/test/utils/test_modifiers.py
index 8624b00b8a08..ffd90c0e8748 100644
--- a/source/isaaclab/test/utils/test_modifiers.py
+++ b/source/isaaclab/test/utils/test_modifiers.py
@@ -10,7 +10,7 @@
 
 import isaaclab.utils.modifiers as modifiers
 from isaaclab.test.utils import test_devices
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 pytestmark = pytest.mark.unit
 
diff --git a/source/isaaclab/test/visualizers/test_visualizer.py b/source/isaaclab/test/visualizers/test_visualizer.py
index 4f75068a7752..a1681ba20c23 100644
--- a/source/isaaclab/test/visualizers/test_visualizer.py
+++ b/source/isaaclab/test/visualizers/test_visualizer.py
@@ -54,10 +54,18 @@ def test_visualizer_construction_has_no_factory_api():
 def test_visualizer_cfg_streaming_view_is_opt_in():
     cfg = VisualizerCfg()
     assert cfg.focal_length == 12.0
+    assert cfg.background_color == (0.3, 0.55, 0.82)
     assert cfg.streaming_view is False
     assert cfg.streaming_envs == 32
 
 
+def test_visualizer_cfg_validates_background_color():
+    assert VisualizerCfg(background_color=None).background_color is None
+    assert VisualizerCfg(background_color=[0, 0.5, 1]).background_color == (0.0, 0.5, 1.0)
+    with pytest.raises(ValueError, match="three normalized RGB values"):
+        VisualizerCfg(background_color=(0.0, 0.5, 1.1))
+
+
 def test_streaming_cfg_fields_on_visualizer_cfg():
     """streaming_view is opt-in (False) and streaming_cam_renderer defaults to None."""
     cfg = VisualizerCfg()
diff --git a/source/isaaclab/test/xr_visualization/check_scene_xr_visualization.py b/source/isaaclab/test/xr_visualization/check_scene_xr_visualization.py
index f4890bd80b32..c736d0099878 100644
--- a/source/isaaclab/test/xr_visualization/check_scene_xr_visualization.py
+++ b/source/isaaclab/test/xr_visualization/check_scene_xr_visualization.py
@@ -43,7 +43,7 @@
 from isaaclab.assets import AssetBaseCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.ui.xr_widgets import DataCollector, TriggerType, VisualizationManager, XRVisualization, update_instruction
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Pre-defined configs
diff --git a/source/isaaclab_assets/changelog.d/fix-newton-ball-joint-dof-space.rst b/source/isaaclab_assets/changelog.d/fix-newton-ball-joint-dof-space.rst
new file mode 100644
index 000000000000..fb2e3c7b3922
--- /dev/null
+++ b/source/isaaclab_assets/changelog.d/fix-newton-ball-joint-dof-space.rst
@@ -0,0 +1,6 @@
+Changed
+^^^^^^^
+
+* Changed :obj:`~isaaclab_assets.robots.agility.DIGIT_V4_CFG` to disable colliders on the
+  RealSense camera mount's decoration meshes and to split actuators into a stable-armature and a
+  low-armature group, matching what the Digit velocity tasks previously configured per-task.
diff --git a/source/isaaclab_assets/docs/CHANGELOG.rst b/source/isaaclab_assets/docs/CHANGELOG.rst
index f6d63b42afa8..c97378f54368 100644
--- a/source/isaaclab_assets/docs/CHANGELOG.rst
+++ b/source/isaaclab_assets/docs/CHANGELOG.rst
@@ -1,6 +1,17 @@
 Changelog
 ---------
 
+0.8.1 (2026-09-11)
+~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed :attr:`SHADOW_HAND_PHYSX_CFG` and :attr:`SHADOW_HAND_NEWTON_CFG` to select the
+  Shadow Hand asset's ``Colliders="simplified"`` variant. Set ``spawn.variants["Colliders"]``
+  to ``"full"`` to use the previous collision model.
+
+
 0.8.0 (2026-09-06)
 ~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab_assets/isaaclab_assets/robots/agility.py b/source/isaaclab_assets/isaaclab_assets/robots/agility.py
index 2c85a42ec681..ed67e16dfba0 100644
--- a/source/isaaclab_assets/isaaclab_assets/robots/agility.py
+++ b/source/isaaclab_assets/isaaclab_assets/robots/agility.py
@@ -6,6 +6,7 @@
 import isaaclab.sim as sim_utils
 from isaaclab.actuators import ImplicitActuatorCfg
 from isaaclab.assets.articulation import ArticulationCfg
+from isaaclab.sim.schemas import UsdPhysicsCollisionCfg
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 
 LEG_JOINT_NAMES = [
@@ -19,21 +20,50 @@
 
 ARM_JOINT_NAMES = [".*_arm_.*"]
 
+# On MJWarp these ten joints diverge at the armature the USD authors. With the damping the asset
+# carries (c = 57.3) and the velocity tasks' substep (h = sim.dt / num_substeps = 0.0025 s), the
+# observed threshold is c*h/I > 2: wrist_yaw at I = 0.01822 [kg m^2] gives 7.86 and grew 6.9x per
+# substep, the other eight at 0.05228 give 2.74, and every joint at or above I = 0.0716 was stable.
+# 0.10 leaves margin. Re-measure if sim.dt, num_substeps or the asset's damping change.
+# Together these cover exactly ``LEG_JOINT_NAMES + ARM_JOINT_NAMES``.
+_LOW_ARMATURE_JOINT_NAMES = [".*_arm_wrist_.*", ".*_toe_a", ".*_toe_b"]
+_STABLE_ARMATURE_JOINT_NAMES = [
+    ".*_hip_roll",
+    ".*_hip_yaw",
+    ".*_hip_pitch",
+    ".*_knee",
+    ".*_arm_shoulder_.*",
+    ".*_arm_elbow",
+]
+_MIN_STABLE_ARMATURE = 0.10
+
 
 DIGIT_V4_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
         usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Agility/Digit/digit_v4.usd",
         activate_contact_sensors=True,
+        # digit_v4.usd applies CollisionAPI to 32 prims, every one a decoration mesh on a
+        # RealSense camera mount -- glass, USB-C, case halves. They are 32 of the robot's 55
+        # collision shapes while the arms, hips and rods carry none, and produced 3e7 N contact
+        # forces on bodies 1.4 m above the ground. Colliders on a camera's glass are an authoring
+        # error on either backend.
+        collision_props={"/.*camera_mount/.*/Visual/.*": [UsdPhysicsCollisionCfg(collision_enabled=False)]},
     ),
     init_state=ArticulationCfg.InitialStateCfg(
         pos=(0.0, 0.0, 1.05),
     ),
     soft_joint_pos_limit_factor=0.9,
     actuators={
-        "all": ImplicitActuatorCfg(
-            joint_names_expr=".*",
+        "legs_arms": ImplicitActuatorCfg(
+            joint_names_expr=_STABLE_ARMATURE_JOINT_NAMES,
+            stiffness=None,
+            damping=None,
+        ),
+        "low_armature": ImplicitActuatorCfg(
+            joint_names_expr=_LOW_ARMATURE_JOINT_NAMES,
             stiffness=None,
             damping=None,
+            armature=_MIN_STABLE_ARMATURE,
         ),
     },
 )
diff --git a/source/isaaclab_assets/isaaclab_assets/robots/shadow_hand.py b/source/isaaclab_assets/isaaclab_assets/robots/shadow_hand.py
index b14769c568cb..823703ffbdb6 100644
--- a/source/isaaclab_assets/isaaclab_assets/robots/shadow_hand.py
+++ b/source/isaaclab_assets/isaaclab_assets/robots/shadow_hand.py
@@ -145,7 +145,7 @@
         ),
     },
 )
-"""Shadow Hand, with the asset's own ``Physics`` variant left selected.
+"""Shadow Hand, with the asset's own ``Physics`` and ``Colliders`` variants left selected.
 
 One asset serves both engines; per-engine values are authored in the asset rather than restated
 here. Prefer :data:`SHADOW_HAND_PHYSX_CFG` or :data:`SHADOW_HAND_NEWTON_CFG`, which name the
@@ -153,9 +153,9 @@
 """
 
 SHADOW_HAND_PHYSX_CFG = SHADOW_HAND_CFG.copy()
-SHADOW_HAND_PHYSX_CFG.spawn.variants = {"Physics": "physx"}
-"""Shadow Hand on the asset's PhysX variant."""
+SHADOW_HAND_PHYSX_CFG.spawn.variants = {"Physics": "physx", "Colliders": "simplified"}
+"""Shadow Hand on the asset's PhysX variant, with simplified colliders."""
 
 SHADOW_HAND_NEWTON_CFG = SHADOW_HAND_CFG.copy()
-SHADOW_HAND_NEWTON_CFG.spawn.variants = {"Physics": "mujoco"}
-"""Shadow Hand on the asset's MuJoCo variant, for the Newton (MJWarp) solver."""
+SHADOW_HAND_NEWTON_CFG.spawn.variants = {"Physics": "mujoco", "Colliders": "simplified"}
+"""Shadow Hand on the asset's MuJoCo variant, with simplified colliders, for the Newton (MJWarp) solver."""
diff --git a/source/isaaclab_assets/pyproject.toml b/source/isaaclab_assets/pyproject.toml
index e20bbf6203d8..71b7f996c960 100644
--- a/source/isaaclab_assets/pyproject.toml
+++ b/source/isaaclab_assets/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab_assets"
-version = "0.8.0"
+version = "0.8.1"
 description = "Extension containing configuration instances of different assets and sensors."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]
diff --git a/source/isaaclab_contrib/docs/README.md b/source/isaaclab_contrib/docs/README.md
index d6d5a43c9d7b..3677915eaf7a 100644
--- a/source/isaaclab_contrib/docs/README.md
+++ b/source/isaaclab_contrib/docs/README.md
@@ -142,7 +142,7 @@ multirotor_cfg = MultirotorCfg(
 
 ```python
 from isaaclab.envs import ManagerBasedRLEnvCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab_contrib.mdp.actions import ThrustActionCfg
 
 @configclass
diff --git a/source/isaaclab_contrib/isaaclab_contrib/actuators/thruster_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/actuators/thruster_cfg.py
index 5412acbe1de1..1c20492fc2c1 100644
--- a/source/isaaclab_contrib/isaaclab_contrib/actuators/thruster_cfg.py
+++ b/source/isaaclab_contrib/isaaclab_contrib/actuators/thruster_cfg.py
@@ -6,7 +6,7 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING, Literal
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .thruster import Thruster
diff --git a/source/isaaclab_contrib/isaaclab_contrib/assets/multirotor/multirotor_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/assets/multirotor/multirotor_cfg.py
index 63aeb1670e63..0fc20f8b6c6a 100644
--- a/source/isaaclab_contrib/isaaclab_contrib/assets/multirotor/multirotor_cfg.py
+++ b/source/isaaclab_contrib/isaaclab_contrib/assets/multirotor/multirotor_cfg.py
@@ -8,7 +8,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.assets.articulation import ArticulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_contrib.actuators import ThrusterCfg
 
diff --git a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_acceleration_control_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_acceleration_control_cfg.py
index 720d52d4ec58..6a1f6c7db7e2 100644
--- a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_acceleration_control_cfg.py
+++ b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_acceleration_control_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .lee_acceleration_control import LeeAccController
 from .lee_controller_base_cfg import LeeControllerBaseCfg
diff --git a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_attitude_control_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_attitude_control_cfg.py
index b6e229575fc0..bcf0f9f3ca13 100644
--- a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_attitude_control_cfg.py
+++ b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_attitude_control_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .lee_attitude_control import LeeAttController
 from .lee_controller_base_cfg import LeeControllerBaseCfg
diff --git a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_controller_base_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_controller_base_cfg.py
index 27168656adbb..3a279f7ddb81 100644
--- a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_controller_base_cfg.py
+++ b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_controller_base_cfg.py
@@ -6,7 +6,7 @@
 import math
 from dataclasses import MISSING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_position_control_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_position_control_cfg.py
index 461ec0a4516f..e2df30f8aa70 100644
--- a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_position_control_cfg.py
+++ b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_position_control_cfg.py
@@ -5,7 +5,7 @@
 
 from dataclasses import MISSING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .lee_controller_base_cfg import LeeControllerBaseCfg
 from .lee_position_control import LeePosController
diff --git a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_velocity_control_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_velocity_control_cfg.py
index 5347cb0dffc7..13ef9814d268 100644
--- a/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_velocity_control_cfg.py
+++ b/source/isaaclab_contrib/isaaclab_contrib/controllers/lee_velocity_control_cfg.py
@@ -5,7 +5,7 @@
 
 from dataclasses import MISSING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .lee_controller_base_cfg import LeeControllerBaseCfg
 from .lee_velocity_control import LeeVelController
diff --git a/source/isaaclab_contrib/isaaclab_contrib/coupling/coupler.py b/source/isaaclab_contrib/isaaclab_contrib/coupling/coupler.py
index 2310dc664223..ea290af0ec3e 100644
--- a/source/isaaclab_contrib/isaaclab_contrib/coupling/coupler.py
+++ b/source/isaaclab_contrib/isaaclab_contrib/coupling/coupler.py
@@ -23,6 +23,7 @@
 from isaaclab_newton.physics.newton_manager import NewtonManager
 from isaaclab_newton.physics.vbd_manager import NewtonVBDManager
 from newton import CollisionPipeline, Model, ModelBuilder, ShapeFlags
+from newton.solvers import SolverBase
 from newton.solvers.experimental.coupled import SolverCoupled, SolverCoupledADMM, SolverCoupledProxy
 
 from isaaclab.physics import PhysicsManager
@@ -191,6 +192,14 @@ def _register_builder_attributes(cls, builder: ModelBuilder) -> None:
         for entry in PhysicsManager._cfg.solver_cfg.entries:
             entry.solver_cfg.class_type._register_builder_attributes(builder)
 
+    @classmethod
+    def _registers_builder_attributes_from_solver(cls, solver_cls: type[SolverBase]) -> bool:
+        """Return whether the manager or a configured nested entry registers ``solver_cls`` attributes."""
+        return super()._registers_builder_attributes_from_solver(solver_cls) or any(
+            entry.solver_cfg.class_type._registers_builder_attributes_from_solver(solver_cls)
+            for entry in PhysicsManager._cfg.solver_cfg.entries
+        )
+
     @classmethod
     def _prepare_builder_for_finalize(cls, builder: ModelBuilder) -> None:
         """Normalize kinematic colliders when a coupled entry uses implicit MPM."""
diff --git a/source/isaaclab_contrib/isaaclab_contrib/coupling/coupler_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/coupling/coupler_cfg.py
index 03c87860aceb..d5fe2e53dff8 100644
--- a/source/isaaclab_contrib/isaaclab_contrib/coupling/coupler_cfg.py
+++ b/source/isaaclab_contrib/isaaclab_contrib/coupling/coupler_cfg.py
@@ -18,7 +18,7 @@
 
 from isaaclab_newton.physics import NewtonCollisionPipelineCfg, NewtonSolverCfg
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from isaaclab_newton.physics import NewtonManager
diff --git a/source/isaaclab_contrib/isaaclab_contrib/custom_coupling/franka_soft_env_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/custom_coupling/franka_soft_env_cfg.py
index 273e45dd8752..02200fac834e 100644
--- a/source/isaaclab_contrib/isaaclab_contrib/custom_coupling/franka_soft_env_cfg.py
+++ b/source/isaaclab_contrib/isaaclab_contrib/custom_coupling/franka_soft_env_cfg.py
@@ -7,7 +7,7 @@
 
 from isaaclab_newton.physics import MJWarpSolverCfg, VBDSolverCfg
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.lift.config.franka_soft.franka_soft_env_cfg import FrankaSoftEnvCfg
 from isaaclab_tasks.core.lift.config.franka_soft.franka_soft_env_cfg import PhysicsCfg as CorePhysicsCfg
diff --git a/source/isaaclab_contrib/isaaclab_contrib/custom_coupling/newton_manager_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/custom_coupling/newton_manager_cfg.py
index 13729d521bfe..43c990c179c5 100644
--- a/source/isaaclab_contrib/isaaclab_contrib/custom_coupling/newton_manager_cfg.py
+++ b/source/isaaclab_contrib/isaaclab_contrib/custom_coupling/newton_manager_cfg.py
@@ -11,7 +11,7 @@
 
 from isaaclab_newton.physics import MJWarpSolverCfg, NewtonSolverCfg, VBDSolverCfg
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from isaaclab_newton.physics import NewtonManager
diff --git a/source/isaaclab_contrib/isaaclab_contrib/mdp/actions/thrust_actions_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/mdp/actions/thrust_actions_cfg.py
index dfe619544201..d06242f80ab0 100644
--- a/source/isaaclab_contrib/isaaclab_contrib/mdp/actions/thrust_actions_cfg.py
+++ b/source/isaaclab_contrib/isaaclab_contrib/mdp/actions/thrust_actions_cfg.py
@@ -8,7 +8,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.managers.action_manager import ActionTermCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from isaaclab_contrib.controllers import LeeAccControllerCfg, LeePosControllerCfg, LeeVelControllerCfg
diff --git a/source/isaaclab_contrib/isaaclab_contrib/sensors/tacsl_sensor/visuotactile_sensor_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/sensors/tacsl_sensor/visuotactile_sensor_cfg.py
index c43307750109..59693af2eb70 100644
--- a/source/isaaclab_contrib/isaaclab_contrib/sensors/tacsl_sensor/visuotactile_sensor_cfg.py
+++ b/source/isaaclab_contrib/isaaclab_contrib/sensors/tacsl_sensor/visuotactile_sensor_cfg.py
@@ -13,8 +13,8 @@
 from isaaclab.markers import VisualizationMarkersCfg
 from isaaclab.markers.config import VISUO_TACTILE_SENSOR_MARKER_CFG
 from isaaclab.sensors import CameraCfg, SensorBaseCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 if TYPE_CHECKING:
     from .visuotactile_sensor import VisuoTactileSensor
diff --git a/source/isaaclab_contrib/test/coupling/test_coupler.py b/source/isaaclab_contrib/test/coupling/test_coupler.py
index 131deb8b82f2..a13e2e99d942 100644
--- a/source/isaaclab_contrib/test/coupling/test_coupler.py
+++ b/source/isaaclab_contrib/test/coupling/test_coupler.py
@@ -17,6 +17,7 @@
 from dataclasses import dataclass, field
 from types import SimpleNamespace
 
+import isaaclab_newton.physics.newton_manager as newton_manager_module
 import numpy as np
 import pytest
 from isaaclab_newton.physics import (
@@ -24,6 +25,7 @@
     KaminoPADMMSolverCfg,
     MJWarpSolverCfg,
     MPMSolverCfg,
+    NewtonCfg,
     NewtonCollisionPipelineCfg,
     NewtonVBDManager,
     VBDSolverCfg,
@@ -33,6 +35,8 @@
 from newton import ModelBuilder, ShapeFlags
 from newton.solvers.experimental.coupled import SolverCoupledADMM, SolverCoupledProxy
 
+from pxr import Sdf, Usd, UsdGeom, UsdPhysics
+
 from isaaclab_contrib.coupling import (
     CouplerAdmmCfg,
     CouplerCfg,
@@ -596,6 +600,52 @@ def test_nested_solvers_register_their_builder_attributes(monkeypatch):
     assert builder.has_custom_attribute("mpm:young_modulus")
 
 
+@pytest.mark.parametrize(
+    ("entry_solver_cfg", "expected_friction", "expected_damping"),
+    [
+        pytest.param(MJWarpSolverCfg(), 0.11, 0.23, id="mjwarp"),
+        pytest.param(XPBDSolverCfg(), 0.0, 0.0, id="xpbd"),
+    ],
+)
+def test_nested_solver_scopes_mujoco_joint_properties(
+    monkeypatch, entry_solver_cfg, expected_friction, expected_damping
+):
+    """A coupler imports MuJoCo properties only when a nested solver consumes them."""
+    solver_cfg = CouplerProxyCfg(entries=[CouplerEntryCfg(name="rigid", solver_cfg=entry_solver_cfg)])
+    monkeypatch.setattr(coupler.PhysicsManager, "_cfg", NewtonCfg(solver_cfg=solver_cfg))
+
+    stage = Usd.Stage.CreateInMemory()
+    UsdGeom.Xform.Define(stage, "/World")
+    root_path = "/World/robot"
+    root = UsdGeom.Cube.Define(stage, root_path).GetPrim()
+    UsdPhysics.RigidBodyAPI.Apply(root)
+    UsdPhysics.ArticulationRootAPI.Apply(root)
+    child_path = f"{root_path}/child"
+    child = UsdGeom.Cube.Define(stage, child_path).GetPrim()
+    UsdPhysics.RigidBodyAPI.Apply(child)
+    joint = UsdPhysics.RevoluteJoint.Define(stage, f"{child_path}/joint")
+    joint.CreateAxisAttr().Set("Z")
+    joint.CreateBody0Rel().SetTargets([root_path])
+    joint.CreateBody1Rel().SetTargets([child_path])
+    joint.GetPrim().CreateAttribute("mjc:frictionloss", Sdf.ValueTypeNames.Double, True).Set(0.11)
+    joint.GetPrim().CreateAttribute("mjc:damping", Sdf.ValueTypeNames.Double, True).Set(0.23)
+
+    monkeypatch.setattr(newton_manager_module, "get_current_stage", lambda: stage)
+    monkeypatch.setattr(newton_manager_module, "_restore_visible_colliders_without_visual_shapes", lambda *args: None)
+    monkeypatch.setattr(newton_manager_module, "replace_newton_builder_shape_colors", lambda *args: None)
+    monkeypatch.setattr(newton_manager_module, "import_builder_visual_material_paths", lambda *args: None)
+    monkeypatch.setattr(NewtonManager, "_builder", None)
+    monkeypatch.setattr(NewtonManager, "_deformable_registry", [])
+    monkeypatch.setattr(NewtonManager, "_per_world_builder_hooks", [])
+
+    NewtonCouplerManager.instantiate_builder_from_stage()
+    builder = NewtonManager._builder
+    model = builder.finalize(device="cpu")
+
+    assert model.joint_friction.numpy()[-1] == pytest.approx(expected_friction)
+    assert model.joint_damping.numpy()[-1] == pytest.approx(expected_damping)
+
+
 def test_contact_initialization_prepares_coupled_solver_buffers(monkeypatch):
     """Entry-local contact buffers are allocated before graph capture."""
     events: list[tuple[str, object | None]] = []
diff --git a/source/isaaclab_contrib/test/custom_coupling/test_manager.py b/source/isaaclab_contrib/test/custom_coupling/test_manager.py
index d05962e96437..cf09dd77d293 100644
--- a/source/isaaclab_contrib/test/custom_coupling/test_manager.py
+++ b/source/isaaclab_contrib/test/custom_coupling/test_manager.py
@@ -12,6 +12,8 @@
 from isaaclab_newton.physics import MJWarpSolverCfg, VBDSolverCfg
 from newton import ModelBuilder
 
+from pxr import Sdf, Usd, UsdGeom, UsdPhysics
+
 import isaaclab_contrib.custom_coupling.coupled_mjwarp_vbd_manager as manager_module
 from isaaclab_contrib.custom_coupling.coupled_mjwarp_vbd_manager import NewtonCoupledMJWarpVBDManager
 from isaaclab_contrib.custom_coupling.newton_manager_cfg import CoupledMJWarpVBDSolverCfg
@@ -28,6 +30,35 @@ def test_register_builder_attributes_includes_nested_solvers(monkeypatch: pytest
     assert builder.has_custom_attribute("mujoco:condim")
 
 
+def test_registered_mujoco_solver_imports_mujoco_joint_properties(monkeypatch: pytest.MonkeyPatch) -> None:
+    """The coupled manager imports joint properties consumed by its MuJoCo solver."""
+    cfg = CoupledMJWarpVBDSolverCfg()
+    monkeypatch.setattr(manager_module.PhysicsManager, "_cfg", SimpleNamespace(solver_cfg=cfg))
+
+    stage = Usd.Stage.CreateInMemory()
+    root_path = "/World/robot"
+    root = UsdGeom.Cube.Define(stage, root_path).GetPrim()
+    UsdPhysics.RigidBodyAPI.Apply(root)
+    UsdPhysics.ArticulationRootAPI.Apply(root)
+    child_path = f"{root_path}/child"
+    child = UsdGeom.Cube.Define(stage, child_path).GetPrim()
+    UsdPhysics.RigidBodyAPI.Apply(child)
+    joint = UsdPhysics.RevoluteJoint.Define(stage, f"{child_path}/joint")
+    joint.CreateAxisAttr().Set("Z")
+    joint.CreateBody0Rel().SetTargets([root_path])
+    joint.CreateBody1Rel().SetTargets([child_path])
+    joint.GetPrim().CreateAttribute("mjc:frictionloss", Sdf.ValueTypeNames.Double, True).Set(0.11)
+    joint.GetPrim().CreateAttribute("mjc:damping", Sdf.ValueTypeNames.Double, True).Set(0.23)
+
+    builder = ModelBuilder()
+    NewtonCoupledMJWarpVBDManager._register_builder_attributes(builder)
+    builder.add_usd(stage, schema_resolvers=NewtonCoupledMJWarpVBDManager._get_usd_import_schema_resolvers())
+    model = builder.finalize(device="cpu")
+
+    assert model.joint_friction.numpy()[-1] == pytest.approx(0.11)
+    assert model.joint_damping.numpy()[-1] == pytest.approx(0.23)
+
+
 def test_reset_forwards_to_both_subsolvers(monkeypatch: pytest.MonkeyPatch) -> None:
     """Reset the real sub-solvers instead of the dummy solver slot."""
     rigid_solver = MagicMock()
diff --git a/source/isaaclab_experimental/isaaclab_experimental/envs/mdp/actions/actions_cfg.py b/source/isaaclab_experimental/isaaclab_experimental/envs/mdp/actions/actions_cfg.py
index 1fc2566fd785..8245e5353c31 100644
--- a/source/isaaclab_experimental/isaaclab_experimental/envs/mdp/actions/actions_cfg.py
+++ b/source/isaaclab_experimental/isaaclab_experimental/envs/mdp/actions/actions_cfg.py
@@ -8,7 +8,7 @@
 from dataclasses import MISSING
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_experimental.managers.manager_term_cfg import ActionTermCfg
 
diff --git a/source/isaaclab_experimental/isaaclab_experimental/managers/manager_base.py b/source/isaaclab_experimental/isaaclab_experimental/managers/manager_base.py
index 7954800d87c9..c9ab04df436d 100644
--- a/source/isaaclab_experimental/isaaclab_experimental/managers/manager_base.py
+++ b/source/isaaclab_experimental/isaaclab_experimental/managers/manager_base.py
@@ -59,7 +59,7 @@ class should also have a corresponding configuration class that defines the conf
 
     .. code-block:: python
 
-        from isaaclab.utils.configclass import configclass
+        from isaaclab.utils import configclass
         from isaaclab.utils.mdp import ManagerBase, ManagerTermBaseCfg
 
 
diff --git a/source/isaaclab_experimental/isaaclab_experimental/utils/modifiers/modifier_cfg.py b/source/isaaclab_experimental/isaaclab_experimental/utils/modifiers/modifier_cfg.py
index 82625feb0433..7cc22eaee6a9 100644
--- a/source/isaaclab_experimental/isaaclab_experimental/utils/modifiers/modifier_cfg.py
+++ b/source/isaaclab_experimental/isaaclab_experimental/utils/modifiers/modifier_cfg.py
@@ -9,7 +9,7 @@
 from dataclasses import MISSING
 from typing import Any
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_experimental/isaaclab_experimental/utils/noise/noise_cfg.py b/source/isaaclab_experimental/isaaclab_experimental/utils/noise/noise_cfg.py
index 767fbb0451f9..5c7045e65a69 100644
--- a/source/isaaclab_experimental/isaaclab_experimental/utils/noise/noise_cfg.py
+++ b/source/isaaclab_experimental/isaaclab_experimental/utils/noise/noise_cfg.py
@@ -13,7 +13,7 @@
 
 import warp as wp
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from . import noise_model
 
diff --git a/source/isaaclab_experimental/test/envs/test_frontend.py b/source/isaaclab_experimental/test/envs/test_frontend.py
index 31b59bf952e6..8f97a122bc9c 100644
--- a/source/isaaclab_experimental/test/envs/test_frontend.py
+++ b/source/isaaclab_experimental/test/envs/test_frontend.py
@@ -44,7 +44,7 @@
 from isaaclab.envs import ManagerBasedRLEnvCfg
 from isaaclab.managers.manager_term_cfg import EventTermCfg, ObservationTermCfg, RewardTermCfg
 from isaaclab.managers.scene_entity_cfg import SceneEntityCfg as StableSceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 # ======================================================================
 # Fixtures: fake stable/warp symbols and configclass trees.
diff --git a/source/isaaclab_mimic/docs/CHANGELOG.rst b/source/isaaclab_mimic/docs/CHANGELOG.rst
index 3162a674e771..c705d5e0c98d 100644
--- a/source/isaaclab_mimic/docs/CHANGELOG.rst
+++ b/source/isaaclab_mimic/docs/CHANGELOG.rst
@@ -1,6 +1,28 @@
 Changelog
 ---------
 
+2.0.8 (2026-09-12)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed locomanipulation SDG generation with NuRec backgrounds by enabling camera capture, applying Isaac RTX
+  Gaussian renderer settings, syncing randomized fixture poses, and recording the projected scene state after
+  placement. ``--high_res_video`` now records RGB observations at 512x320 instead of 960x540; update MP4
+  conversion dimensions and model input shapes accordingly.
+
+
+2.0.7 (2026-09-10)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Enabled contact reporting for the G1 locomanipulation SDG environment so its inherited hand
+  contact sensors initialize correctly.
+
+
 2.0.6 (2026-09-05)
 ~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/agibot_place_toy2box_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/agibot_place_toy2box_mimic_env_cfg.py
index ca8f3777e7aa..0df362689ec5 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/envs/agibot_place_toy2box_mimic_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/envs/agibot_place_toy2box_mimic_env_cfg.py
@@ -5,7 +5,7 @@
 
 
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.place.config.agibot.place_toy2box_rmp_rel_env_cfg import (
     RmpFlowAgibotPlaceToy2BoxEnvCfg,
diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/agibot_place_upright_mug_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/agibot_place_upright_mug_mimic_env_cfg.py
index 58432af0d5b4..b645c4fcf2ab 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/envs/agibot_place_upright_mug_mimic_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/envs/agibot_place_upright_mug_mimic_env_cfg.py
@@ -5,7 +5,7 @@
 
 
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.place.config.agibot.place_upright_mug_rmp_rel_env_cfg import (
     RmpFlowAgibotPlaceUprightMugEnvCfg,
diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/exhaustpipe_gr1t2_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/exhaustpipe_gr1t2_mimic_env_cfg.py
index 78a85d658bec..4c7192a6307f 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/envs/exhaustpipe_gr1t2_mimic_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/envs/exhaustpipe_gr1t2_mimic_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.pick_place.exhaustpipe_gr1t2_pink_ik_env_cfg import (
     ExhaustPipeGR1T2PinkIKEnvCfg,
diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_bin_stack_ik_rel_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_bin_stack_ik_rel_mimic_env_cfg.py
index 379416065998..3e35749f9c33 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_bin_stack_ik_rel_mimic_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_bin_stack_ik_rel_mimic_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.stack.config.franka.bin_stack_ik_rel_env_cfg import FrankaBinStackEnvCfg
 
diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_abs_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_abs_mimic_env_cfg.py
index 5c0cc854ec11..537541ffae01 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_abs_mimic_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_abs_mimic_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.stack.config.franka.stack_ik_abs_env_cfg import FrankaCubeStackEnvCfg
 
diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_blueprint_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_blueprint_mimic_env_cfg.py
index 9b7525f7b51f..2773e8139013 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_blueprint_mimic_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_blueprint_mimic_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.stack.config.franka.stack_ik_rel_blueprint_env_cfg import (
     FrankaCubeStackBlueprintEnvCfg,
diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_mimic_env_cfg.py
index eec560b53038..6f84e90bf97a 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_mimic_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_mimic_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.stack.config.franka.stack_ik_rel_env_cfg import FrankaCubeStackEnvCfg
 
diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_skillgen_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_skillgen_env_cfg.py
index 15153a842b60..9b1cb235b6c6 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_skillgen_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_skillgen_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.stack.config.franka.stack_ik_rel_env_cfg_skillgen import (
     FrankaCubeStackSkillgenEnvCfg,
diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_visuomotor_cosmos_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_visuomotor_cosmos_mimic_env_cfg.py
index d5b770926182..f188a9ecffe9 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_visuomotor_cosmos_mimic_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_visuomotor_cosmos_mimic_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.stack.config.franka.stack_ik_rel_visuomotor_cosmos_env_cfg import (
     FrankaCubeStackVisuomotorCosmosEnvCfg,
diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_visuomotor_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_visuomotor_mimic_env_cfg.py
index 8d8b3b3fdc6e..050128cf9a93 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_visuomotor_mimic_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/envs/franka_stack_ik_rel_visuomotor_mimic_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.stack.config.franka.stack_ik_rel_visuomotor_env_cfg import (
     FrankaCubeStackVisuomotorEnvCfg,
diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/galbot_stack_rmp_abs_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/galbot_stack_rmp_abs_mimic_env_cfg.py
index 3759076645c6..ef94781bc961 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/envs/galbot_stack_rmp_abs_mimic_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/envs/galbot_stack_rmp_abs_mimic_env_cfg.py
@@ -5,7 +5,7 @@
 
 
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.stack.config.galbot.stack_rmp_rel_env_cfg import (
     RmpFlowGalbotLeftArmCubeStackEnvCfg,
diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/galbot_stack_rmp_rel_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/galbot_stack_rmp_rel_mimic_env_cfg.py
index 49203bb6c57d..8def41266475 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/envs/galbot_stack_rmp_rel_mimic_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/envs/galbot_stack_rmp_rel_mimic_env_cfg.py
@@ -5,7 +5,7 @@
 
 
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.stack.config.galbot.stack_rmp_rel_env_cfg import (
     RmpFlowGalbotLeftArmCubeStackEnvCfg,
diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/locomanipulation_g1_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/locomanipulation_g1_mimic_env_cfg.py
index 3cae4bfd7970..71ad54c594ab 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/envs/locomanipulation_g1_mimic_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/envs/locomanipulation_g1_mimic_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.locomanip_pick_place.locomanipulation_g1_env_cfg import (
     LocomanipulationG1EnvCfg,
diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/nutpour_gr1t2_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/nutpour_gr1t2_mimic_env_cfg.py
index 981e81e0b30b..dc12d03f49e5 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/envs/nutpour_gr1t2_mimic_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/envs/nutpour_gr1t2_mimic_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.pick_place.nutpour_gr1t2_pink_ik_env_cfg import NutPourGR1T2PinkIKEnvCfg
 
diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/pickplace_gr1t2_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/pickplace_gr1t2_mimic_env_cfg.py
index 4576fd3f29ec..b220625bdb46 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/envs/pickplace_gr1t2_mimic_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/envs/pickplace_gr1t2_mimic_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.pick_place.pickplace_gr1t2_env_cfg import PickPlaceGR1T2EnvCfg
 
diff --git a/source/isaaclab_mimic/isaaclab_mimic/envs/pickplace_gr1t2_waist_enabled_mimic_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/envs/pickplace_gr1t2_waist_enabled_mimic_env_cfg.py
index 6280d9ee3543..bfae20234e67 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/envs/pickplace_gr1t2_waist_enabled_mimic_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/envs/pickplace_gr1t2_waist_enabled_mimic_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 from isaaclab.envs.mimic_env_cfg import MimicEnvCfg, SubTaskConfig
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.pick_place.pickplace_gr1t2_waist_enabled_env_cfg import (
     PickPlaceGR1T2WaistEnabledEnvCfg,
diff --git a/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/g1_locomanipulation_sdg_env.py b/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/g1_locomanipulation_sdg_env.py
index 21851dd38213..a981caefb9a7 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/g1_locomanipulation_sdg_env.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/g1_locomanipulation_sdg_env.py
@@ -5,6 +5,7 @@
 
 import numpy as np
 import torch
+from isaaclab_physx.renderers import IsaacRtxRendererCfg, IsaacRtxRendererGlobalSettingsCfg
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import AssetBaseCfg
@@ -13,8 +14,8 @@
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.sensors import CameraCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path
-from isaaclab.utils.configclass import configclass
 from isaaclab.utils.datasets import EpisodeData
 from isaaclab.visualizers import VisualizerCfg
 
@@ -35,6 +36,11 @@
 
 NUM_FORKLIFTS = 0
 NUM_BOXES = 0
+ISAAC_RTX_GAUSSIAN_CAMERA_RENDERER_CARB_SETTINGS = {
+    "/rtx/rtpt/gaussian/accumulatedDepth/allHits/enabled": True,
+    "/rtx/rtpt/gaussian/accumulatedAlbedo/enabled": True,
+    "/rtx/rtpt/gaussian/maxGaussiansToAccumulate": 360,
+}
 
 
 @configclass
@@ -52,7 +58,17 @@ class G1LocomanipulationSDGSceneCfg(LocomanipulationG1SceneCfg):
         ),
     )
 
-    def add_robot_pov_cam(self, height, width):
+    def add_robot_pov_cam(self, height, width, use_nurec_renderer_settings: bool = False):
+        camera_kwargs = {}
+        if use_nurec_renderer_settings:
+            camera_kwargs["renderer_cfg"] = IsaacRtxRendererCfg(
+                global_settings=IsaacRtxRendererGlobalSettingsCfg(
+                    enable_dl_denoiser=True,
+                    antialiasing_mode="DLSS",
+                    carb_settings=ISAAC_RTX_GAUSSIAN_CAMERA_RENDERER_CARB_SETTINGS,
+                )
+            )
+
         robot_pov_cam = CameraCfg(
             prim_path="{ENV_REGEX_NS}/Robot/torso_link/d435_link/camera",
             update_period=0.0,
@@ -61,6 +77,7 @@ def add_robot_pov_cam(self, height, width):
             data_types=["rgb"],
             spawn=sim_utils.PinholeCameraCfg(focal_length=8.0, clipping_range=(0.1, 20.0)),
             offset=CameraCfg.OffsetCfg(pos=(0.0, 0.0, 0.0), rot=(0.0, -0.1736482, 0.0, 0.9848078), convention="world"),
+            **camera_kwargs,
         )
         setattr(self, "robot_pov_cam", robot_pov_cam)
 
@@ -135,6 +152,10 @@ class G1LocomanipulationSDGEnvCfg(LocomanipulationG1EnvCfg, LocomanipulationSDGE
 
     def __post_init__(self):
         """Post initialization."""
+        # This class overrides LocomanipulationG1EnvCfg.__post_init__, so preserve the
+        # contact reporting required by the inherited per-hand contact sensors.
+        self.scene.robot.spawn.activate_contact_sensors = True
+
         # general settings
         self.decimation = 4
         self.episode_length_s = 50.0
@@ -172,10 +193,10 @@ def __init__(self, cfg: G1LocomanipulationSDGEnvCfg, **kwargs):
             self._num_boxes = NUM_BOXES
             set_ground_invisible = False
 
-        if cfg.high_res_video:
-            cfg.scene.add_robot_pov_cam(540, 960)
-        else:
-            cfg.scene.add_robot_pov_cam(160, 256)
+        camera_height, camera_width = (320, 512) if cfg.high_res_video else (160, 256)
+        cfg.scene.add_robot_pov_cam(
+            camera_height, camera_width, use_nurec_renderer_settings=cfg.background_usd_path is not None
+        )
 
         cfg.scene.add_forklifts(self._num_forklifts)
         cfg.scene.add_boxes(self._num_boxes)
diff --git a/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/locomanipulation_sdg_env_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/locomanipulation_sdg_env_cfg.py
index 9c1376c6dce8..2ccefe4d0c7b 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/locomanipulation_sdg_env_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/envs/locomanipulation_sdg_env_cfg.py
@@ -9,7 +9,7 @@
 from isaaclab.managers import EventTermCfg as EventTerm
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.managers.recorder_manager import RecorderTermCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/scene_utils.py b/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/scene_utils.py
index 0b2506f48b3b..d6a4780f2513 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/scene_utils.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/scene_utils.py
@@ -11,7 +11,7 @@
 
 import isaaclab.utils.math as math_utils
 from isaaclab.assets import AssetBaseCfg
-from isaaclab.sim.views import FrameView
+from isaaclab.sim.views import UsdFrameView
 
 from .occupancy_map_utils import OccupancyMap, intersect_occupancy_maps
 from .transform_utils import transform_mul
@@ -101,10 +101,11 @@ class SceneAsset(HasPose):
     def __init__(self, scene, entity_name: str):
         self.scene = scene
         self.entity_name = entity_name
-        self._xform_view: FrameView | None = None
+        self._xform_view: UsdFrameView | None = None
+        self._cached_pose: torch.Tensor | None = None
 
-    def _get_xform_view(self) -> FrameView:
-        """Return the FrameView for this asset, building it on demand.
+    def _get_xform_view(self) -> UsdFrameView:
+        """Return the USD transform view for this asset, building it on demand.
 
         Static scene assets carry no runtime view (``scene[name]`` returns the spawned
         configuration), so the pose view is created lazily here and cached on this
@@ -114,23 +115,27 @@ def _get_xform_view(self) -> FrameView:
         if self._xform_view is None or self._xform_view.count == 0:
             if self._xform_view is not None:
                 self._xform_view.close()
+            self._cached_pose = None
             entity = self.scene[self.entity_name]
             prim_path = (
                 entity.prim_path
                 if isinstance(entity, AssetBaseCfg)
                 else getattr(entity, "_usd_view", entity)._prim_path
             )
-            self._xform_view = FrameView(prim_path, device=self.scene.device)
+            self._xform_view = UsdFrameView(prim_path, device=self.scene.device)
         return self._xform_view
 
     def get_pose(self):
         """Get the 3D pose of the entity."""
+        if self._cached_pose is not None:
+            return self._cached_pose.clone()
         xform_prim = self._get_xform_view()
         pos_w, quat_w = xform_prim.get_world_poses()
         position = pos_w.torch
         orientation = quat_w.torch
         pose = torch.cat([position, orientation], dim=-1)
-        return pose
+        self._cached_pose = pose.detach().clone()
+        return self._cached_pose.clone()
 
     def set_pose(self, pose: torch.Tensor):
         """Set the 3D pose of the entity."""
@@ -139,6 +144,16 @@ def set_pose(self, pose: torch.Tensor):
         orientation = pose[..., 3:]
         with xform_prim.xform_world_space_writer() as writer:
             writer.set_poses(wp.from_torch(position.contiguous()), wp.from_torch(orientation.contiguous()), None)
+        self._cached_pose = pose.detach().clone()
+        entity = self.scene[self.entity_name]
+        if isinstance(entity, AssetBaseCfg):
+            # Static assets have no runtime data object, so keep their config pose aligned.
+            pose_cfg = pose[0] if pose.ndim > 1 else pose
+            env_origin = self.scene.env_origins[0].to(pose_cfg.device)
+            pos = (pose_cfg[:3] - env_origin).detach().cpu().tolist()
+            rot = pose_cfg[3:].detach().cpu().tolist()
+            entity.init_state.pos = tuple(float(value) for value in pos)
+            entity.init_state.rot = tuple(float(value) for value in rot)
 
 
 class RelativePose(HasPose):
diff --git a/source/isaaclab_mimic/isaaclab_mimic/motion_planners/curobo/curobo_planner_cfg.py b/source/isaaclab_mimic/isaaclab_mimic/motion_planners/curobo/curobo_planner_cfg.py
index 0e1ccbef88b2..98230c979a44 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/motion_planners/curobo/curobo_planner_cfg.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/motion_planners/curobo/curobo_planner_cfg.py
@@ -12,8 +12,8 @@
 from curobo.geom.types import WorldConfig
 from curobo.util_file import get_robot_configs_path, get_world_configs_path, join_path, load_yaml
 
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, retrieve_file_path
-from isaaclab.utils.configclass import configclass
 
 
 @configclass
diff --git a/source/isaaclab_mimic/pyproject.toml b/source/isaaclab_mimic/pyproject.toml
index a833b58f1eda..213f59a1348c 100644
--- a/source/isaaclab_mimic/pyproject.toml
+++ b/source/isaaclab_mimic/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab_mimic"
-version = "2.0.6"
+version = "2.0.8"
 description = "Mimic for Isaac Lab."
 license = {text = "Apache-2.0"}
 authors = [{name = "Isaac Lab Project Developers"}]
diff --git a/source/isaaclab_newton/benchmark/sensors/benchmark_frame_transformer.py b/source/isaaclab_newton/benchmark/sensors/benchmark_frame_transformer.py
index 8cfc174d317b..9b8f4c76f658 100644
--- a/source/isaaclab_newton/benchmark/sensors/benchmark_frame_transformer.py
+++ b/source/isaaclab_newton/benchmark/sensors/benchmark_frame_transformer.py
@@ -43,7 +43,7 @@
 from isaaclab.benchmark.sensor_suites import add_sensor_latency_measurements, collect_sensor_latency_samples
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import FrameTransformerCfg, OffsetCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_newton/benchmark/sensors/benchmark_imu_pva.py b/source/isaaclab_newton/benchmark/sensors/benchmark_imu_pva.py
index ab0c407b31ea..dd0b8c6043f6 100644
--- a/source/isaaclab_newton/benchmark/sensors/benchmark_imu_pva.py
+++ b/source/isaaclab_newton/benchmark/sensors/benchmark_imu_pva.py
@@ -39,7 +39,7 @@
 from isaaclab.benchmark.sensor_suites import add_sensor_latency_measurements, collect_sensor_latency_samples
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import ImuCfg, PvaCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_newton/benchmark/sensors/benchmark_joint_wrench.py b/source/isaaclab_newton/benchmark/sensors/benchmark_joint_wrench.py
index ae1be8a24f50..3ecd3bbc89fe 100644
--- a/source/isaaclab_newton/benchmark/sensors/benchmark_joint_wrench.py
+++ b/source/isaaclab_newton/benchmark/sensors/benchmark_joint_wrench.py
@@ -38,7 +38,7 @@
 from isaaclab.benchmark.sensor_suites import add_sensor_latency_measurements, collect_sensor_latency_samples
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import JointWrenchSensorCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_assets import CARTPOLE_CFG
 
diff --git a/source/isaaclab_newton/benchmark/sensors/benchmark_ray_caster.py b/source/isaaclab_newton/benchmark/sensors/benchmark_ray_caster.py
index 895f1a69efd1..bf6cc0f2aa95 100644
--- a/source/isaaclab_newton/benchmark/sensors/benchmark_ray_caster.py
+++ b/source/isaaclab_newton/benchmark/sensors/benchmark_ray_caster.py
@@ -52,7 +52,7 @@
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import RayCasterCfg, patterns
 from isaaclab.terrains import HfRandomUniformTerrainCfg, TerrainGeneratorCfg, TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.seed import configure_seed
 
 _ROUGH_TERRAIN_SEED = 0
diff --git a/source/isaaclab_newton/changelog.d/fix-newton-graph-coloring-hang.rst b/source/isaaclab_newton/changelog.d/fix-newton-graph-coloring-hang.rst
new file mode 100644
index 000000000000..efabc29b7e99
--- /dev/null
+++ b/source/isaaclab_newton/changelog.d/fix-newton-graph-coloring-hang.rst
@@ -0,0 +1,4 @@
+Fixed
+^^^^^
+
+* Prevented Newton VBD initialization from hanging in Warp's graph-color balancing pass.
diff --git a/source/isaaclab_newton/changelog.d/hehu-newton-ball-joint-dof-space.rst b/source/isaaclab_newton/changelog.d/hehu-newton-ball-joint-dof-space.rst
new file mode 100644
index 000000000000..c9190865df83
--- /dev/null
+++ b/source/isaaclab_newton/changelog.d/hehu-newton-ball-joint-dof-space.rst
@@ -0,0 +1,18 @@
+Fixed
+^^^^^
+
+* Fixed :attr:`~isaaclab_newton.assets.articulation.articulation_data.ArticulationData.joint_pos`
+  exposing Newton's ``joint_q`` -- joint *coordinate* space -- rather than DOF positions. A ball
+  joint occupies 4 quaternion components against 3 DOFs, so on an articulation containing one the
+  array was wider than ``num_joints`` while ``joint_names``, ``joint_vel``, ``default_joint_pos``
+  and the joint gains stayed in DOF space, and every consumer indexing them with the same joint ids
+  read a different joint past the first ball joint. Added
+  :class:`~isaaclab_newton.assets.articulation.joint_coordinates.JointCoordinateMap`, which converts
+  between the two spaces on read and on write. Articulations whose joints all have one coordinate
+  per DOF keep the existing zero-copy view and are unaffected.
+
+* Fixed joint position targets being written in DOF space into Newton's coordinate-layout
+  ``joint_target_q``. That array follows ``newton.use_coord_layout_targets``, which defaults to
+  ``True`` from Newton 1.6, so on a ball-jointed articulation the actuators were writing 50 DOF
+  targets into a 56-wide coordinate array. Targets now go through a DOF-shaped staging buffer and
+  the same coordinate map.
diff --git a/source/isaaclab_newton/docs/CHANGELOG.rst b/source/isaaclab_newton/docs/CHANGELOG.rst
index dd8c91b391c8..a6fa2333d633 100644
--- a/source/isaaclab_newton/docs/CHANGELOG.rst
+++ b/source/isaaclab_newton/docs/CHANGELOG.rst
@@ -1,6 +1,58 @@
 Changelog
 ---------
 
+6.3.0 (2026-09-11)
+~~~~~~~~~~~~~~~~~~
+
+Removed
+^^^^^^^
+
+* Removed the Newton 1.5 compatibility shim for the MuJoCo tendon adapter. Newton 1.6.0rc1
+  provides the ``mujoco:actuator`` custom-frequency view API (newton-physics/newton#4017)
+  directly, so the adapter now reads it from the articulation view and model rather than
+  through a wrapper. No migration is needed: the shim was internal and became a no-op once
+  the Newton pin moved to 1.6.0rc1.
+
+Fixed
+^^^^^
+
+* Fixed batched scene cloning duplicating custom-frequency label prefixes, which prevented MuJoCo tendon actuators from resolving their targets.
+* Fixed Newton visualizers showing nested static collision geometry, including generated proxy-collider visual meshes,
+  when the rigid-body root had a separate visual subtree.
+* Fixed native Newton actuator initialization in non-cloned and heterogeneous scenes after a previous simulation.
+* Fixed Newton-backed visualizers unnecessarily running collision mesh approximation for
+  render-only shadow models.
+
+
+6.2.1 (2026-09-10)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed a rebuilt Newton visualization model reusing the previous model's shadow-body index mapping.
+
+
+6.2.0 (2026-09-08)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Avoided conditional CUDA graph capture for Newton Warp rendering of deformable triangle meshes.
+* Fixed :meth:`compute_first_contact` and :meth:`compute_first_air` on the contact sensor silently
+  missing touchdowns and lift-offs once the simulation had run for a few seconds (issue #7283).
+  Their ``abs_tol`` argument now defaults to ``None``, which resolves to half the sensor update
+  interval instead of a fixed ``1e-8``. The old value was around 100x smaller than the float32
+  rounding error of the sensor clock, so most transitions were dropped. Callers that relied on the
+  previous behavior can pass ``abs_tol=1e-8`` explicitly.
+  Both methods now also refresh outdated sensor buffers before comparing, so a sensor with
+  ``history_length=0`` no longer reports the previous step's transitions when it is queried before
+  its data is read.
+* Fixed MuJoCo-based solver managers dropping ``mjc:frictionloss`` during USD
+  stage imports.
+
+
 6.1.1 (2026-09-07)
 ~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab_newton/isaaclab_newton/assets/articulation/actuator_control.py b/source/isaaclab_newton/isaaclab_newton/assets/articulation/actuator_control.py
index 1d74b23059ff..f69b6ad35068 100644
--- a/source/isaaclab_newton/isaaclab_newton/assets/articulation/actuator_control.py
+++ b/source/isaaclab_newton/isaaclab_newton/assets/articulation/actuator_control.py
@@ -22,6 +22,7 @@
 from isaaclab.assets.articulation import ordering_kernels
 from isaaclab.sim.schemas.schemas_actuators import _validate_newton_native_actuator_cfgs
 
+from isaaclab_newton.assets.articulation.joint_coordinates import scatter_joint_coordinates
 from isaaclab_newton.physics import NewtonManager as SimulationManager
 
 if TYPE_CHECKING:
@@ -51,13 +52,17 @@ def prepare_native_actuators(self, collection: ActuatorCollection, actuator_cfgs
             return set()
 
         _validate_newton_native_actuator_cfgs(actuator_cfgs)
-        # Activate the Newton path even without explicit native groups: implicit-only
-        # articulations still rely on it for the solver telemetry fast path.
+        native_group_names = {
+            name for name, actuator_cfg in actuator_cfgs.items() if not _is_implicit_actuator_cfg(actuator_cfg)
+        }
+        if not native_group_names:
+            return set()
+
         self._native_actuator_path_active = True
         articulation._has_newton_actuators = True
         SimulationManager.activate_newton_actuator_path()
 
-        return {name for name, actuator_cfg in actuator_cfgs.items() if not _is_implicit_actuator_cfg(actuator_cfg)}
+        return native_group_names
 
     def finalize_native_actuators(self, collection: ActuatorCollection) -> NewtonActuatorSelection | None:
         if not self._native_actuator_path_active:
@@ -89,6 +94,9 @@ def finalize_native_actuators(self, collection: ActuatorCollection) -> NewtonAct
             )
 
         def _post_actuator() -> None:
+            # Telemetry reads _sim_bind_joint_pos inside the decimation loop, ahead of the
+            # post-step gather, so the DOF-space view is re-derived here.
+            articulation._data._gather_joint_coordinates()
             wp.launch(
                 actuator_kernels.sync_torque_telemetry,
                 dim=(self.num_instances, self.num_joints),
@@ -130,7 +138,9 @@ def compute_native_actuators(self, collection: ActuatorCollection, dt: float) ->
         return self._native_actuator_path_active
 
     def submit_commands(self, collection: ActuatorCollection) -> None:
+        """Publish the collection's targets to the backend arrays."""
         articulation = self._articulation
+        data = articulation.data
         if self._native_actuator_path_active:
             # Newton consumes raw explicit-actuator targets through joint_act.
             user_effort = collection._joint_effort_target
@@ -139,12 +149,6 @@ def submit_commands(self, collection: ActuatorCollection) -> None:
             write_pos_target = True
             write_vel_target = True
             write_joint_act = True
-            if not articulation.data.has_joint_ordering:
-                articulation.data._sim_bind_joint_position_target.assign(collection._joint_pos_target)
-                articulation.data._sim_bind_joint_velocity_target.assign(collection._joint_vel_target)
-                articulation.data._sim_bind_joint_act.assign(collection._joint_effort_target)
-                articulation.data._sim_bind_joint_effort.assign(collection._joint_effort_target)
-                return
         else:
             # Lab executors publish processed targets; only implicit joints use
             # the backend position and velocity drives.
@@ -154,28 +158,43 @@ def submit_commands(self, collection: ActuatorCollection) -> None:
             write_pos_target = collection.has_implicit_actuators
             write_vel_target = collection.has_implicit_actuators
             write_joint_act = False
-        if not articulation.data.has_joint_ordering:
-            articulation.data._sim_bind_joint_effort.assign(collection._joint_effort_target_sim)
-            if collection.has_implicit_actuators:
-                articulation.data._sim_bind_joint_position_target.assign(collection._joint_pos_target_sim)
-                articulation.data._sim_bind_joint_velocity_target.assign(collection._joint_vel_target_sim)
-            return
-
-        ordering_kernels.launch_reorder_joint_targets_user_to_backend(
-            user_effort=user_effort,
-            user_pos_target=user_pos_target,
-            user_vel_target=user_vel_target,
-            backend_to_user=articulation._joint_backend_to_user_map(),
-            write_effort=True,
-            write_pos_target=write_pos_target,
-            write_vel_target=write_vel_target,
-            write_joint_act=write_joint_act,
-            backend_effort=articulation.data._sim_bind_joint_effort,
-            backend_pos_target=articulation.data._sim_bind_joint_position_target,
-            backend_vel_target=articulation.data._sim_bind_joint_velocity_target,
-            backend_joint_act=articulation.data._sim_bind_joint_act,
-            device=self.device,
-        )
+
+        if data.has_joint_ordering:
+            ordering_kernels.launch_reorder_joint_targets_user_to_backend(
+                user_effort=user_effort,
+                user_pos_target=user_pos_target,
+                user_vel_target=user_vel_target,
+                backend_to_user=articulation._joint_backend_to_user_map(),
+                write_effort=True,
+                write_pos_target=write_pos_target,
+                write_vel_target=write_vel_target,
+                write_joint_act=write_joint_act,
+                backend_effort=data._sim_bind_joint_effort,
+                backend_pos_target=data._sim_bind_joint_position_target,
+                backend_vel_target=data._sim_bind_joint_velocity_target,
+                backend_joint_act=data._sim_bind_joint_act,
+                device=self.device,
+            )
+        else:
+            data._sim_bind_joint_effort.assign(user_effort)
+            if write_pos_target:
+                data._sim_bind_joint_position_target.assign(user_pos_target)
+            if write_vel_target:
+                data._sim_bind_joint_velocity_target.assign(user_vel_target)
+            if write_joint_act:
+                data._sim_bind_joint_act.assign(user_effort)
+
+        # Newton takes coordinate-layout position targets from 1.6 on; every branch above writes
+        # DOF-indexed targets, so the staging buffer has to be scattered across unconditionally.
+        # Sequenced after the writes above (not a try/finally) so an exception mid-write leaves the
+        # staging buffer unflushed rather than scattering a half-written buffer into joint_target_q.
+        if articulation.data._joint_targets_need_conversion:
+            scatter_joint_coordinates(
+                articulation.data._joint_coord_map,
+                articulation.data._sim_bind_joint_position_target,
+                articulation.data._sim_bind_joint_target_coords,
+                articulation._ALL_ENV_MASK,
+            )
 
     def reset_native_actuators(self, env_ids: Sequence[int] | slice) -> None:
         if self._native_actuator_path_active and SimulationManager._adapter is not None:
diff --git a/source/isaaclab_newton/isaaclab_newton/assets/articulation/articulation.py b/source/isaaclab_newton/isaaclab_newton/assets/articulation/articulation.py
index 53b23d09ee06..84d107b7e347 100644
--- a/source/isaaclab_newton/isaaclab_newton/assets/articulation/articulation.py
+++ b/source/isaaclab_newton/isaaclab_newton/assets/articulation/articulation.py
@@ -12,7 +12,7 @@
 import re
 import warnings
 from collections.abc import Sequence
-from typing import TYPE_CHECKING
+from typing import TYPE_CHECKING, Any
 
 import numpy as np
 import torch
@@ -36,6 +36,7 @@
 
 from isaaclab_newton.assets import kernels as shared_kernels
 from isaaclab_newton.assets.articulation import kernels as articulation_kernels
+from isaaclab_newton.assets.articulation.joint_coordinates import scatter_joint_coordinates
 from isaaclab_newton.physics import NewtonManager as SimulationManager
 
 from .actuator_control import NewtonActuatorControl
@@ -1200,6 +1201,14 @@ def write_joint_state_to_sim_index(
             ],
             device=self.device,
         )
+        # The write landed in DOF space; push it back into Newton's joint coordinates.
+        if self.data._joint_coord_map.required:
+            scatter_joint_coordinates(
+                self.data._joint_coord_map,
+                self.data._sim_bind_joint_pos,
+                self.data._sim_bind_joint_coords,
+                self._env_ids_to_mask(env_ids),
+            )
         # Let the data class handle the invalidation of the pose and velocity related properties.
         if not skip_forward:
             self.data._reset_pose(env_ids=env_ids)
@@ -1266,6 +1275,14 @@ def write_joint_state_to_sim_mask(
             ],
             device=self.device,
         )
+        # The write landed in DOF space; push it back into Newton's joint coordinates.
+        if self.data._joint_coord_map.required:
+            scatter_joint_coordinates(
+                self.data._joint_coord_map,
+                self.data._sim_bind_joint_pos,
+                self.data._sim_bind_joint_coords,
+                env_mask,
+            )
         # Let the data class handle the invalidation of the pose and velocity related properties.
         if not skip_forward:
             self.data._reset_pose(env_mask=env_mask)
@@ -1319,6 +1336,14 @@ def write_joint_position_to_sim_index(
             self.data._sim_bind_joint_pos,
             device=self.device,
         )
+        # The write landed in DOF space; push it back into Newton's joint coordinates.
+        if self.data._joint_coord_map.required:
+            scatter_joint_coordinates(
+                self.data._joint_coord_map,
+                self.data._sim_bind_joint_pos,
+                self.data._sim_bind_joint_coords,
+                self._env_ids_to_mask(env_ids),
+            )
         # Let the data class handle the invalidation of pose- and velocity-dependent properties.
         if not skip_forward:
             self.data._reset_pose(env_ids=env_ids)
@@ -1369,6 +1394,14 @@ def write_joint_position_to_sim_mask(
             self.data._sim_bind_joint_pos,
             device=self.device,
         )
+        # The write landed in DOF space; push it back into Newton's joint coordinates.
+        if self.data._joint_coord_map.required:
+            scatter_joint_coordinates(
+                self.data._joint_coord_map,
+                self.data._sim_bind_joint_pos,
+                self.data._sim_bind_joint_coords,
+                env_mask,
+            )
         # Let the data class handle the invalidation of pose- and velocity-dependent properties.
         if not skip_forward:
             self.data._reset_pose(env_mask=env_mask)
@@ -2249,14 +2282,24 @@ def write_joint_viscous_friction_coefficient_to_sim_mask(
 
     @staticmethod
     @wp.kernel(enable_backward=False)
-    def _build_env_mask_kernel(mask: wp.array(dtype=wp.bool), indices: wp.array(dtype=wp.int32)):
+    def _build_env_mask_kernel(mask: wp.array(dtype=wp.bool), indices: wp.array(dtype=Any)):
         i = wp.tid()
-        mask[indices[i]] = True
+        mask[wp.int32(indices[i])] = True
 
-    def _env_ids_to_mask(self, env_ids: wp.array) -> wp.array:
-        """Convert warp env_ids to a boolean Warp mask."""
+    def _env_ids_to_mask(self, env_ids: wp.array | torch.Tensor) -> wp.array:
+        """Convert env_ids to a boolean Warp mask.
+
+        Args:
+            env_ids: Environment indices as returned by :meth:`_resolve_env_ids`, which may be a
+                warp array or a torch tensor of any integer width.
+
+        Returns:
+            A per-environment boolean mask.
+        """
         if env_ids is self._ALL_INDICES:
             return self._ALL_ENV_MASK
+        if isinstance(env_ids, torch.Tensor):
+            env_ids = wp.from_torch(env_ids)
         mask = wp.zeros(self.num_instances, dtype=wp.bool, device=self.device)
         wp.launch(self._build_env_mask_kernel, dim=env_ids.shape[0], inputs=[mask, env_ids], device=self.device)
         return mask
@@ -3444,13 +3487,16 @@ def _create_buffers(self):
         )
         # Republish the Tier-1 backend->user state shadows inside the stepped
         # (and captured) region after the last solver substep. Registering only
-        # when ordering is non-identity keeps identity-ordering scenes at zero
+        # when ordering is non-identity or a ball joint needs the coordinate
+        # gather keeps a plain identity-ordering, non-ball-joint scene at zero
         # overhead (empty callback list). The reorders are then recorded into
         # every captured graph, so passthrough state getters never replay stale.
         # The stored handle is the exact bound method ``_clear_callbacks`` later
         # deregisters.
+        # A ball-jointed articulation also needs the slot: its DOF-space joint_pos is derived, not
+        # sim-bound, so it has to be republished after every step just like the ordering shadows.
         self._post_step_callback = None
-        if self.data.has_joint_ordering or self.data.has_body_ordering:
+        if self.data.has_joint_ordering or self.data.has_body_ordering or self.data._joint_coord_map.required:
             self._post_step_callback = self._data._refresh_user_order_state
             SimulationManager.register_post_step_callback(self._post_step_callback)
         # tendon names are set in _process_tendons function
diff --git a/source/isaaclab_newton/isaaclab_newton/assets/articulation/articulation_data.py b/source/isaaclab_newton/isaaclab_newton/assets/articulation/articulation_data.py
index 04a29718fc3e..b17e37f3c782 100644
--- a/source/isaaclab_newton/isaaclab_newton/assets/articulation/articulation_data.py
+++ b/source/isaaclab_newton/isaaclab_newton/assets/articulation/articulation_data.py
@@ -22,6 +22,10 @@
 
 from isaaclab_newton.assets import kernels as shared_kernels
 from isaaclab_newton.assets.articulation import kernels as articulation_kernels
+from isaaclab_newton.assets.articulation.joint_coordinates import (
+    build_ball_joint_coordinate_map,
+    gather_joint_coordinates,
+)
 from isaaclab_newton.physics import NewtonManager as SimulationManager
 
 if TYPE_CHECKING:
@@ -1591,7 +1595,23 @@ def _create_simulation_bindings(self) -> None:
                 "joint_effort_limit", SimulationManager.get_model()
             )[:, 0]
             # -- joint states
-            self._sim_bind_joint_pos = self._root_view.get_dof_positions(SimulationManager.get_state_0())[:, 0]
+            # ``get_dof_positions`` returns Newton's ``joint_q``, which is *coordinate* space: a ball
+            # joint occupies 4 quaternion components against 3 DOFs, so the array is wider than
+            # ``num_joints`` whenever the articulation has one. IsaacLab addresses joints by DOF
+            # index everywhere, so keep the coordinate array separate and publish a DOF-space view.
+            self._sim_bind_joint_coords = self._root_view.get_dof_positions(SimulationManager.get_state_0())[:, 0]
+            # The view's per-joint counts are already in the column order of the array above and
+            # already exclude the free root, fixed joints and loop-closing joints.
+            self._joint_coord_map = build_ball_joint_coordinate_map(
+                self._root_view.joint_coord_counts, self._root_view.joint_dof_counts, self.device
+            )
+            if self._joint_coord_map.required:
+                self._sim_bind_joint_pos = wp.zeros(
+                    (self._num_instances, self._num_joints), dtype=wp.float32, device=self.device
+                )
+                gather_joint_coordinates(self._joint_coord_map, self._sim_bind_joint_coords, self._sim_bind_joint_pos)
+            else:
+                self._sim_bind_joint_pos = self._sim_bind_joint_coords
             self._sim_bind_joint_vel = self._root_view.get_dof_velocities(SimulationManager.get_state_0())[:, 0]
             # -- joint commands (sent to the simulation)
             self._sim_bind_joint_effort = self._root_view.get_attribute("joint_f", SimulationManager.get_control())[
@@ -1601,6 +1621,19 @@ def _create_simulation_bindings(self) -> None:
             self._sim_bind_joint_position_target = self._root_view.get_attribute(
                 "joint_target_q", SimulationManager.get_control()
             )[:, 0]
+            # ``joint_target_q`` follows ``newton.use_coord_layout_targets``, which defaults to
+            # True from Newton 1.6. Under that layout the array is coordinate-shaped, exactly like
+            # ``joint_q``, so actuators keep writing DOF-indexed targets into a staging buffer and
+            # the same map scatters them across.
+            self._sim_bind_joint_target_coords = self._sim_bind_joint_position_target
+            self._joint_targets_need_conversion = self._sim_bind_joint_target_coords.shape[1] != self._num_joints
+            if self._joint_targets_need_conversion:
+                self._sim_bind_joint_position_target = wp.zeros(
+                    (self._num_instances, self._num_joints), dtype=wp.float32, device=self.device
+                )
+                gather_joint_coordinates(
+                    self._joint_coord_map, self._sim_bind_joint_target_coords, self._sim_bind_joint_position_target
+                )
             self._sim_bind_joint_velocity_target = self._root_view.get_attribute(
                 "joint_target_qd", SimulationManager.get_control()
             )[:, 0]
@@ -1629,13 +1662,20 @@ def _create_simulation_bindings(self) -> None:
             self._sim_bind_joint_effort_limits_sim = wp.zeros(
                 (self._num_instances, 0), dtype=wp.float32, device=self.device
             )
-            self._sim_bind_joint_pos = wp.zeros((self._num_instances, 0), dtype=wp.float32, device=self.device)
+            # No joints: the view reports no counts, so the map has nothing to convert.
+            self._sim_bind_joint_coords = self._sim_bind_joint_pos = wp.zeros(
+                (self._num_instances, 0), dtype=wp.float32, device=self.device
+            )
+            self._joint_coord_map = build_ball_joint_coordinate_map(
+                self._root_view.joint_coord_counts, self._root_view.joint_dof_counts, self.device
+            )
             self._sim_bind_joint_vel = wp.zeros((self._num_instances, 0), dtype=wp.float32, device=self.device)
             self._sim_bind_joint_effort = wp.zeros((self._num_instances, 0), dtype=wp.float32, device=self.device)
             self._sim_bind_joint_act = wp.zeros((self._num_instances, 0), dtype=wp.float32, device=self.device)
             self._sim_bind_joint_position_target = wp.zeros(
                 (self._num_instances, 0), dtype=wp.float32, device=self.device
             )
+            self._joint_targets_need_conversion = False
             self._sim_bind_joint_velocity_target = wp.zeros(
                 (self._num_instances, 0), dtype=wp.float32, device=self.device
             )
@@ -2157,8 +2197,18 @@ def _refresh_user_order_body_state(self) -> None:
             outputs=[self._body_link_pose_w_user, self._body_com_vel_w_user],
         )
 
+    def _gather_joint_coordinates(self) -> None:
+        """Re-derive the DOF-space joint positions from Newton's coordinate array.
+
+        A no-op unless the articulation has a ball joint; without one ``_sim_bind_joint_pos`` is a
+        zero-copy view onto ``joint_q`` and is always current.
+        """
+        if self._joint_coord_map.required:
+            gather_joint_coordinates(self._joint_coord_map, self._sim_bind_joint_coords, self._sim_bind_joint_pos)
+
     def _refresh_user_order_state(self) -> None:
-        """Republish all Tier-1 user-order state shadows from live backend state.
+        """Republish all Tier-1 user-order state shadows from live backend state, and gather any
+        ball-joint DOF positions ahead of them.
 
         Registered as a post-step callback (see
         :meth:`isaaclab_newton.physics.NewtonManager.register_post_step_callback`)
@@ -2166,8 +2216,12 @@ def _refresh_user_order_state(self) -> None:
         the last solver substep. With no Python freshness guard the launches are
         recorded into every captured graph and replayed on each tick, so the
         passthrough ``joint_pos`` / ``joint_vel`` / ``body_link_pose_w`` /
-        ``body_com_vel_w`` shadows behave exactly like sim-bound memory.
+        ``body_com_vel_w`` shadows behave exactly like sim-bound memory. For an
+        identity-ordered ball-joint articulation the coordinate gather is the only
+        work this method does -- the two reorder calls below are no-ops.
         """
+        # Ahead of the reorder: the user-order shadows have to gather from a current DOF buffer.
+        self._gather_joint_coordinates()
         self._refresh_user_order_joint_state()
         self._refresh_user_order_body_state()
 
diff --git a/source/isaaclab_newton/isaaclab_newton/assets/articulation/joint_coordinates.py b/source/isaaclab_newton/isaaclab_newton/assets/articulation/joint_coordinates.py
new file mode 100644
index 000000000000..cb7f041217bb
--- /dev/null
+++ b/source/isaaclab_newton/isaaclab_newton/assets/articulation/joint_coordinates.py
@@ -0,0 +1,232 @@
+# 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
+
+"""Conversion between Newton's joint coordinate space and Isaac Lab's DOF space.
+
+Newton stores a ball joint as a 4-component unit quaternion against 3 DOFs, so an articulation
+containing one has more joint coordinates than DOFs. Free and distance joints have the same kind
+of mismatch, but Isaac Lab's view excludes free joints and this module rejects distance joints, so
+ball is the only mismatched layout this map converts. Every other joint type has one coordinate
+per DOF, so the two spaces coincide for most assets and :func:`build_ball_joint_coordinate_map`
+reports ``required = False`` for them.
+
+Isaac Lab addresses joints by DOF index throughout -- ``joint_names``, ``find_joints``,
+``SceneEntityCfg.joint_ids`` -- so joint positions have to be exposed in DOF space to stay
+consistent with ``joint_vel``, ``default_joint_pos`` and the joint gains, all of which already are.
+
+The rotation vector is the representation consistent with ``joint_qd``, which holds angular velocity
+in the joint frame. PhysX also reports spherical-joint positions as an axis-angle vector projected
+onto the DOF axes; sign and frame parity with PhysX has not been verified numerically.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+
+import warp as wp
+
+_BALL_LAYOUT = (4, 3)
+"""``(coordinates, DOFs)`` of a ball joint -- the only mismatched layout this map converts; free
+joints are excluded from Lab's view, and distance joints (7 against 6) are rejected."""
+
+
+@wp.kernel(enable_backward=False)
+def gather_single_coord_dofs(
+    coords: wp.array2d(dtype=wp.float32),
+    dof_index: wp.array(dtype=wp.int32),
+    coord_index: wp.array(dtype=wp.int32),
+    dofs: wp.array2d(dtype=wp.float32),
+):
+    """Copy joints whose coordinate count equals their DOF count."""
+    env, i = wp.tid()
+    dofs[env, dof_index[i]] = coords[env, coord_index[i]]
+
+
+@wp.kernel(enable_backward=False)
+def gather_ball_dofs(
+    coords: wp.array2d(dtype=wp.float32),
+    dof_index: wp.array(dtype=wp.int32),
+    coord_index: wp.array(dtype=wp.int32),
+    dofs: wp.array2d(dtype=wp.float32),
+):
+    """Quaternion -> rotation vector for each ball joint.
+
+    ``wp.quat_to_axis_angle`` resolves the double cover itself -- it flips the axis with the sign of
+    ``w`` and returns an angle in ``[0, pi]`` -- so a fixed pose always decodes to the same vector.
+    """
+    env, i = wp.tid()
+    c = coord_index[i]
+    d = dof_index[i]
+    axis, angle = wp.quat_to_axis_angle(
+        wp.quat(coords[env, c + 0], coords[env, c + 1], coords[env, c + 2], coords[env, c + 3])
+    )
+    rotvec = axis * angle
+    dofs[env, d + 0] = rotvec[0]
+    dofs[env, d + 1] = rotvec[1]
+    dofs[env, d + 2] = rotvec[2]
+
+
+@wp.kernel(enable_backward=False)
+def scatter_single_coord_dofs(
+    dofs: wp.array2d(dtype=wp.float32),
+    env_mask: wp.array(dtype=wp.bool),
+    dof_index: wp.array(dtype=wp.int32),
+    coord_index: wp.array(dtype=wp.int32),
+    coords: wp.array2d(dtype=wp.float32),
+):
+    """Inverse of :func:`gather_single_coord_dofs`, for the selected environments."""
+    env, i = wp.tid()
+    if env_mask[env]:
+        coords[env, coord_index[i]] = dofs[env, dof_index[i]]
+
+
+@wp.kernel(enable_backward=False)
+def scatter_ball_dofs(
+    dofs: wp.array2d(dtype=wp.float32),
+    env_mask: wp.array(dtype=wp.bool),
+    dof_index: wp.array(dtype=wp.int32),
+    coord_index: wp.array(dtype=wp.int32),
+    coords: wp.array2d(dtype=wp.float32),
+):
+    """Rotation vector -> quaternion for each ball joint, for the selected environments."""
+    env, i = wp.tid()
+    if not env_mask[env]:
+        return
+    c = coord_index[i]
+    d = dof_index[i]
+    rotvec = wp.vec3(dofs[env, d + 0], dofs[env, d + 1], dofs[env, d + 2])
+    angle = wp.length(rotvec)
+    q = wp.quat_identity()
+    if angle > 1.0e-9:
+        q = wp.quat_from_axis_angle(rotvec / angle, angle)
+    coords[env, c + 0] = q[0]
+    coords[env, c + 1] = q[1]
+    coords[env, c + 2] = q[2]
+    coords[env, c + 3] = q[3]
+
+
+@dataclass(frozen=True)
+class BallJointCoordinateMap:
+    """Index tables mapping an articulation view's ball-joint coordinates to their DOFs and back.
+
+    A plain data record, not an object with behavior -- :func:`build_ball_joint_coordinate_map`
+    produces one, and :func:`gather_joint_coordinates` / :func:`scatter_joint_coordinates` consume
+    one. Fields are only meaningful when ``required`` is True; the ``as_wp`` conversion in
+    :func:`build_ball_joint_coordinate_map` is skipped otherwise, so on a required=False map the
+    remaining fields are placeholder empty arrays. The frozen dataclass prevents field
+    reassignment, but the Warp arrays remain mutable objects.
+    """
+
+    required: bool
+    """Whether the articulation has a ball joint and the remaining fields are populated."""
+
+    single_dof: wp.array
+    """DOF indices of joints whose coordinate count equals their DOF count, dtype ``wp.int32``."""
+
+    single_coord: wp.array
+    """Matching coordinate indices for :attr:`single_dof`, dtype ``wp.int32``."""
+
+    ball_dof: wp.array
+    """First DOF index of each ball joint, dtype ``wp.int32``."""
+
+    ball_coord: wp.array
+    """First coordinate index of each ball joint, dtype ``wp.int32``."""
+
+
+def build_ball_joint_coordinate_map(coord_counts: list[int], dof_counts: list[int], device) -> BallJointCoordinateMap:
+    """Build the index tables mapping an articulation view's joint coordinates to its DOFs and back.
+
+    Built from the view's own per-joint counts, which are in the column order of
+    :meth:`~newton.ArticulationView.get_dof_positions` and already exclude the free root joint,
+    fixed joints and loop-closing joints.
+
+    Args:
+        coord_counts: Coordinates per selected joint (``ArticulationView.joint_coord_counts``).
+        dof_counts: DOFs per selected joint (``ArticulationView.joint_dof_counts``).
+        device: Device to allocate the index tables on.
+
+    Returns:
+        The index tables, with ``required`` set when the articulation has a ball joint.
+
+    Raises:
+        NotImplementedError: If a joint's coordinate and DOF counts differ in any way other than the
+            ball-joint layout, which would otherwise be silently decoded as a quaternion.
+    """
+    single_dof: list[int] = []
+    single_coord: list[int] = []
+    ball_dof: list[int] = []
+    ball_coord: list[int] = []
+
+    coord, dof = 0, 0
+    for n_coords, n_dofs in zip(coord_counts, dof_counts, strict=True):
+        if n_coords == n_dofs:
+            single_dof.extend(range(dof, dof + n_dofs))
+            single_coord.extend(range(coord, coord + n_coords))
+        elif (n_coords, n_dofs) == _BALL_LAYOUT:
+            ball_dof.append(dof)
+            ball_coord.append(coord)
+        else:
+            raise NotImplementedError(
+                f"Joint with {n_coords} coordinates against {n_dofs} DOFs has no coordinate"
+                " conversion; only ball joints (4 against 3) are supported."
+            )
+        coord += n_coords
+        dof += n_dofs
+
+    required = bool(ball_dof)
+    if not required:
+        empty = wp.array([], dtype=wp.int32, device=device)
+        return BallJointCoordinateMap(False, empty, empty, empty, empty)
+    as_wp = lambda values: wp.array(values, dtype=wp.int32, device=device)  # noqa: E731
+    return BallJointCoordinateMap(True, as_wp(single_dof), as_wp(single_coord), as_wp(ball_dof), as_wp(ball_coord))
+
+
+def gather_joint_coordinates(coord_map: BallJointCoordinateMap, coords: wp.array, dofs: wp.array) -> None:
+    """Write the DOF-space view of ``coords`` into ``dofs``.
+
+    Args:
+        coord_map: Index tables from :func:`build_ball_joint_coordinate_map`.
+        coords: Newton's joint coordinate array for this view.
+        dofs: DOF-space destination [rad or m, depending on joint type].
+    """
+    num_envs = coords.shape[0]
+    for kernel, dof_index, coord_index in (
+        (gather_single_coord_dofs, coord_map.single_dof, coord_map.single_coord),
+        (gather_ball_dofs, coord_map.ball_dof, coord_map.ball_coord),
+    ):
+        wp.launch(
+            kernel,
+            dim=(num_envs, dof_index.shape[0]),
+            inputs=[coords, dof_index, coord_index, dofs],
+            device=coords.device,
+        )
+
+
+def scatter_joint_coordinates(
+    coord_map: BallJointCoordinateMap, dofs: wp.array, coords: wp.array, env_mask: wp.array
+) -> None:
+    """Write ``dofs`` back into ``coords`` for the selected environments.
+
+    Scoping this to the written environments matters: resets are staggered, and ``dofs`` for
+    the other environments only holds the last post-step gather. An all-environment scatter
+    would overwrite their live ``joint_q`` with an exp(log(q)) round trip of itself, perturbing
+    state that was never written.
+
+    Args:
+        coord_map: Index tables from :func:`build_ball_joint_coordinate_map`.
+        dofs: DOF-space joint positions [rad or m, depending on joint type].
+        coords: Newton's joint coordinate array to write into.
+        env_mask: Per-environment boolean selection of the environments that were written.
+    """
+    for kernel, dof_index, coord_index in (
+        (scatter_single_coord_dofs, coord_map.single_dof, coord_map.single_coord),
+        (scatter_ball_dofs, coord_map.ball_dof, coord_map.ball_coord),
+    ):
+        wp.launch(
+            kernel,
+            dim=(env_mask.shape[0], dof_index.shape[0]),
+            inputs=[dofs, env_mask, dof_index, coord_index, coords],
+            device=coords.device,
+        )
diff --git a/source/isaaclab_newton/isaaclab_newton/assets/mpm_object/mpm_object_cfg.py b/source/isaaclab_newton/isaaclab_newton/assets/mpm_object/mpm_object_cfg.py
index 7102ba9fcb88..cf30ca18b99f 100644
--- a/source/isaaclab_newton/isaaclab_newton/assets/mpm_object/mpm_object_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/assets/mpm_object/mpm_object_cfg.py
@@ -9,7 +9,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.assets.deformable_object.deformable_object_cfg import DeformableObjectCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_newton.sim.spawners.mpm import MPMParticleSpawnerCfg
 
diff --git a/source/isaaclab_newton/isaaclab_newton/cloner/newton_clone_utils.py b/source/isaaclab_newton/isaaclab_newton/cloner/newton_clone_utils.py
index cd0a605c2129..31ccd501cd16 100644
--- a/source/isaaclab_newton/isaaclab_newton/cloner/newton_clone_utils.py
+++ b/source/isaaclab_newton/isaaclab_newton/cloner/newton_clone_utils.py
@@ -37,6 +37,17 @@ def _has_visible_non_collision_geometry(stage: Usd.Stage, prim_path: str) -> boo
     return False
 
 
+def _static_collider_owner_path(stage: Usd.Stage, collider_path: str) -> str:
+    """Return the nearest rigid-body ancestor or the collider's immediate parent."""
+    collider_prim = stage.GetPrimAtPath(collider_path)
+    prim = collider_prim.GetParent() if collider_prim else None
+    while prim and not prim.IsPseudoRoot():
+        if prim.HasAPI(UsdPhysics.RigidBodyAPI):
+            return str(prim.GetPath())
+        prim = prim.GetParent()
+    return collider_path.rpartition("/")[0]
+
+
 def _restore_visible_colliders_without_visual_shapes(
     builder: ModelBuilder,
     stage: Usd.Stage,
@@ -58,6 +69,14 @@ def _restore_visible_colliders_without_visual_shapes(
     """
     if not path_shape_map or not load_visual_shapes:
         return
+    # Newton may synthesize a visible ``*_visual`` mesh for a proxy-purpose collider.
+    # It is not an authored USD prim and must remain hidden alongside its source collider.
+    for index, path in enumerate(builder.shape_label):
+        if not path.endswith("_visual") or stage.GetPrimAtPath(path):
+            continue
+        collider_prim = stage.GetPrimAtPath(path.removesuffix("_visual"))
+        if collider_prim and collider_prim.HasAPI(UsdPhysics.CollisionAPI):
+            builder.shape_flags[index] &= ~ShapeFlags.VISIBLE
     bodies_with_visual_shapes = {
         builder.shape_body[index]
         for index, flags in enumerate(builder.shape_flags)
@@ -65,7 +84,7 @@ def _restore_visible_colliders_without_visual_shapes(
     }
     # Resolved on first use: a static parent whose colliders are all filtered out below is
     # never traversed at all.
-    static_parents_with_visual_shapes: dict[str, bool] = {}
+    static_owners_with_visual_shapes: dict[str, bool] = {}
     for path, index in path_shape_map.items():
         flags = builder.shape_flags[index]
         body_index = builder.shape_body[index]
@@ -76,10 +95,10 @@ def _restore_visible_colliders_without_visual_shapes(
         ):
             continue
         if body_index < 0:
-            parent_path = path.rpartition("/")[0]
-            if parent_path not in static_parents_with_visual_shapes:
-                static_parents_with_visual_shapes[parent_path] = _has_visible_non_collision_geometry(stage, parent_path)
-            if static_parents_with_visual_shapes[parent_path]:
+            owner_path = _static_collider_owner_path(stage, path)
+            if owner_path not in static_owners_with_visual_shapes:
+                static_owners_with_visual_shapes[owner_path] = _has_visible_non_collision_geometry(stage, owner_path)
+            if static_owners_with_visual_shapes[owner_path]:
                 continue
         imageable = UsdGeom.Imageable(stage.GetPrimAtPath(path))
         if (
@@ -98,13 +117,13 @@ def build_source_builders(
     *,
     ignore_paths: Sequence[str] | None = None,
     load_visual_shapes: bool = True,
+    skip_mesh_approximation: bool = False,
 ) -> dict[str, ModelBuilder]:
     """Build one Newton builder for each clone source prim path.
 
-    The cloner approximates nothing. Collision geometry is whatever the asset authored:
-    Newton's importer applies each shape's ``physics:approximation`` while importing, and
-    USD defaults that token to ``none``, meaning "use the mesh as-is". Change it where it
-    is authored -- the mesh-collision schema fragments on the spawner -- not here.
+    By default, Newton's importer applies each shape's authored
+    ``physics:approximation``. Render-only callers can bypass collision mesh
+    approximation with ``skip_mesh_approximation``.
 
     Args:
         stage: USD stage containing the source prims.
@@ -115,9 +134,18 @@ def build_source_builders(
         load_visual_shapes: Whether to import visual-only geometry. Importing it costs
             USD parse time and memory that only pays off when the shapes are rendered
             or ray cast.
+        skip_mesh_approximation: Whether to skip collision mesh approximation during import.
     """
     return {
-        source: _build_source_builder(stage, source, create_builder, schema_resolvers, ignore_paths, load_visual_shapes)
+        source: _build_source_builder(
+            stage,
+            source,
+            create_builder,
+            schema_resolvers,
+            ignore_paths,
+            load_visual_shapes,
+            skip_mesh_approximation,
+        )
         for source in sources
     }
 
@@ -129,6 +157,7 @@ def _build_source_builder(
     schema_resolvers: Sequence[Any],
     ignore_paths: Sequence[str] | None,
     load_visual_shapes: bool = True,
+    skip_mesh_approximation: bool = False,
 ) -> ModelBuilder:
     """Build one source builder."""
     builder = create_builder()
@@ -137,7 +166,7 @@ def _build_source_builder(
         root_path=source,
         load_visual_shapes=load_visual_shapes,
         hide_collision_shapes=True,
-        skip_mesh_approximation=False,
+        skip_mesh_approximation=skip_mesh_approximation,
         schema_resolvers=schema_resolvers,
         ignore_paths=ignore_paths,
     )
@@ -203,6 +232,9 @@ def _label_groups(builder: ModelBuilder) -> dict[str, list]:
     groups = {
         name: value for name, value in vars(builder).items() if name.endswith("_label") and isinstance(value, list)
     }
+    for frequency in builder.custom_frequencies.values():
+        if frequency.label_attribute is not None:
+            groups[frequency.label_attribute] = builder.custom_attributes[frequency.label_attribute].values
     groups["mujoco:equality_constraint_label"] = builder.custom_attributes["mujoco:equality_constraint_label"].values
     return groups
 
@@ -281,6 +313,8 @@ def replicate_builder_mapping(
         source_xform_inv = _invert_xform(xforms_np[0])
         xforms = _compose_world_xforms(positions, quaternions, source_xform_inv)
 
+        # Resolve label-based ownership before names become relative but target paths do not.
+        source_builder._resolve_custom_frequency_articulation_owners()
         label_groups = _label_groups(source_builder)
         original_labels = {name: list(labels) for name, labels in label_groups.items()}
         try:
diff --git a/source/isaaclab_newton/isaaclab_newton/cloner/replicate.py b/source/isaaclab_newton/isaaclab_newton/cloner/replicate.py
index 06bd4aee18cc..b7366ee3fe1d 100644
--- a/source/isaaclab_newton/isaaclab_newton/cloner/replicate.py
+++ b/source/isaaclab_newton/isaaclab_newton/cloner/replicate.py
@@ -14,7 +14,6 @@
 import numpy as np
 import warp as wp
 from newton import ModelBuilder
-from newton._src.usd.schemas import SchemaResolverNewton, SchemaResolverPhysx
 
 from pxr import Usd
 
@@ -110,8 +109,8 @@ def _build_newton_builder_from_mapping(
         quaternions = np.zeros((mapping.shape[1], 4), dtype=np.float32)
         quaternions[:, 3] = 1.0
 
-    schema_resolvers = [SchemaResolverNewton(), SchemaResolverPhysx()]
     manager_cls = PhysicsManager._sim.physics_manager
+    schema_resolvers = manager_cls._get_usd_import_schema_resolvers()
 
     builder = manager_cls.create_builder(up_axis=up_axis)
     import_paths = (PhysicsManager._sim.cfg.physics_prim_path, *global_paths)
diff --git a/source/isaaclab_newton/isaaclab_newton/envs/mdp/actions/newton_ik_actions_cfg.py b/source/isaaclab_newton/isaaclab_newton/envs/mdp/actions/newton_ik_actions_cfg.py
index e8330d62699e..435276b7f631 100644
--- a/source/isaaclab_newton/isaaclab_newton/envs/mdp/actions/newton_ik_actions_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/envs/mdp/actions/newton_ik_actions_cfg.py
@@ -9,7 +9,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.managers.action_manager import ActionTermCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_newton.ik.newton_ik_objectives_cfg import NewtonIKObjectiveCfg
 from isaaclab_newton.ik.newton_ik_solver_cfg import NewtonIKSolverCfg
diff --git a/source/isaaclab_newton/isaaclab_newton/ik/newton_ik_objectives_cfg.py b/source/isaaclab_newton/isaaclab_newton/ik/newton_ik_objectives_cfg.py
index 244113606db5..dcfd59ac28d0 100644
--- a/source/isaaclab_newton/isaaclab_newton/ik/newton_ik_objectives_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/ik/newton_ik_objectives_cfg.py
@@ -29,7 +29,7 @@
 
 from dataclasses import MISSING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_newton/isaaclab_newton/ik/newton_ik_solver_cfg.py b/source/isaaclab_newton/isaaclab_newton/ik/newton_ik_solver_cfg.py
index 520433b856c3..de4b9be08d68 100644
--- a/source/isaaclab_newton/isaaclab_newton/ik/newton_ik_solver_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/ik/newton_ik_solver_cfg.py
@@ -5,7 +5,7 @@
 
 from __future__ import annotations
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_newton/isaaclab_newton/physics/_mjwarp_view_compat.py b/source/isaaclab_newton/isaaclab_newton/physics/_mjwarp_view_compat.py
deleted file mode 100644
index 39872fa54bf1..000000000000
--- a/source/isaaclab_newton/isaaclab_newton/physics/_mjwarp_view_compat.py
+++ /dev/null
@@ -1,284 +0,0 @@
-# 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
-
-"""Back-fill the custom-frequency view API that Newton gained in newton-physics/newton#4017.
-
-Newton 1.6 exposes ``mujoco:actuator`` through :class:`~newton.selection.ArticulationView`:
-``custom_frequency_counts`` reports the per-articulation count, and ``get_attribute`` /
-``set_attribute`` reach the actuator rows. On 1.5 only ``mujoco:tendon`` is admitted -- the
-custom-frequency branch rejects every other namespace -- so the same calls raise.
-
-#4017 landed on Newton's main but was deliberately not backported to the 1.5 patch series, so it
-arrives with 1.6. :func:`ensure_newton_custom_frequency_api` supplies the missing surface in the meantime -- on the
-view (``custom_frequency_counts``/``custom_frequency_labels`` and actuator ``get_attribute`` /
-``set_attribute``) and on the model (``custom_frequency_articulation``). Because it fills the same
-names Newton 1.6 fills, :mod:`~isaaclab_newton.physics.mjwarp_tendon_control` is written against
-1.6 only and carries no version branch.
-
-Delete this module once the pinned Newton is 1.6 or newer; the only caller reverts to reading
-``articulation.root_view`` and the model straight through.
-"""
-
-from __future__ import annotations
-
-from typing import TYPE_CHECKING, Any
-
-import numpy as np
-import warp as wp
-
-if TYPE_CHECKING:
-    from newton import Control, Model, State
-    from newton.selection import ArticulationView
-
-__all__ = ["ensure_newton_custom_frequency_api"]
-
-
-@wp.kernel
-def _scatter_into_flat_rows(
-    values: wp.array3d(dtype=wp.float32),
-    rows: wp.array3d(dtype=wp.int32),
-    flat: wp.array(dtype=wp.float32),
-) -> None:
-    """Write view-shaped values into the model-global rows they belong to."""
-    world, instance, column = wp.tid()
-    flat[rows[world, instance, column]] = values[world, instance, column]
-
-
-def ensure_newton_custom_frequency_api(view: ArticulationView, model: Model):
-    """Return a ``(view, model)`` pair exposing Newton 1.6's custom-frequency API.
-
-    Args:
-        view: Articulation view to adapt.
-        model: Newton model the view selects from.
-
-    Returns:
-        The pair unchanged when Newton already provides the API, otherwise wrappers adding it.
-    """
-    if hasattr(view, "custom_frequency_counts"):
-        return view, model
-    adapted = _CustomFrequencyView(view, model)
-    return adapted, _OwnershipModel(model, adapted.actuator_owner_rows)
-
-
-class _CustomFrequencyView:
-    """Adds ``mujoco:actuator`` support to a Newton 1.5 :class:`ArticulationView`.
-
-    Everything except the custom-frequency surface is delegated to the wrapped view, so the
-    layout, masks and every other attribute stay Newton's own.
-    """
-
-    def __init__(self, view: ArticulationView, model: Model):
-        self._view = view
-        self._model = model
-        self._actuator_rows: wp.array | None = None
-
-        counts = dict(getattr(model, "custom_frequency_counts", {}) or {})
-        tendon_total = int(counts.get("mujoco:tendon", 0))
-
-        # Which model-global actuator rows belong to each articulation this view holds. Ownership
-        # is stated in the data -- ``actuator_target_label`` is the driven joint's prim path and
-        # ``articulation_label`` is the articulation's -- so it is read, never derived from
-        # strides. MEASURED: a 2-env handover model reports 80 actuators over 6 articulations,
-        # 20 per hand and none for the object, so no division recovers the per-hand count.
-        instances = max(int(view.count), 1)
-        self._tendon_count = int(getattr(view, "tendon_count", 0)) or (tendon_total // instances if tendon_total else 0)
-        self._rows_per_instance = _actuator_rows_per_instance(view, model, self._tendon_count)
-        self._total_actuator_rows = int(_to_numpy(model.mujoco.actuator_world).size)
-        self._actuator_count = int(self._rows_per_instance.shape[1])
-
-        self.custom_frequency_counts: dict[str, int] = {}
-        if self._actuator_count:
-            self.custom_frequency_counts["mujoco:actuator"] = self._actuator_count
-        if self._tendon_count:
-            self.custom_frequency_counts["mujoco:tendon"] = self._tendon_count
-
-        self.custom_frequency_labels: dict[str, list[str]] = {}
-        labels = getattr(getattr(model, "mujoco", None), "actuator_label", None)
-        if labels is not None and self._actuator_count:
-            self.custom_frequency_labels["mujoco:actuator"] = [str(labels[row]) for row in self._rows_per_instance[0]]
-        tendon_names = getattr(view, "tendon_names", None)
-        if tendon_names:
-            self.custom_frequency_labels["mujoco:tendon"] = list(tendon_names)
-
-    @property
-    def actuator_owner_rows(self) -> np.ndarray:
-        """Owning articulation id per model-global actuator row, as Newton 1.6 states it.
-
-        Newton 1.6 publishes this as ``Model.custom_frequency_articulation["mujoco:actuator"]``;
-        here it is projected from the inferred per-instance rows so the caller reads one shape.
-        """
-        owners = np.full(self._total_actuator_rows, -1, dtype=np.int64)
-        articulation_ids = _to_numpy(self._view.articulation_ids)
-        for instance, rows in enumerate(self._rows_per_instance):
-            owners[rows] = articulation_ids[instance]
-        return owners
-
-    def __getattr__(self, name: str) -> Any:
-        """Delegate everything this wrapper does not define to the wrapped view."""
-        return getattr(self._view, name)
-
-    def get_attribute(self, name: str, source: Model | State | Control):
-        """Read *name*, handling ``mujoco:actuator`` attributes Newton 1.5 rejects.
-
-        The gather runs on the host, which synchronizes the device. That is affordable because
-        the tendon adapter reads actuator attributes once while resolving its mapping; the
-        per-step path is :meth:`set_attribute`, which stays on the device.
-        """
-        if not self._is_actuator_attribute(name):
-            return self._view.get_attribute(name, source)
-        rows = self._actuator_row_table().numpy()
-        # Gather through numpy: Warp arrays do not accept an index array.
-        flat = _to_numpy(self._flat_attribute(name, source))
-        return wp.array(flat[rows], device=self._view.device)
-
-    def set_attribute(self, name: str, source: Model | State | Control, values) -> None:
-        """Write *values*, handling ``mujoco:actuator`` attributes Newton 1.5 rejects."""
-        if not self._is_actuator_attribute(name):
-            self._view.set_attribute(name, source, values)
-            return
-        rows = self._actuator_row_table()
-        if tuple(values.shape) != tuple(rows.shape):
-            raise ValueError(f"Expected values shaped {tuple(rows.shape)} for '{name}', got {tuple(values.shape)}.")
-        wp.launch(
-            _scatter_into_flat_rows,
-            dim=rows.shape,
-            inputs=[values, rows],
-            outputs=[self._flat_attribute(name, source)],
-            device=values.device,
-        )
-
-    def _is_actuator_attribute(self, name: str) -> bool:
-        """Whether *name* addresses the ``mujoco:actuator`` frequency Newton 1.5 will not resolve."""
-        return name.startswith("mujoco.actuator") or name == "mujoco.ctrl"
-
-    def _flat_attribute(self, name: str, source: Model | State | Control):
-        """Resolve a dotted ``mujoco.*`` name to the flat array on *source*."""
-        obj: Any = source
-        for part in name.split("."):
-            obj = getattr(obj, part)
-        return obj
-
-    def _actuator_row_table(self) -> wp.array:
-        """Model-global actuator row per ``(world, instance, actuator)``, built once."""
-        if self._actuator_rows is not None:
-            return self._actuator_rows
-        view = self._view
-        rows = self._rows_per_instance.reshape(view.world_count, view.count_per_world, -1)
-        _assert_rows_usable(rows, self._total_actuator_rows, self._actuator_count)
-        self._actuator_rows = wp.array(rows.astype(np.int32), dtype=wp.int32, device=view.device)
-        return self._actuator_rows
-
-
-def _actuator_rows_per_instance(view: ArticulationView, model: Model, tendon_count: int) -> np.ndarray:
-    """Model-global actuator rows owned by each articulation the view selects.
-
-    Newton 1.5 states no actuator-to-articulation mapping, and the two candidate signals are both
-    unusable: ``actuator_trnid`` is left at -1 for USD imports, and ``articulation_label`` is the
-    template path, so every clone reports the same string -- MEASURED, a 2-clone Shadow Hand scene
-    reports ``['/World/Env_0/Robot', '/World/Env_0/Robot']`` with all 40 actuator labels under
-    ``Env_0``.
-
-    What is reliable is which world a row belongs to. Partition the actuators by
-    ``actuator_world``, count the articulations in that world from its tendons, and take this
-    articulation's block by its position among them. Both counts come from the same MuJoCo
-    ordering, so the blocks line up.
-
-    Args:
-        view: Articulation view selecting the articulations.
-        model: Newton model carrying the world assignments.
-        tendon_count: Fixed tendons per articulation.
-
-    Returns:
-        Rows per instance, shape ``(view.count, actuators_per_articulation)``.
-
-    Raises:
-        ValueError: If a world does not divide evenly into equal actuator blocks.
-    """
-    actuator_worlds = _to_numpy(model.mujoco.actuator_world).astype(np.int64, copy=False)
-    tendon_worlds = _to_numpy(model.mujoco.tendon_world).astype(np.int64, copy=False)
-    ordinal = _ordinal_within_world(view, tendon_count)
-
-    # An articulation spawned outside a cloned scene keeps ``actuator_world`` at the -1 the
-    # importer writes, so partitioning by world would select nothing and silently report the
-    # articulation as having no actuators. Every row belongs to this view's single world in that
-    # case -- MEASURED on the hands demo: 20 actuators all at -1 against tendons at world 0.
-    if actuator_worlds.size and int(actuator_worlds.max()) < 0:
-        if view.count != 1:
-            raise ValueError(
-                f"MuJoCo actuator rows carry no world assignment, so the {view.count} articulations"
-                " this view selects cannot be told apart."
-            )
-        return np.arange(actuator_worlds.size, dtype=np.int64).reshape(1, -1)
-
-    per_instance = []
-    for world in range(view.world_count):
-        rows = np.flatnonzero(actuator_worlds == world)
-        # Tendons and actuators are emitted per articulation in the same order, so the tendon
-        # count reveals how many articulations share this world.
-        articulations = int(np.count_nonzero(tendon_worlds == world)) // max(tendon_count, 1)
-        if articulations <= 0 or rows.size % articulations:
-            raise ValueError(
-                f"World {world} holds {rows.size} MuJoCo actuator rows across {articulations}"
-                " articulation(s), which does not divide into equal blocks."
-            )
-        width = rows.size // articulations
-        for instance in range(view.count_per_world):
-            start = (ordinal + instance) * width
-            per_instance.append(rows[start : start + width].tolist())
-    return np.array(per_instance, dtype=np.int64).reshape(view.count, -1)
-
-
-def _ordinal_within_world(view: ArticulationView, tendon_count: int) -> int:
-    """Position of this view's articulation among those sharing a world.
-
-    The view's tendon layout offset is this articulation's first tendon row, and tendons are
-    emitted per articulation, so dividing by the per-articulation tendon count gives its index.
-    """
-    layout = getattr(view, "frequency_layouts", {}).get("mujoco:tendon")
-    if layout is None or not tendon_count:
-        return 0
-    return int(layout.offset) // tendon_count
-
-
-def _assert_rows_usable(rows: np.ndarray, total_rows: int, actuator_count: int) -> None:
-    """Reject a row table that would silently drive the wrong actuators.
-
-    A join that matched the wrong articulation still yields rows inside the model, so being in
-    range is not enough -- every row has to be distinct, or two instances share actuators.
-
-    Raises:
-        ValueError: If any row is out of range or two slots share one.
-    """
-    if rows.size and (rows.min() < 0 or rows.max() >= total_rows):
-        raise ValueError(
-            f"MuJoCo actuator rows fall outside the model's {total_rows} rows"
-            f" (got {rows.min()}..{rows.max()}); the articulation labels did not join cleanly."
-        )
-    if np.unique(rows).size != rows.size:
-        raise ValueError(
-            "MuJoCo actuator rows repeat, so two articulations would share actuators."
-            f" Expected {rows.size} distinct rows across {actuator_count} actuators per instance."
-        )
-
-
-def _to_numpy(value) -> np.ndarray:
-    """Return *value* as a numpy array, whether it is a Warp array already or a sequence."""
-    return value.numpy() if hasattr(value, "numpy") else np.asarray(value)
-
-
-class _OwnershipModel:
-    """Adds Newton 1.6's ``custom_frequency_articulation`` to a Newton 1.5 :class:`Model`.
-
-    Only the actuator frequency is supplied; everything else is delegated, so the model behaves
-    exactly as Newton's own apart from the one relation 1.5 does not state.
-    """
-
-    def __init__(self, model: Model, actuator_owner_rows: np.ndarray):
-        self._model = model
-        self.custom_frequency_articulation = {"mujoco:actuator": actuator_owner_rows}
-
-    def __getattr__(self, name: str) -> Any:
-        """Delegate everything this wrapper does not define to the wrapped model."""
-        return getattr(self._model, name)
diff --git a/source/isaaclab_newton/isaaclab_newton/physics/featherstone_manager_cfg.py b/source/isaaclab_newton/isaaclab_newton/physics/featherstone_manager_cfg.py
index 4202b46914a7..fc4278b49788 100644
--- a/source/isaaclab_newton/isaaclab_newton/physics/featherstone_manager_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/physics/featherstone_manager_cfg.py
@@ -9,7 +9,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .newton_manager_cfg import NewtonSolverCfg
 
diff --git a/source/isaaclab_newton/isaaclab_newton/physics/kamino_manager_cfg.py b/source/isaaclab_newton/isaaclab_newton/physics/kamino_manager_cfg.py
index 4901bf747378..2fc08f673a1f 100644
--- a/source/isaaclab_newton/isaaclab_newton/physics/kamino_manager_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/physics/kamino_manager_cfg.py
@@ -10,7 +10,7 @@
 from dataclasses import field
 from typing import TYPE_CHECKING, Any, Literal
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .newton_manager_cfg import NewtonSolverCfg
 
diff --git a/source/isaaclab_newton/isaaclab_newton/physics/mjwarp_manager_cfg.py b/source/isaaclab_newton/isaaclab_newton/physics/mjwarp_manager_cfg.py
index 1fce189d3207..dd525be5cff4 100644
--- a/source/isaaclab_newton/isaaclab_newton/physics/mjwarp_manager_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/physics/mjwarp_manager_cfg.py
@@ -10,7 +10,7 @@
 import warnings
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .newton_manager_cfg import NewtonSolverCfg
 
diff --git a/source/isaaclab_newton/isaaclab_newton/physics/mjwarp_tendon_control.py b/source/isaaclab_newton/isaaclab_newton/physics/mjwarp_tendon_control.py
index a8a17b849370..0d8245b5e158 100644
--- a/source/isaaclab_newton/isaaclab_newton/physics/mjwarp_tendon_control.py
+++ b/source/isaaclab_newton/isaaclab_newton/physics/mjwarp_tendon_control.py
@@ -34,8 +34,6 @@
 from isaaclab_newton.assets import kernels as shared_kernels
 from isaaclab_newton.assets.articulation import kernels as articulation_kernels
 
-from ._mjwarp_view_compat import ensure_newton_custom_frequency_api
-
 if TYPE_CHECKING:
     from newton import Control, Model
     from newton.selection import ArticulationView
@@ -66,9 +64,7 @@ def create(cls, articulation: Articulation, model: Model) -> MjWarpTendonControl
         Returns:
             The adapter, or None when the articulation's tendons are all passive.
         """
-        # Single compatibility seam: on Newton 1.6 this returns both unchanged. Everything below,
-        # and every other module, is written against 1.6 only.
-        view, model = ensure_newton_custom_frequency_api(articulation.root_view, model)
+        view = articulation.root_view
         mapping = resolve_fixed_tendon_actuator_columns(view, model)
         if mapping is None or mapping[0].size == 0:
             return None
diff --git a/source/isaaclab_newton/isaaclab_newton/physics/mpm_manager_cfg.py b/source/isaaclab_newton/isaaclab_newton/physics/mpm_manager_cfg.py
index 8d69ea06d6c3..c1b80a4a8122 100644
--- a/source/isaaclab_newton/isaaclab_newton/physics/mpm_manager_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/physics/mpm_manager_cfg.py
@@ -9,7 +9,7 @@
 
 from typing import TYPE_CHECKING, Literal
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .newton_manager_cfg import NewtonSolverCfg
 
diff --git a/source/isaaclab_newton/isaaclab_newton/physics/newton_collision_cfg.py b/source/isaaclab_newton/isaaclab_newton/physics/newton_collision_cfg.py
index c24f7e0d536e..36b5e824012f 100644
--- a/source/isaaclab_newton/isaaclab_newton/physics/newton_collision_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/physics/newton_collision_cfg.py
@@ -9,7 +9,7 @@
 
 from typing import Any, Literal
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py b/source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py
index f6749291c2cd..cc22d7878140 100644
--- a/source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py
+++ b/source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py
@@ -75,8 +75,8 @@ def _paused_gc():
 from newton.sensors import SensorContact as NewtonContactSensor
 from newton.sensors import SensorFrameTransform
 from newton.sensors import SensorIMU as NewtonSensorIMU
-from newton.solvers import SolverBase, SolverKamino
-from newton.usd import SchemaResolverNewton, SchemaResolverPhysx
+from newton.solvers import SolverBase, SolverKamino, SolverMuJoCo
+from newton.usd import SchemaResolver, SchemaResolverMjc, SchemaResolverNewton, SchemaResolverPhysx
 
 from pxr import Usd, UsdGeom
 
@@ -477,6 +477,7 @@ class NewtonManager(PhysicsManager):
 
     # Newton scene-query scheduling and graph execution.
     _sensor_tasks: dict[str, Callable[[], None]] = {}
+    _sensor_eager_tasks: set[str] = set()
     _sensor_graph: wp.Graph | None = None
     _sensor_flags: wp.array | None = None
     _sensor_flags_host: np.ndarray | None = None
@@ -1131,6 +1132,7 @@ def clear(cls):
             callback.deregister()
         NewtonManager._use_fabric_gpu_hierarchy = None
         NewtonManager._newton_fabric_ready = False
+        NewtonManager._num_envs = None
         NewtonManager._builder = None
         NewtonManager._model = None
         NewtonManager._solver = None
@@ -1167,6 +1169,7 @@ def clear(cls):
         NewtonManager._graph = None
         NewtonManager._graph_capture_pending = False
         NewtonManager._sensor_tasks = {}
+        NewtonManager._sensor_eager_tasks = set()
         NewtonManager._invalidate_sensor_graph()
         NewtonManager._sensor_state = None
         NewtonManager._sensor_state_dirty = True
@@ -1257,6 +1260,11 @@ def _register_builder_attributes(cls, builder: ModelBuilder) -> None:
         for solver_cls in cls._builder_attribute_solvers:
             solver_cls.register_custom_attributes(builder)
 
+    @classmethod
+    def _registers_builder_attributes_from_solver(cls, solver_cls: type[SolverBase]) -> bool:
+        """Return whether this manager registers custom attributes from ``solver_cls``."""
+        return solver_cls in cls._builder_attribute_solvers
+
     @classmethod
     def _prepare_builder_for_finalize(cls, builder: ModelBuilder) -> None:
         """Subclass hook to normalize *builder* before model finalization.
@@ -1623,6 +1631,8 @@ def start_simulation(cls) -> None:
                 cls._model.soft_contact_kd = float(cfg.soft_contact_cfg.soft_contact_kd)
                 cls._model.soft_contact_mu = float(cfg.soft_contact_cfg.soft_contact_mu)
             cls._model.set_gravity(cls._gravity_vector)
+            if cls._num_envs is None:
+                NewtonManager._num_envs = cls._model.world_count
             cls._model.num_envs = cls._num_envs
 
         if cls._pending_extended_contact_attributes:
@@ -1914,6 +1924,19 @@ def _get_usd_import_ignore_paths(cls) -> list[str]:
         """Return solver-specific prim paths excluded from USD import."""
         return []
 
+    @classmethod
+    def _get_usd_import_schema_resolvers(cls) -> list[SchemaResolver]:
+        """Return ordered schema resolvers for physics-model USD imports.
+
+        MJC is enabled for managers that register ``SolverMuJoCo`` attributes.
+        Visualization and articulation-ordering builders keep their fixed pair
+        because solver attributes do not affect their outputs.
+        """
+        resolvers: list[SchemaResolver] = [SchemaResolverNewton(), SchemaResolverPhysx()]
+        if cls._registers_builder_attributes_from_solver(SolverMuJoCo):
+            resolvers.append(SchemaResolverMjc())
+        return resolvers
+
     @classmethod
     def instantiate_builder_from_stage(cls):
         """Create builder from USD stage.
@@ -1943,7 +1966,7 @@ def instantiate_builder_from_stage(cls):
 
         builder = cls.create_builder(up_axis=up_axis)
 
-        schema_resolvers = [SchemaResolverNewton(), SchemaResolverPhysx()]
+        schema_resolvers = cls._get_usd_import_schema_resolvers()
 
         # NOTE: None of the add_usd calls below pass joint_ordering or
         # bodies_follow_joint_ordering, so the live articulation's native
@@ -2693,12 +2716,13 @@ def get_contacts(cls) -> Contacts | None:
         return cls._contacts
 
     @classmethod
-    def _register_sensor_task(cls, name: str, update_fn: Callable[[], None]) -> None:
-        """Register a graph-capturable scene-query task.
+    def _register_sensor_task(cls, name: str, update_fn: Callable[[], None], *, graph_capturable: bool = True) -> None:
+        """Register a scene-query task.
 
         Args:
             name: Unique task name.
-            update_fn: Graph-capturable callable run by :meth:`_update_sensor_tasks`.
+            update_fn: Callable run by :meth:`_update_sensor_tasks`.
+            graph_capturable: Whether ``update_fn`` supports conditional CUDA graph capture.
         """
         if name in cls._sensor_tasks:
             raise ValueError(f"Newton sensor task '{name}' is already registered.")
@@ -2711,6 +2735,8 @@ def _register_sensor_task(cls, name: str, update_fn: Callable[[], None]) -> None
         if model.particle_count > 0 and model.bvh_particles is None:
             model.bvh_build_particles(state)
         cls._sensor_tasks[name] = update_fn
+        if not graph_capturable:
+            cls._sensor_eager_tasks.add(name)
         cls._sensor_state = state
         cls._sensor_state_dirty = True
         cls._invalidate_sensor_graph()
@@ -2719,6 +2745,7 @@ def _register_sensor_task(cls, name: str, update_fn: Callable[[], None]) -> None
     def _unregister_sensor_task(cls, name: str) -> None:
         """Remove a scene-query task, ignoring unknown names."""
         if cls._sensor_tasks.pop(name, None) is not None:
+            cls._sensor_eager_tasks.discard(name)
             cls._invalidate_sensor_graph()
 
     @classmethod
@@ -2734,6 +2761,13 @@ def _update_sensor_tasks(cls, *names: str) -> None:
             cls._sensor_state = state
             cls._sensor_state_dirty = True
             cls._invalidate_sensor_graph()
+        if cls._sensor_eager_tasks.intersection(names):
+            if cls._sensor_state_dirty:
+                cls._refit_sensor_bvh()
+                cls._sensor_state_dirty = False
+            for name in names:
+                cls._sensor_tasks[name]()
+            return
         cfg = PhysicsManager._cfg
         use_cuda_graph = bool(getattr(cfg, "use_cuda_graph", False)) and "cuda" in str(PhysicsManager._device)
         if use_cuda_graph and cls._sensor_graph is None and not cls._sensor_graph_capture_failed:
@@ -2750,7 +2784,7 @@ def _update_sensor_tasks(cls, *names: str) -> None:
         assert cls._sensor_flags is not None
         cls._sensor_flags_host.fill(0)
         cls._sensor_flags_host[0] = int(cls._sensor_state_dirty)
-        task_names = tuple(cls._sensor_tasks)
+        task_names = tuple(name for name in cls._sensor_tasks if name not in cls._sensor_eager_tasks)
         for name in names:
             cls._sensor_flags_host[1 + task_names.index(name)] = 1
         cls._sensor_flags.assign(cls._sensor_flags_host)
@@ -2806,19 +2840,21 @@ def _invalidate_sensor_graph(cls) -> None:
     @classmethod
     def _capture_sensor_graph(cls) -> None:
         """Capture BVH refit and scene-query tasks into a conditional graph."""
+        graph_tasks = tuple(
+            update_fn for name, update_fn in cls._sensor_tasks.items() if name not in cls._sensor_eager_tasks
+        )
         with wp.ScopedDevice(PhysicsManager._device):
             cls._refit_sensor_bvh()
-            for update_fn in cls._sensor_tasks.values():
+            for update_fn in graph_tasks:
                 update_fn()
 
-        cls._sensor_flags = wp.zeros(1 + len(cls._sensor_tasks), dtype=wp.int32, device=PhysicsManager._device)
-        cls._sensor_flags_host = np.zeros(1 + len(cls._sensor_tasks), dtype=np.int32)
-        update_fns = tuple(cls._sensor_tasks.values())
+        cls._sensor_flags = wp.zeros(1 + len(graph_tasks), dtype=wp.int32, device=PhysicsManager._device)
+        cls._sensor_flags_host = np.zeros(1 + len(graph_tasks), dtype=np.int32)
 
         def pipeline() -> None:
             assert cls._sensor_flags is not None
             wp.capture_if(cls._sensor_flags[0:1], cls._refit_sensor_bvh)
-            for index, update_fn in enumerate(update_fns):
+            for index, update_fn in enumerate(graph_tasks):
                 wp.capture_if(cls._sensor_flags[index + 1 : index + 2], update_fn)
 
         device = PhysicsManager._device
@@ -2838,7 +2874,7 @@ def pipeline() -> None:
             cls._sensor_graph_capture_failed = True
             logger.warning("Newton sensor graph capture failed; falling back to eager execution.")
         else:
-            logger.info("Captured Newton sensor graph with %d task(s).", len(cls._sensor_tasks))
+            logger.info("Captured Newton sensor graph with %d task(s).", len(graph_tasks))
 
     @classmethod
     def get_num_envs(cls) -> int:
@@ -2906,6 +2942,7 @@ def _ensure_visualization_model(cls) -> None:
         builder, (shadow_entities, registry_groups) = build_visualization_builder_from_stage_envs(
             stage, env_paths, clone_plan, up_axis=up_axis, device=str(PhysicsManager._device or "cpu")
         )
+        NewtonManager._scene_data_mapping = None
         NewtonManager._shadow_deformable_entities = shadow_entities
         NewtonManager._scene_data_geometry_mapping = None
         NewtonManager._mapped_sim_particle_offsets = None
diff --git a/source/isaaclab_newton/isaaclab_newton/physics/newton_manager_cfg.py b/source/isaaclab_newton/isaaclab_newton/physics/newton_manager_cfg.py
index e97f604e16de..4a2b5189511a 100644
--- a/source/isaaclab_newton/isaaclab_newton/physics/newton_manager_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/physics/newton_manager_cfg.py
@@ -11,7 +11,7 @@
 from typing import TYPE_CHECKING, Literal
 
 from isaaclab.physics import PhysicsCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_newton.physics.newton_collision_cfg import NewtonCollisionPipelineCfg
 
diff --git a/source/isaaclab_newton/isaaclab_newton/physics/vbd_manager.py b/source/isaaclab_newton/isaaclab_newton/physics/vbd_manager.py
index e20100d709e7..b2a7451be395 100644
--- a/source/isaaclab_newton/isaaclab_newton/physics/vbd_manager.py
+++ b/source/isaaclab_newton/isaaclab_newton/physics/vbd_manager.py
@@ -38,7 +38,7 @@ def initialize(cls, sim_context: SimulationContext) -> None:
     def start_simulation(cls) -> None:
         """Start simulation and bind registered deformables to Fabric."""
         if cls._builder is not None:
-            cls._builder.color()
+            cls._builder.color(balance_colors=False)
         super().start_simulation()
         try:
             from isaaclab_contrib.deformable.deformable_object import setup_registered_deformable_fabric_sync
@@ -54,7 +54,9 @@ def instantiate_builder_from_stage(cls) -> None:
         super().instantiate_builder_from_stage()
         if cls._builder is None:
             raise RuntimeError("Newton stage import did not create a builder.")
-        cls._builder.color()
+        # Warp's optional balancing pass can cycle indefinitely for valid graph colorings.
+        # The initial assignment is sufficient for VBD correctness.
+        cls._builder.color(balance_colors=False)
 
     @classmethod
     def _get_usd_import_ignore_paths(cls) -> list[str]:
diff --git a/source/isaaclab_newton/isaaclab_newton/physics/vbd_manager_cfg.py b/source/isaaclab_newton/isaaclab_newton/physics/vbd_manager_cfg.py
index 2923f8c7e6bc..70306c861f35 100644
--- a/source/isaaclab_newton/isaaclab_newton/physics/vbd_manager_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/physics/vbd_manager_cfg.py
@@ -9,7 +9,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .newton_manager_cfg import NewtonSolverCfg
 
diff --git a/source/isaaclab_newton/isaaclab_newton/physics/visualization_builder.py b/source/isaaclab_newton/isaaclab_newton/physics/visualization_builder.py
index 9c12ad784ac2..bd9f775d90fd 100644
--- a/source/isaaclab_newton/isaaclab_newton/physics/visualization_builder.py
+++ b/source/isaaclab_newton/isaaclab_newton/physics/visualization_builder.py
@@ -106,6 +106,7 @@ def build_visualization_builder_from_stage_envs(
             stage,
             schema_resolvers=schema_resolvers,
             ignore_paths=deformable_ignore_paths or None,
+            skip_mesh_approximation=True,
         )
         _restore_visible_colliders_without_visual_shapes(builder, stage, import_result["path_shape_map"])
         import_builder_visual_material_paths(builder, stage)
@@ -136,6 +137,7 @@ def build_visualization_builder_from_stage_envs(
         stage,
         ignore_paths=["/World/envs", *sources, *deformable_ignore_paths],
         schema_resolvers=schema_resolvers,
+        skip_mesh_approximation=True,
     )
     _restore_visible_colliders_without_visual_shapes(builder, stage, import_result["path_shape_map"])
     import_builder_visual_material_paths(builder, stage)
@@ -146,6 +148,7 @@ def build_visualization_builder_from_stage_envs(
         lambda: ModelBuilder(up_axis=up_axis),
         schema_resolvers,
         ignore_paths=source_deformable_ignore_paths or None,
+        skip_mesh_approximation=True,
     )
     global_builder = builder
     builder = ModelBuilder(up_axis=up_axis)  # Preserve Newton's compact empty filter store.
diff --git a/source/isaaclab_newton/isaaclab_newton/physics/xpbd_manager_cfg.py b/source/isaaclab_newton/isaaclab_newton/physics/xpbd_manager_cfg.py
index bc8fd3c9813d..0555bd95a412 100644
--- a/source/isaaclab_newton/isaaclab_newton/physics/xpbd_manager_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/physics/xpbd_manager_cfg.py
@@ -9,7 +9,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .newton_manager_cfg import NewtonSolverCfg
 
diff --git a/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer.py b/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer.py
index 1f6abd2f4863..03723ec47599 100644
--- a/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer.py
+++ b/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer.py
@@ -553,7 +553,14 @@ def render(self, render_data: RenderData):
 
         if render_data.sensor_task_name is None:
             render_data.sensor_task_name = f"newton_warp_render:{id(render_data)}"
-            NewtonManager._register_sensor_task(render_data.sensor_task_name, lambda: self._launch_render(render_data))
+            tri_indices = self._newton_model.tri_indices
+            # Warp mesh refits allocate graph nodes and are not supported inside a conditional graph body.
+            graph_capturable = tri_indices is None or tri_indices.shape[0] == 0
+            NewtonManager._register_sensor_task(
+                render_data.sensor_task_name,
+                lambda: self._launch_render(render_data),
+                graph_capturable=graph_capturable,
+            )
         NewtonManager._update_sensor_tasks(render_data.sensor_task_name)
 
         # Post-render PPISP: HDR scene-linear → LDR RGBA. Source/destination
diff --git a/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer_cfg.py b/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer_cfg.py
index 661887b7c139..569a704a55df 100644
--- a/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer_cfg.py
@@ -10,7 +10,7 @@
 from typing import TYPE_CHECKING, Literal
 
 from isaaclab.renderers.renderer_cfg import RendererCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .newton_warp_renderer import NewtonWarpRenderer
diff --git a/source/isaaclab_newton/isaaclab_newton/sensors/contact_sensor/contact_sensor.py b/source/isaaclab_newton/isaaclab_newton/sensors/contact_sensor/contact_sensor.py
index 4a020b9dccc5..b4cf8b0b18f8 100644
--- a/source/isaaclab_newton/isaaclab_newton/sensors/contact_sensor/contact_sensor.py
+++ b/source/isaaclab_newton/isaaclab_newton/sensors/contact_sensor/contact_sensor.py
@@ -200,12 +200,13 @@ def find_sensors(self, name_keys: str | Sequence[str], preserve_order: bool = Fa
             )
         return string_utils.resolve_matching_names(name_keys, sensor_names, preserve_order)
 
-    def compute_first_contact(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArray:
+    def compute_first_contact(self, dt: float, abs_tol: float | None = None) -> ProxyArray:
         """Checks if sensors that have established contact within the last :attr:`dt` seconds.
 
         This function checks if the sensors have established contact within the last :attr:`dt` seconds
         by comparing the current contact time with the given time period. If the contact time is less
-        than the given time period, then the sensors are considered to be in contact.
+        than the given time period, then the sensors are considered to be in contact. Outdated sensor
+        buffers are refreshed before the comparison.
 
         Note:
             The function assumes that :attr:`dt` is a factor of the sensor update time-step. In other
@@ -215,7 +216,8 @@ def compute_first_contact(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArra
 
         Args:
             dt: The time period since the contact was established.
-            abs_tol: The absolute tolerance for the comparison.
+            abs_tol: The absolute tolerance for the comparison [s]. Defaults to None, in which case
+                half the sensor update interval is used.
 
         Returns:
             A float array (1.0/0.0) indicating the sensors that have established contact within the
@@ -232,21 +234,25 @@ def compute_first_contact(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArra
                 "The contact sensor is not configured to track contact time."
                 "Please enable the 'track_air_time' in the sensor configuration."
             )
+        tol = self._resolve_first_transition_tolerance(abs_tol)
+        # refresh lazily updated buffers so the timers reflect the current physics step
+        self._update_outdated_buffers()
         wp.launch(
             compute_first_transition_kernel,
             dim=(self._num_envs, self._num_sensors),
-            inputs=[float(dt + abs_tol), self._data._current_contact_time],
+            inputs=[float(dt + tol), self._data._current_contact_time],
             outputs=[self._data._first_transition],
             device=self._device,
         )
         return self._data._first_transition_ta
 
-    def compute_first_air(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArray:
+    def compute_first_air(self, dt: float, abs_tol: float | None = None) -> ProxyArray:
         """Checks if sensors that have broken contact within the last :attr:`dt` seconds.
 
         This function checks if the sensors have broken contact within the last :attr:`dt` seconds
         by comparing the current air time with the given time period. If the air time is less
-        than the given time period, then the sensors are considered to not be in contact.
+        than the given time period, then the sensors are considered to not be in contact. Outdated sensor
+        buffers are refreshed before the comparison.
 
         Note:
             It assumes that :attr:`dt` is a factor of the sensor update time-step. In other words,
@@ -256,7 +262,8 @@ def compute_first_air(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArray:
 
         Args:
             dt: The time period since the contract is broken.
-            abs_tol: The absolute tolerance for the comparison.
+            abs_tol: The absolute tolerance for the comparison [s]. Defaults to None, in which case
+                half the sensor update interval is used.
 
         Returns:
             A float array (1.0/0.0) indicating the sensors that have broken contact within the last
@@ -274,10 +281,13 @@ def compute_first_air(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArray:
                 "Please enable the 'track_air_time' in the sensor configuration."
             )
 
+        tol = self._resolve_first_transition_tolerance(abs_tol)
+        # refresh lazily updated buffers so the timers reflect the current physics step
+        self._update_outdated_buffers()
         wp.launch(
             compute_first_transition_kernel,
             dim=(self._num_envs, self._num_sensors),
-            inputs=[float(dt + abs_tol), self._data._current_air_time],
+            inputs=[float(dt + tol), self._data._current_air_time],
             outputs=[self._data._first_transition],
             device=self._device,
         )
diff --git a/source/isaaclab_newton/isaaclab_newton/sensors/contact_sensor/contact_sensor_cfg.py b/source/isaaclab_newton/isaaclab_newton/sensors/contact_sensor/contact_sensor_cfg.py
index dde248ad1d4e..af4ea576fe4b 100644
--- a/source/isaaclab_newton/isaaclab_newton/sensors/contact_sensor/contact_sensor_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/sensors/contact_sensor/contact_sensor_cfg.py
@@ -7,7 +7,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.sensors.contact_sensor.contact_sensor_cfg import ContactSensorCfg as BaseContactSensorCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .contact_sensor import ContactSensor
diff --git a/source/isaaclab_newton/isaaclab_newton/sensors/ray_caster/newton_raycast_sensor_cfg.py b/source/isaaclab_newton/isaaclab_newton/sensors/ray_caster/newton_raycast_sensor_cfg.py
index 39b474babbd5..43064d37e8f3 100644
--- a/source/isaaclab_newton/isaaclab_newton/sensors/ray_caster/newton_raycast_sensor_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/sensors/ray_caster/newton_raycast_sensor_cfg.py
@@ -10,7 +10,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.sensors.ray_caster.ray_caster_cfg import RayCasterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .newton_raycast_sensor import NewtonRaycastSensor
diff --git a/source/isaaclab_newton/isaaclab_newton/sim/schemas/schemas_cfg.py b/source/isaaclab_newton/isaaclab_newton/sim/schemas/schemas_cfg.py
index 53dd0e08fcf9..38a8729cd13e 100644
--- a/source/isaaclab_newton/isaaclab_newton/sim/schemas/schemas_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/sim/schemas/schemas_cfg.py
@@ -23,7 +23,7 @@
     RigidBodyFragment,
 )
 from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialBaseCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_newton/isaaclab_newton/sim/spawners/materials/physics_materials_cfg.py b/source/isaaclab_newton/isaaclab_newton/sim/spawners/materials/physics_materials_cfg.py
index e0027a815530..d139cff41dff 100644
--- a/source/isaaclab_newton/isaaclab_newton/sim/spawners/materials/physics_materials_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/sim/spawners/materials/physics_materials_cfg.py
@@ -13,7 +13,7 @@
     RigidBodyMaterialFragment,
     SurfaceDeformableBodyMaterialBaseCfg,
 )
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_newton/isaaclab_newton/sim/spawners/mpm/mpm_cfg.py b/source/isaaclab_newton/isaaclab_newton/sim/spawners/mpm/mpm_cfg.py
index b8efba3fb062..3d9b2987236d 100644
--- a/source/isaaclab_newton/isaaclab_newton/sim/spawners/mpm/mpm_cfg.py
+++ b/source/isaaclab_newton/isaaclab_newton/sim/spawners/mpm/mpm_cfg.py
@@ -11,7 +11,7 @@
 
 from isaaclab.sim.spawners.materials.visual_materials_cfg import VisualMaterialCfg
 from isaaclab.sim.spawners.spawner_cfg import SpawnerCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_newton/isaaclab_newton/test/fixtures/views/mock_articulation_view.py b/source/isaaclab_newton/isaaclab_newton/test/fixtures/views/mock_articulation_view.py
index 3820642a0422..7300f3f2175b 100644
--- a/source/isaaclab_newton/isaaclab_newton/test/fixtures/views/mock_articulation_view.py
+++ b/source/isaaclab_newton/isaaclab_newton/test/fixtures/views/mock_articulation_view.py
@@ -240,6 +240,7 @@ def __init__(
         joint_names: list[str] | None = None,
         body_names: list[str] | None = None,
         tendon_names: list[str] | None = None,
+        joint_coord_counts: list[int] | None = None,
     ):
         """Initialize the mock Newton articulation view.
 
@@ -253,6 +254,10 @@ def __init__(
             joint_names: Names of joints. Defaults to ["joint_0", ...].
             body_names: Names of bodies. Defaults to ["body_0", ...].
             tendon_names: Names of fixed tendons. Defaults to ["tendon_0", ...].
+            joint_coord_counts: Coordinate count per selected joint, e.g. ``[1, 4, 1]`` for a
+                three-joint articulation with a ball joint in the middle. Must sum with its
+                matching per-joint DOF counts (inferred as 3 in place of any ``4``, 1 otherwise)
+                to ``num_joints`` DOFs. Defaults to one coordinate per DOF -- no ball joints.
         """
         self._count = num_instances
         self._link_count = num_bodies
@@ -261,6 +266,10 @@ def __init__(
         self._device = device
         self._is_fixed_base = is_fixed_base
         self._noop_setters = False
+        self._joint_coord_counts_override = joint_coord_counts
+        # Real Newton's ``get_dof_positions`` returns ``joint_q`` (coordinate space), wider than the
+        # DOF count whenever a ball joint is present; fake that width here too.
+        self._joint_coord_count_total = sum(joint_coord_counts) if joint_coord_counts is not None else num_joints
 
         # Set joint and body names
         self._joint_dof_names = joint_names if joint_names is not None else [f"joint_{i}" for i in range(num_joints)]
@@ -320,6 +329,20 @@ def joint_dof_count(self) -> int:
         """Number of DOFs (joints) per instance."""
         return self._joint_dof_count
 
+    @property
+    def joint_dof_counts(self) -> list[int]:
+        """DOF count per selected joint. One DOF per joint unless a ball layout was requested."""
+        if self._joint_coord_counts_override is None:
+            return [1] * self._joint_dof_count
+        return [3 if n_coords == 4 else 1 for n_coords in self._joint_coord_counts_override]
+
+    @property
+    def joint_coord_counts(self) -> list[int]:
+        """Coordinate count per selected joint. Equal to :attr:`joint_dof_counts` unless a ball layout was requested."""
+        if self._joint_coord_counts_override is None:
+            return [1] * self._joint_dof_count
+        return list(self._joint_coord_counts_override)
+
     @property
     def is_fixed_base(self) -> bool:
         """Whether the articulation has a fixed base."""
@@ -396,10 +419,10 @@ def _ensure_link_velocities(self) -> wp.array | None:
         return self._link_velocities
 
     def _ensure_dof_positions(self) -> wp.array:
-        """Lazily create DOF positions."""
+        """Lazily create DOF positions, in coordinate space (see ``_joint_coord_count_total``)."""
         if self._dof_positions is None:
             self._dof_positions = wp.zeros(
-                (self._count, 1, self._joint_dof_count), dtype=wp.float32, device=self._device
+                (self._count, 1, self._joint_coord_count_total), dtype=wp.float32, device=self._device
             )
         return self._dof_positions
 
@@ -719,8 +742,10 @@ def set_random_mock_data(self) -> None:
             link_vel_np = np.random.randn(N, 1, L, 6).astype(np.float32)
             self._link_velocities = wp.array(link_vel_np, dtype=wp.spatial_vectorf, device=dev)
 
-        # DOF state
-        self._dof_positions = wp.array(np.random.randn(N, 1, J).astype(np.float32), dtype=wp.float32, device=dev)
+        # DOF state -- positions are coordinate-space width (see ``_joint_coord_count_total``),
+        # velocities are always DOF-space width.
+        C = self._joint_coord_count_total
+        self._dof_positions = wp.array(np.random.randn(N, 1, C).astype(np.float32), dtype=wp.float32, device=dev)
         self._dof_velocities = wp.array(np.random.randn(N, 1, J).astype(np.float32), dtype=wp.float32, device=dev)
 
         # Body properties
diff --git a/source/isaaclab_newton/pyproject.toml b/source/isaaclab_newton/pyproject.toml
index 6f367bce18d4..f53a58c972dd 100644
--- a/source/isaaclab_newton/pyproject.toml
+++ b/source/isaaclab_newton/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab_newton"
-version = "6.1.1"
+version = "6.3.0"
 description = "Extension providing IsaacLab with Newton specific abstractions."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]
diff --git a/source/isaaclab_newton/test/assets/test_articulation.py b/source/isaaclab_newton/test/assets/test_articulation.py
index c33712acb3c5..e6c588728749 100644
--- a/source/isaaclab_newton/test/assets/test_articulation.py
+++ b/source/isaaclab_newton/test/assets/test_articulation.py
@@ -659,6 +659,24 @@ def test_prepare_native_actuators_does_not_zero_solver_gains(monkeypatch):
     assert gain_writes == []
 
 
+def test_prepare_native_actuators_leaves_implicit_only_articulation_on_standard_path(monkeypatch):
+    """Keep implicit-only articulations on the unchanged solver-drive path."""
+    activation_calls = []
+    articulation = SimpleNamespace(_sim_cfg=SimpleNamespace(use_newton_actuators=True))
+    monkeypatch.setattr(SimulationManager, "activate_newton_actuator_path", lambda: activation_calls.append(True))
+
+    control = NewtonActuatorControl(articulation)
+    native_groups = control.prepare_native_actuators(
+        collection=None,
+        actuator_cfgs={"implicit": ImplicitActuatorCfg(joint_names_expr=["joint"], stiffness=10.0, damping=1.0)},
+    )
+
+    assert native_groups == set()
+    assert not control.native_actuator_path_active
+    assert not articulation._has_newton_actuators
+    assert activation_calls == []
+
+
 @pytest.mark.parametrize(
     ("actuator_cfg", "expected_mode", "expected_actuator_indices"),
     [
@@ -1065,8 +1083,9 @@ def test_newton_ordered_body_state_cache_invalidates_on_same_timestamp_root_writ
 @pytest.mark.parametrize("gravity_enabled", [False])
 @pytest.mark.parametrize("articulation_type", ["panda"])
 @pytest.mark.parametrize("ordering_mode", ["none", "reversed"])
+@pytest.mark.parametrize("use_newton_actuators", [False])
 def test_newton_ordered_state_caches_invalidate_on_rebind(
-    sim, num_articulations, device, gravity_enabled, articulation_type, ordering_mode
+    sim, num_articulations, device, gravity_enabled, articulation_type, ordering_mode, use_newton_actuators
 ):
     """Rebind public state to recreated Newton arrays and invalidate ordered caches."""
     articulation_cfg = generate_articulation_cfg(articulation_type=articulation_type)
@@ -1268,8 +1287,9 @@ def test_newton_ordered_state_caches_invalidate_on_rebind(
 @pytest.mark.parametrize("gravity_enabled", [True])
 @pytest.mark.parametrize("articulation_type", ["anymal"])
 @pytest.mark.parametrize("ordering_mode", ["none", "reversed"])
+@pytest.mark.parametrize("use_newton_actuators", [False])
 def test_newton_rebind_preserves_lab_owned_actuator_gains(
-    sim, num_articulations, device, gravity_enabled, articulation_type, ordering_mode
+    sim, num_articulations, device, gravity_enabled, articulation_type, ordering_mode, use_newton_actuators
 ):
     """Keep Lab-owned actuator gains across a rebind that re-seeds the solver's sim gains.
 
@@ -1592,7 +1612,7 @@ def test_initialization_floating_base_non_root(sim, num_articulations, device, a
     # -- actuator type
     for actuator_name, actuator in articulation.actuators.items():
         is_implicit_model_cfg = isinstance(articulation_cfg.actuators[actuator_name], ImplicitActuatorCfg)
-        assert actuator.is_implicit_model == is_implicit_model_cfg
+        assert getattr(actuator, "is_implicit_model", False) == is_implicit_model_cfg
 
     # Simulate physics
     for _ in range(10):
@@ -1687,7 +1707,7 @@ def test_initialization_floating_base(sim, num_articulations, device, add_ground
     # -- actuator type
     for actuator_name, actuator in articulation.actuators.items():
         is_implicit_model_cfg = isinstance(articulation_cfg.actuators[actuator_name], ImplicitActuatorCfg)
-        assert actuator.is_implicit_model == is_implicit_model_cfg
+        assert getattr(actuator, "is_implicit_model", False) == is_implicit_model_cfg
 
     # Simulate physics
     for _ in range(10):
@@ -1736,7 +1756,7 @@ def test_initialization_fixed_base(sim, num_articulations, device, articulation_
     # -- actuator type
     for actuator_name, actuator in articulation.actuators.items():
         is_implicit_model_cfg = isinstance(articulation_cfg.actuators[actuator_name], ImplicitActuatorCfg)
-        assert actuator.is_implicit_model == is_implicit_model_cfg
+        assert getattr(actuator, "is_implicit_model", False) == is_implicit_model_cfg
 
     # Simulate physics
     for _ in range(10):
@@ -1846,7 +1866,7 @@ def test_initialization_fixed_base_single_joint(sim, num_articulations, device,
     # -- actuator type
     for actuator_name, actuator in articulation.actuators.items():
         is_implicit_model_cfg = isinstance(articulation_cfg.actuators[actuator_name], ImplicitActuatorCfg)
-        assert actuator.is_implicit_model == is_implicit_model_cfg
+        assert getattr(actuator, "is_implicit_model", False) == is_implicit_model_cfg
 
     # Simulate physics
     for _ in range(10):
@@ -1903,7 +1923,7 @@ def test_initialization_hand_with_tendons(sim, num_articulations, device, articu
     # -- actuator type
     for actuator_name, actuator in articulation.actuators.items():
         is_implicit_model_cfg = isinstance(articulation_cfg.actuators[actuator_name], ImplicitActuatorCfg)
-        assert actuator.is_implicit_model == is_implicit_model_cfg
+        assert getattr(actuator, "is_implicit_model", False) == is_implicit_model_cfg
 
     # Simulate physics
     for _ in range(10):
@@ -2824,8 +2844,9 @@ def test_setting_velocity_limit_implicit(
 @pytest.mark.parametrize("joint_velocity_limit", [1e5, None])
 @pytest.mark.parametrize("vel_limit", [1e2, None])
 @pytest.mark.parametrize("articulation_type", ["single_joint_explicit"])  # consumed by the sim fixture
+@pytest.mark.parametrize("use_newton_actuators", [False])
 def test_setting_velocity_limit_explicit(
-    sim, articulation_type, num_articulations, device, joint_velocity_limit, vel_limit
+    sim, articulation_type, num_articulations, device, joint_velocity_limit, vel_limit, use_newton_actuators
 ):
     """Test setting of velocity limit for explicit actuators."""
     articulation_cfg = generate_articulation_cfg(
@@ -2924,8 +2945,15 @@ def test_setting_effort_limit_implicit(sim, articulation_type, num_articulations
 @pytest.mark.parametrize("joint_effort_limit", [1e5, None])
 @pytest.mark.parametrize("actuator_effort_limit", [1e2, None])
 @pytest.mark.parametrize("articulation_type", ["single_joint_explicit"])  # consumed by the sim fixture
+@pytest.mark.parametrize("use_newton_actuators", [False])
 def test_setting_effort_limit_explicit(
-    sim, articulation_type, num_articulations, device, joint_effort_limit, actuator_effort_limit
+    sim,
+    articulation_type,
+    num_articulations,
+    device,
+    joint_effort_limit,
+    actuator_effort_limit,
+    use_newton_actuators,
 ):
     """Test setting of effort limit for explicit actuators.
 
@@ -4148,7 +4176,7 @@ def test_get_jacobians_link_origin_contract(sim, num_articulations, device, arti
     independently:
 
     * Predicted by ``J · q_dot``: takes the (already-shifted) Jacobian
-      and the same ``q_dot`` Newton has post-step. Linear rows should
+      and the same ``q_dot`` Newton has after the kinematics refresh. Linear rows should
       equal v_origin.
     * Ground truth from ``state.body_qd``: read Newton's per-body spatial
       twist directly via ``ArticulationView.get_link_velocities`` (which
@@ -4169,7 +4197,9 @@ def test_get_jacobians_link_origin_contract(sim, num_articulations, device, arti
     torch.manual_seed(0)
     qdot = torch.randn(num_articulations, articulation.num_joints, device=device) * 0.5
     articulation.write_joint_velocity_to_sim_index(velocity=qdot)
-    sim.step()
+    # Refresh kinematics without integrating: for floating bases, an actuator step can
+    # introduce root motion that is intentionally absent from the actuated-only J slice.
+    sim.forward()
     articulation.update(sim.cfg.dt)
 
     # body_link_jacobian_w prepends ``num_base_dofs`` floating-base columns; slice past
diff --git a/source/isaaclab_newton/test/assets/test_cable_object.py b/source/isaaclab_newton/test/assets/test_cable_object.py
index 3e1d1a667cf9..d4f167fb741e 100644
--- a/source/isaaclab_newton/test/assets/test_cable_object.py
+++ b/source/isaaclab_newton/test/assets/test_cable_object.py
@@ -25,7 +25,7 @@
 from isaaclab.sim.spawners.materials import CableMaterialCfg
 from isaaclab.sim.spawners.shapes import CableCfg
 from isaaclab.test.utils import DeviceScope, test_devices
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_contrib.coupling import CouplerEntryCfg, CouplerProxyCfg, CouplerProxyMappingCfg
 
diff --git a/source/isaaclab_newton/test/assets/test_joint_coordinates.py b/source/isaaclab_newton/test/assets/test_joint_coordinates.py
new file mode 100644
index 000000000000..216ca4b7c5ee
--- /dev/null
+++ b/source/isaaclab_newton/test/assets/test_joint_coordinates.py
@@ -0,0 +1,210 @@
+# 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
+
+"""Kitless tests for the Newton joint coordinate/DOF conversion."""
+
+from unittest.mock import MagicMock
+
+import numpy as np
+import pytest
+import warp as wp
+from isaaclab_newton.assets.articulation.joint_coordinates import (
+    BallJointCoordinateMap,
+    build_ball_joint_coordinate_map,
+    gather_joint_coordinates,
+    scatter_joint_coordinates,
+)
+from scipy.spatial.transform import Rotation
+
+# One revolute, one ball, one revolute -- the layout that hides an off-by-one when the tables are
+# built by walking the model instead of the view's own per-joint counts.
+COORD_COUNTS = [1, 4, 1]
+DOF_COUNTS = [1, 3, 1]
+
+# Two balls, straddling a revolute on each side -- the second ball's offsets (ball_coord[1] = 5,
+# ball_dof[1] = 4) are not exercised by the single-ball layout above.
+TWO_BALL_COORD_COUNTS = [1, 4, 4, 1]
+TWO_BALL_DOF_COUNTS = [1, 3, 3, 1]
+
+
+def _map() -> BallJointCoordinateMap:
+    return build_ball_joint_coordinate_map(COORD_COUNTS, DOF_COUNTS, "cpu")
+
+
+def test_tables_cover_every_dof() -> None:
+    """Every DOF of every joint must be tabulated exactly once."""
+    m = _map()
+    covered = list(m.single_dof.numpy()) + [b + k for b in m.ball_dof.numpy() for k in range(3)]
+    assert sorted(covered) == list(range(sum(DOF_COUNTS)))
+    assert sorted(list(m.single_coord.numpy()) + [b + k for b in m.ball_coord.numpy() for k in range(4)]) == list(
+        range(sum(COORD_COUNTS))
+    )
+
+
+def test_two_ball_tables_cover_every_dof() -> None:
+    """A second ball joint's offsets are not a simple repeat of the first's."""
+    m = build_ball_joint_coordinate_map(TWO_BALL_COORD_COUNTS, TWO_BALL_DOF_COUNTS, "cpu")
+    assert list(m.ball_dof.numpy()) == [1, 4]
+    assert list(m.ball_coord.numpy()) == [1, 5]
+    covered = list(m.single_dof.numpy()) + [b + k for b in m.ball_dof.numpy() for k in range(3)]
+    assert sorted(covered) == list(range(sum(TWO_BALL_DOF_COUNTS)))
+    assert sorted(list(m.single_coord.numpy()) + [b + k for b in m.ball_coord.numpy() for k in range(4)]) == list(
+        range(sum(TWO_BALL_COORD_COUNTS))
+    )
+
+
+def test_zero_rotation_vector_scatters_to_identity_quaternion() -> None:
+    """The ``angle > 1e-9`` guard's else-branch -- taken on every reset of a passive ball joint at
+    ``default_joint_pos = 0`` -- must produce the identity quaternion, not ``0/0``."""
+    m = _map()
+    n_dofs, n_coords = sum(DOF_COUNTS), sum(COORD_COUNTS)
+    dofs = wp.zeros((1, n_dofs), dtype=wp.float32, device="cpu")
+    coords = wp.zeros((1, n_coords), dtype=wp.float32, device="cpu")
+    mask = wp.array(np.array([True]), dtype=wp.bool, device="cpu")
+
+    scatter_joint_coordinates(m, dofs, coords, mask)
+
+    ball_coord = int(m.ball_coord.numpy()[0])
+    np.testing.assert_array_equal(coords.numpy()[0, ball_coord : ball_coord + 4], [0.0, 0.0, 0.0, 1.0])
+
+
+@pytest.mark.parametrize("sign", [1.0, -1.0])
+def test_identity_quaternion_gathers_to_zero_rotation_vector(sign: float) -> None:
+    """The inverse of the guard above: the identity quaternion (either hemisphere) decodes to the
+    zero rotation vector, not a NaN from a degenerate axis normalization."""
+    m = _map()
+    n_dofs, n_coords = sum(DOF_COUNTS), sum(COORD_COUNTS)
+    coords_np = np.zeros((1, n_coords), dtype=np.float32)
+    ball_coord = int(m.ball_coord.numpy()[0])
+    coords_np[0, ball_coord : ball_coord + 4] = np.array([0.0, 0.0, 0.0, 1.0]) * sign
+    out = wp.zeros((1, n_dofs), dtype=wp.float32, device="cpu")
+
+    gather_joint_coordinates(m, wp.array(coords_np, dtype=wp.float32, device="cpu"), out)
+
+    ball_dof = int(m.ball_dof.numpy()[0])
+    np.testing.assert_array_equal(out.numpy()[0, ball_dof : ball_dof + 3], [0.0, 0.0, 0.0])
+
+
+def test_joint_pos_is_dof_shaped_on_a_ball_jointed_mock() -> None:
+    """Regression for the original bug: :attr:`ArticulationData.joint_pos` must be DOF-shaped
+    even when the underlying view's ``joint_q`` is wider (a ball joint). This exercises
+    ``_create_simulation_bindings`` end to end, unlike the coordinate-table-only tests
+    above -- it fails on the pre-fix binding, which read ``get_dof_positions()`` (coordinate
+    space) straight into ``joint_pos`` with no conversion, so ``joint_pos.shape[1]`` would be
+    ``sum(TWO_BALL_COORD_COUNTS) == 10`` instead of ``sum(TWO_BALL_DOF_COUNTS) == 8``.
+    """
+    import isaaclab_newton.assets.articulation.articulation_data as newton_data_module
+    from isaaclab_newton.assets.articulation.articulation_data import ArticulationData
+    from isaaclab_newton.test.fixtures.views import MockNewtonArticulationView
+
+    num_instances = 2
+    num_dofs = sum(TWO_BALL_DOF_COUNTS)
+    num_bodies = len(TWO_BALL_DOF_COUNTS) + 1
+
+    mock_view = MockNewtonArticulationView(
+        num_instances=num_instances,
+        num_bodies=num_bodies,
+        num_joints=num_dofs,
+        device="cpu",
+        is_fixed_base=True,
+        joint_coord_counts=TWO_BALL_COORD_COUNTS,
+    )
+    mock_view.set_random_mock_data()
+    mock_view._noop_setters = True
+
+    mock_model = MagicMock()
+    mock_model.world_count = num_instances
+    mock_model.gravity = wp.array(
+        np.tile(np.array([[0.0, 0.0, -9.81]], dtype=np.float32), (num_instances + 1, 1)),
+        dtype=wp.vec3f,
+        device="cpu",
+    )
+    mock_model.articulation_count = num_instances
+    mock_model.max_joints_per_articulation = num_bodies
+    mock_model.max_dofs_per_articulation = num_dofs
+    mock_model.joint_dof_count = num_instances * num_dofs
+    mock_model.body_count = num_instances * num_bodies
+
+    mock_manager = MagicMock()
+    mock_manager.get_model.return_value = mock_model
+    mock_manager.get_state_0.return_value = MagicMock()
+    mock_manager.get_state_1.return_value = MagicMock()
+    mock_manager.get_control.return_value = MagicMock()
+
+    original_sim_manager = newton_data_module.SimulationManager
+    newton_data_module.SimulationManager = mock_manager
+    try:
+        data = ArticulationData(mock_view, "cpu")
+    finally:
+        newton_data_module.SimulationManager = original_sim_manager
+
+    assert data.joint_pos.torch.shape[1] == num_dofs
+
+
+def test_map_is_inert_without_ball_joints() -> None:
+    """An articulation whose joints all have one coordinate per DOF needs no conversion."""
+    assert not build_ball_joint_coordinate_map([1, 1, 1], [1, 1, 1], "cpu").required
+    assert not build_ball_joint_coordinate_map([], [], "cpu").required
+
+
+def test_unsupported_layout_is_rejected() -> None:
+    """A distance joint (7 coordinates, 6 DOFs) must not be decoded as a quaternion."""
+    with pytest.raises(NotImplementedError, match="7 coordinates against 6 DOFs"):
+        build_ball_joint_coordinate_map([7], [6], "cpu")
+
+
+@pytest.mark.parametrize("num_envs", [1, 2])
+def test_scatter_then_gather_round_trips(num_envs: int) -> None:
+    """DOF values survive a trip through coordinate space, at one environment and at two."""
+    m = _map()
+    n_dofs, n_coords = sum(DOF_COUNTS), sum(COORD_COUNTS)
+    rng = np.random.default_rng(0)
+    dofs_np = rng.uniform(-0.7, 0.7, size=(num_envs, n_dofs)).astype(np.float32)
+    dofs = wp.array(dofs_np, dtype=wp.float32, device="cpu")
+    coords = wp.zeros((num_envs, n_coords), dtype=wp.float32, device="cpu")
+    mask = wp.array(np.ones(num_envs, dtype=bool), dtype=wp.bool, device="cpu")
+
+    scatter_joint_coordinates(m, dofs, coords, mask)
+    # The quaternion the scatter wrote must match an independent exp map.
+    ball_coord = int(m.ball_coord.numpy()[0])
+    ball_dof = int(m.ball_dof.numpy()[0])
+    for env in range(num_envs):
+        expected = Rotation.from_rotvec(dofs_np[env, ball_dof : ball_dof + 3]).as_quat()
+        np.testing.assert_allclose(coords.numpy()[env, ball_coord : ball_coord + 4], expected, atol=1e-6)
+
+    out = wp.zeros((num_envs, n_dofs), dtype=wp.float32, device="cpu")
+    gather_joint_coordinates(m, coords, out)
+    np.testing.assert_allclose(out.numpy(), dofs_np, atol=1e-5)
+
+
+def test_gather_is_invariant_to_quaternion_sign() -> None:
+    """``q`` and ``-q`` are the same rotation and must decode to the same rotation vector."""
+    m = _map()
+    n_dofs, n_coords = sum(DOF_COUNTS), sum(COORD_COUNTS)
+    c = int(m.ball_coord.numpy()[0])
+    base = np.zeros((1, n_coords), dtype=np.float32)
+    base[0, c : c + 4] = Rotation.from_rotvec([0.2, -0.5, 0.1]).as_quat()
+
+    decoded = []
+    for sign in (1.0, -1.0):
+        coords = base.copy()
+        coords[0, c : c + 4] *= sign
+        out = wp.zeros((1, n_dofs), dtype=wp.float32, device="cpu")
+        gather_joint_coordinates(m, wp.array(coords, dtype=wp.float32, device="cpu"), out)
+        decoded.append(out.numpy().copy())
+    np.testing.assert_allclose(decoded[0], decoded[1], atol=1e-6)
+
+
+def test_scatter_only_touches_masked_environments() -> None:
+    """Resets are staggered, so an unmasked environment's coordinates must not move."""
+    m = _map()
+    n_dofs, n_coords = sum(DOF_COUNTS), sum(COORD_COUNTS)
+    coords_np = np.full((2, n_coords), 0.25, dtype=np.float32)
+    coords = wp.array(coords_np, dtype=wp.float32, device="cpu")
+    dofs = wp.array(np.full((2, n_dofs), 0.3, dtype=np.float32), dtype=wp.float32, device="cpu")
+
+    scatter_joint_coordinates(m, dofs, coords, wp.array(np.array([True, False]), dtype=wp.bool, device="cpu"))
+    assert not np.allclose(coords.numpy()[0], coords_np[0])
+    np.testing.assert_array_equal(coords.numpy()[1], coords_np[1])
diff --git a/source/isaaclab_newton/test/assets/test_mpm_object.py b/source/isaaclab_newton/test/assets/test_mpm_object.py
index dad48969a116..a6c2b7bc5eff 100644
--- a/source/isaaclab_newton/test/assets/test_mpm_object.py
+++ b/source/isaaclab_newton/test/assets/test_mpm_object.py
@@ -21,7 +21,7 @@
 from isaaclab.assets import RigidObjectCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg, build_simulation_context
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 def test_mpm_particle_material_emits_custom_attributes():
diff --git a/source/isaaclab_newton/test/cloner/test_collision_approximation.py b/source/isaaclab_newton/test/cloner/test_collision_approximation.py
index b1cf411bf03d..854730f6faf9 100644
--- a/source/isaaclab_newton/test/cloner/test_collision_approximation.py
+++ b/source/isaaclab_newton/test/cloner/test_collision_approximation.py
@@ -133,6 +133,12 @@ def test_authored_convex_decomposition_produces_multiple_hulls(self):
         assert len(shapes) >= 2, f"expected a multi-hull decomposition, got {shapes}"
         assert all(geo_type == GeoType.CONVEX_MESH for geo_type in shapes.values())
 
+    def test_skip_mesh_approximation_bypasses_authored_convex_decomposition(self):
+        """A render-only import can bypass decomposition and retain the original mesh."""
+        shapes = _collision_shapes(_build(_make_stage("convexDecomposition"), skip_mesh_approximation=True))
+
+        assert list(shapes.values()) == [GeoType.MESH]
+
     @pytest.mark.parametrize(
         ("approximation", "expected"),
         [
diff --git a/source/isaaclab_newton/test/cloner/test_newton_builder_world_hook.py b/source/isaaclab_newton/test/cloner/test_newton_builder_world_hook.py
index 800ea8b484b1..846585da0dce 100644
--- a/source/isaaclab_newton/test/cloner/test_newton_builder_world_hook.py
+++ b/source/isaaclab_newton/test/cloner/test_newton_builder_world_hook.py
@@ -80,7 +80,9 @@ def test_explicit_global_import_uses_global_world(monkeypatch):
     add_usd = mock.Mock(wraps=builder.add_usd)
     monkeypatch.setattr(builder, "add_usd", add_usd)
     manager = SimpleNamespace(
-        create_builder=mock.Mock(return_value=builder), _inject_terrain_heightfields=mock.Mock(return_value=[])
+        create_builder=mock.Mock(return_value=builder),
+        _get_usd_import_schema_resolvers=NewtonManager._get_usd_import_schema_resolvers,
+        _inject_terrain_heightfields=mock.Mock(return_value=[]),
     )
     monkeypatch.setattr(
         replicate_module.PhysicsManager,
diff --git a/source/isaaclab_newton/test/cloner/test_rename_builder_labels.py b/source/isaaclab_newton/test/cloner/test_rename_builder_labels.py
index 12fd45f2f518..fcd8db94044d 100644
--- a/source/isaaclab_newton/test/cloner/test_rename_builder_labels.py
+++ b/source/isaaclab_newton/test/cloner/test_rename_builder_labels.py
@@ -58,6 +58,7 @@ def __init__(self, up_axis=None):
                 references="world",
             ),
         }
+        self.custom_frequencies = {}
         self.geometry_sources = []
         self.world_slices = []
         self._current_world = None
@@ -385,7 +386,12 @@ def test_visualization_builder_imports_standalone_stage_as_one_world(self):
         self.assertIs(result, builder)
         self.assertEqual(shadow_entities, [])
         self.assertEqual(registry_groups, [])
-        builder.add_usd.assert_called_once_with(stage, schema_resolvers=["newton", "physx"], ignore_paths=None)
+        builder.add_usd.assert_called_once_with(
+            stage,
+            schema_resolvers=["newton", "physx"],
+            ignore_paths=None,
+            skip_mesh_approximation=True,
+        )
 
     def test_visualization_builder_disables_collision_pairs(self):
         stage = Usd.Stage.CreateInMemory()
@@ -505,6 +511,41 @@ def test_batched_prefixes_name_each_world_and_preserve_the_prototype(self):
         source.add_shape_box(body=body, label=f"{self._SRC}/shape")
         child = source.add_link(xform=wp.transform(), label=f"{self._SRC}/link")
         source.add_joint_revolute(parent=body, child=child, axis=(0.0, 0.0, 1.0), label=f"{self._SRC}/hinge")
+
+        def resolve_motor_owners(builder):
+            labels = builder.custom_attributes["syn:motor_label"].values
+            targets = builder.custom_attributes["syn:motor_target"].values
+            return [0 if label == target else -1 for label, target in zip(labels, targets, strict=True)]
+
+        source.add_custom_frequency(
+            newton.ModelBuilder.CustomFrequency(
+                name="motor",
+                namespace="syn",
+                label_attribute="syn:motor_label",
+                articulation_owner_attribute="syn:motor_articulation",
+                articulation_owner_resolver=resolve_motor_owners,
+            )
+        )
+        for name, dtype, default, references in (
+            ("motor_label", str, "", None),
+            ("motor_target", str, "", None),
+            ("motor_world", int, -1, "world"),
+            ("motor_articulation", int, -1, "articulation"),
+        ):
+            source.add_custom_attribute(
+                newton.ModelBuilder.CustomAttribute(
+                    name=name,
+                    namespace="syn",
+                    frequency="syn:motor",
+                    dtype=dtype,
+                    default=default,
+                    references=references,
+                )
+            )
+        source.custom_attributes["syn:motor_label"].values = [f"{self._SRC}/motor"]
+        source.custom_attributes["syn:motor_target"].values = [f"{self._SRC}/motor"]
+        source.custom_attributes["syn:motor_world"].values = [-1]
+        source._custom_frequency_counts["syn:motor"] = 1
         original = {
             name: list(getattr(source, name))
             for name in ("body_label", "joint_label", "shape_label", "articulation_label")
@@ -532,6 +573,12 @@ def test_batched_prefixes_name_each_world_and_preserve_the_prototype(self):
             self.assertEqual(getattr(builder, name), expected)
             self.assertEqual(getattr(source, name), source_labels)
 
+        expected_labels = [f"{self._ENV.format(i)}/Robot/motor" for i in env_ids]
+        self.assertEqual(builder.custom_attributes["syn:motor_label"].values, expected_labels)
+        self.assertEqual(builder.custom_attributes["syn:motor_articulation"].values, [0, source.articulation_count])
+        self.assertEqual(builder.custom_attributes["syn:motor_target"].values, expected_labels)
+        self.assertEqual(source.custom_attributes["syn:motor_label"].values, [f"{self._SRC}/motor"])
+
     def test_hook_labels_are_rewritten_after_the_slow_path(self):
         source = newton.ModelBuilder()
         source.add_body(label=f"{self._SRC}/base")
diff --git a/source/isaaclab_newton/test/cloner/test_visual_shape_import.py b/source/isaaclab_newton/test/cloner/test_visual_shape_import.py
index ac494dab3fe8..1cbda87afe3a 100644
--- a/source/isaaclab_newton/test/cloner/test_visual_shape_import.py
+++ b/source/isaaclab_newton/test/cloner/test_visual_shape_import.py
@@ -5,6 +5,8 @@
 
 """Unit tests: the Newton cloner imports visual-only geometry only when it is drawn."""
 
+from types import SimpleNamespace
+
 import newton
 from isaaclab_newton.cloner import newton_clone_utils
 from isaaclab_newton.cloner import replicate as replicate_module
@@ -101,6 +103,62 @@ def test_skipping_visual_shapes_skips_collider_visibility_resolution(self):
         # ...and the collider was visible either way, so skipping it changed nothing.
         assert list(builder.shape_flags) == flags_before
 
+    def test_nested_static_collider_uses_rigid_body_root_for_visual_lookup(self):
+        """A collision subtree stays hidden when its rigid-body root has visuals."""
+        stage = Usd.Stage.CreateInMemory()
+        root = UsdGeom.Xform.Define(stage, _SOURCE)
+        UsdPhysics.RigidBodyAPI.Apply(root.GetPrim())
+        collider = UsdGeom.Cube.Define(stage, f"{_SOURCE}/Collisions/collision")
+        UsdPhysics.CollisionAPI.Apply(collider.GetPrim())
+        UsdGeom.Cube.Define(stage, f"{_SOURCE}/Visuals/visual")
+        builder = SimpleNamespace(
+            shape_body=[-1],
+            shape_flags=[ShapeFlags.COLLIDE_SHAPES],
+            shape_label=[str(collider.GetPrim().GetPath())],
+            shape_type=[newton.GeoType.BOX],
+        )
+
+        newton_clone_utils._restore_visible_colliders_without_visual_shapes(
+            builder, stage, {str(collider.GetPrim().GetPath()): 0}
+        )
+
+        assert not builder.shape_flags[0] & ShapeFlags.VISIBLE
+
+    def test_static_collider_without_rigid_body_or_visual_remains_visible(self):
+        """A standalone static collider retains its authored viewport visibility."""
+        stage = Usd.Stage.CreateInMemory()
+        collider = UsdGeom.Cube.Define(stage, f"{_SOURCE}/collision")
+        UsdPhysics.CollisionAPI.Apply(collider.GetPrim())
+        builder = SimpleNamespace(
+            shape_body=[-1],
+            shape_flags=[ShapeFlags.COLLIDE_SHAPES],
+            shape_label=[str(collider.GetPrim().GetPath())],
+            shape_type=[newton.GeoType.BOX],
+        )
+
+        newton_clone_utils._restore_visible_colliders_without_visual_shapes(
+            builder, stage, {str(collider.GetPrim().GetPath()): 0}
+        )
+
+        assert builder.shape_flags[0] & ShapeFlags.VISIBLE
+
+    def test_generated_proxy_collider_visual_remains_hidden(self):
+        """Newton's unauthored visual companion must not expose a proxy collider."""
+        stage = Usd.Stage.CreateInMemory()
+        collider = UsdGeom.Cube.Define(stage, f"{_SOURCE}/collision")
+        UsdPhysics.CollisionAPI.Apply(collider.GetPrim())
+        collider_path = str(collider.GetPrim().GetPath())
+        builder = SimpleNamespace(
+            shape_body=[-1, -1],
+            shape_flags=[ShapeFlags.COLLIDE_SHAPES, ShapeFlags.VISIBLE],
+            shape_label=[collider_path, f"{collider_path}_visual"],
+            shape_type=[newton.GeoType.BOX, newton.GeoType.MESH],
+        )
+
+        newton_clone_utils._restore_visible_colliders_without_visual_shapes(builder, stage, {collider_path: 0})
+
+        assert not builder.shape_flags[1] & ShapeFlags.VISIBLE
+
 
 class _StubSim:
     def __init__(self, is_rendering: bool, can_render_rgb_array: bool, visual_shapes_required: bool = False):
diff --git a/source/isaaclab_newton/test/ik/test_newton_ik_solver.py b/source/isaaclab_newton/test/ik/test_newton_ik_solver.py
index a155c881c62c..dde4b3bb92c1 100644
--- a/source/isaaclab_newton/test/ik/test_newton_ik_solver.py
+++ b/source/isaaclab_newton/test/ik/test_newton_ik_solver.py
@@ -18,7 +18,7 @@
 from isaaclab_newton.ik.newton_ik_solver import NewtonIKSolver
 from isaaclab_newton.ik.newton_ik_solver_cfg import NewtonIKSolverCfg
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 # Maps the stub body names used across these tests to Newton link indices.
 _LINKS = {"ee": 0, "torso": 1, "custom": 0}
diff --git a/source/isaaclab_newton/test/physics/test_mjwarp_view_compat.py b/source/isaaclab_newton/test/physics/test_mjwarp_view_compat.py
deleted file mode 100644
index 407c950ba169..000000000000
--- a/source/isaaclab_newton/test/physics/test_mjwarp_view_compat.py
+++ /dev/null
@@ -1,134 +0,0 @@
-# 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
-
-from types import SimpleNamespace
-
-import numpy as np
-import pytest
-import warp as wp
-from isaaclab_newton.physics._mjwarp_view_compat import ensure_newton_custom_frequency_api
-
-pytestmark = pytest.mark.unit
-
-
-def _model(hands_per_world=2, worlds=2, actuators_per_hand=2, tendons_per_hand=1):
-    """Build a model shaped the way Newton reports one.
-
-    Ownership comes from the per-row world assignments, not the labels: MEASURED, a 2-clone
-    Shadow Hand scene reports ``articulation_label`` as the template path for every clone.
-    """
-    total_hands = hands_per_world * worlds
-    actuator_world, tendon_world = [], []
-    for world in range(worlds):
-        actuator_world += [world] * (hands_per_world * actuators_per_hand)
-        tendon_world += [world] * (hands_per_world * tendons_per_hand)
-    return SimpleNamespace(
-        articulation_count=total_hands,
-        # Template path, identical for every clone -- deliberately useless for ownership.
-        articulation_label=["/World/Env_0/Robot"] * total_hands,
-        custom_frequency_counts={
-            "mujoco:actuator": len(actuator_world),
-            "mujoco:tendon": len(tendon_world),
-        },
-        mujoco=SimpleNamespace(
-            actuator_world=np.array(actuator_world),
-            tendon_world=np.array(tendon_world),
-            actuator_target_label=[f"/World/Env_0/Robot/joint_{i}" for i in range(len(actuator_world))],
-            ctrl=wp.zeros(len(actuator_world), dtype=wp.float32, device="cpu"),
-        ),
-    )
-
-
-def _view(articulation_ids, *, world_count=2, count_per_world=1, tendon_offset=0, tendon_count=1):
-    return SimpleNamespace(
-        device=wp.get_device("cpu"),
-        world_count=world_count,
-        count_per_world=count_per_world,
-        count=world_count * count_per_world,
-        articulation_ids=np.array(articulation_ids).reshape(world_count, count_per_world),
-        tendon_count=tendon_count,
-        tendon_names=[f"t{i}" for i in range(tendon_count)],
-        # The offset is this articulation's first tendon row, which is what places it among the
-        # articulations sharing its world.
-        frequency_layouts={"mujoco:tendon": SimpleNamespace(offset=tendon_offset)},
-    )
-
-
-def _right_hand(model=None):
-    """The first hand in each world: tendon offset 0."""
-    return ensure_newton_custom_frequency_api(_view([0, 2], tendon_offset=0), model or _model())[0]
-
-
-def test_a_view_that_already_has_the_api_is_returned_unchanged():
-    """On Newton 1.6 the wrapper must not interpose at all."""
-    view = _view([0, 2])
-    view.custom_frequency_counts = {"mujoco:actuator": 2}
-
-    assert ensure_newton_custom_frequency_api(view, _model())[0] is view
-
-
-def test_counts_come_from_the_world_partition_not_the_totals():
-    """8 actuators over 4 articulations happens to divide, but the world partition is what rules."""
-    model = _model()
-
-    assert model.custom_frequency_counts["mujoco:actuator"] == 8
-    assert _right_hand(model).custom_frequency_counts["mujoco:actuator"] == 2
-
-
-def test_cloned_articulations_take_their_own_world_block():
-    """The CI failure: one articulation cloned across worlds, whose labels are all identical."""
-    model = _model(hands_per_world=1, worlds=2, actuators_per_hand=20, tendons_per_hand=4)
-    adapted = ensure_newton_custom_frequency_api(_view([0, 1], tendon_offset=0, tendon_count=4), model)[0]
-
-    assert adapted.custom_frequency_counts["mujoco:actuator"] == 20
-    rows = adapted._rows_per_instance
-    # World 0 owns rows 0-19, world 1 owns 20-39; the clones must not share.
-    assert rows[0].tolist() == list(range(20))
-    assert rows[1].tolist() == list(range(20, 40))
-
-
-def test_unrelated_attributes_are_delegated_to_the_wrapped_view():
-    view = _view([0, 2])
-    view.some_newton_attribute = "delegated"
-    adapted = ensure_newton_custom_frequency_api(view, _model())[0]
-
-    assert adapted.some_newton_attribute == "delegated"
-    assert adapted.world_count == 2
-
-
-def test_two_articulations_in_one_world_do_not_claim_each_others_actuators():
-    """The handover scene puts two hands in each world, and each view must take only its own."""
-    model = _model()
-    right = ensure_newton_custom_frequency_api(_view([0, 2], tendon_offset=0), model)[0]
-    left = ensure_newton_custom_frequency_api(_view([1, 3], tendon_offset=1), model)[0]
-
-    right.set_attribute(
-        "mujoco.ctrl", model, wp.array(np.array([[[1.0, 2.0]], [[5.0, 6.0]]], dtype=np.float32), device="cpu")
-    )
-    left.set_attribute(
-        "mujoco.ctrl", model, wp.array(np.array([[[3.0, 4.0]], [[7.0, 8.0]]], dtype=np.float32), device="cpu")
-    )
-
-    # Right owns rows 0-1 and 4-5, left owns 2-3 and 6-7; neither overwrote the other.
-    np.testing.assert_array_equal(model.mujoco.ctrl.numpy(), [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0])
-
-
-def test_actuator_rows_are_read_back_in_view_shape():
-    model = _model()
-    model.mujoco.actuator_trntype = np.arange(8, dtype=np.int32)
-
-    got = _right_hand(model).get_attribute("mujoco.actuator_trntype", model).numpy()
-
-    assert got.shape == (2, 1, 2)
-    # The right hand owns rows 0-1 in world 0 and 4-5 in world 1.
-    np.testing.assert_array_equal(got[:, 0, :], [[0, 1], [4, 5]])
-
-
-def test_a_mismatched_command_shape_is_refused():
-    """Silently broadcasting the wrong shape would drive arbitrary actuators."""
-    model = _model()
-
-    with pytest.raises(ValueError, match="Expected values shaped"):
-        _right_hand(model).set_attribute("mujoco.ctrl", model, wp.zeros((2, 1, 3), dtype=wp.float32, device="cpu"))
diff --git a/source/isaaclab_newton/test/physics/test_newton_fabric_body_sync.py b/source/isaaclab_newton/test/physics/test_newton_fabric_body_sync.py
index c3f56e616baa..a7ede879191b 100644
--- a/source/isaaclab_newton/test/physics/test_newton_fabric_body_sync.py
+++ b/source/isaaclab_newton/test/physics/test_newton_fabric_body_sync.py
@@ -27,8 +27,8 @@
 from isaaclab.sim import SimulationCfg, build_simulation_context
 from isaaclab.sim.spawners.materials import CableMaterialCfg
 from isaaclab.sim.spawners.shapes import CableCfg
+from isaaclab.utils import configclass
 from isaaclab.utils import math as math_utils
-from isaaclab.utils.configclass import configclass
 
 
 @configclass
diff --git a/source/isaaclab_newton/test/physics/test_newton_manager_abstraction.py b/source/isaaclab_newton/test/physics/test_newton_manager_abstraction.py
index 2462cb5fca0e..2edd2f7f2d4f 100644
--- a/source/isaaclab_newton/test/physics/test_newton_manager_abstraction.py
+++ b/source/isaaclab_newton/test/physics/test_newton_manager_abstraction.py
@@ -350,6 +350,72 @@ def get_state(cls):
     assert status["rendered"]
 
 
+def test_non_graph_capturable_sensor_task_runs_eagerly(monkeypatch):
+    """Sensor tasks with allocation-backed work should not attempt CUDA graph capture."""
+    state = object()
+    model = SimpleNamespace(shape_count=0, particle_count=0, bvh_shapes=None, bvh_particles=None)
+    calls: list[str] = []
+
+    monkeypatch.setattr(NewtonManager, "get_model", classmethod(lambda cls: model))
+    monkeypatch.setattr(NewtonManager, "get_state_0", classmethod(lambda cls: state))
+    monkeypatch.setattr(NewtonManager, "get_state", classmethod(lambda cls: state))
+    monkeypatch.setattr(NewtonManager, "_model", model, raising=False)
+    monkeypatch.setattr(NewtonManager, "_sensor_tasks", {}, raising=False)
+    monkeypatch.setattr(NewtonManager, "_sensor_eager_tasks", set(), raising=False)
+    monkeypatch.setattr(NewtonManager, "_sensor_state", None, raising=False)
+    monkeypatch.setattr(NewtonManager, "_sensor_state_dirty", True, raising=False)
+    monkeypatch.setattr(NewtonManager, "_sensor_graph", None, raising=False)
+    monkeypatch.setattr(NewtonManager, "_sensor_flags", None, raising=False)
+    monkeypatch.setattr(NewtonManager, "_sensor_flags_host", None, raising=False)
+    monkeypatch.setattr(NewtonManager, "_sensor_graph_capture_failed", False, raising=False)
+    monkeypatch.setattr(PhysicsManager, "_cfg", SimpleNamespace(use_cuda_graph=True), raising=False)
+    monkeypatch.setattr(PhysicsManager, "_device", "cuda:0", raising=False)
+    monkeypatch.setattr(
+        NewtonManager,
+        "_capture_sensor_graph",
+        classmethod(lambda cls: pytest.fail("Non-graph-capturable task attempted CUDA graph capture.")),
+    )
+
+    NewtonManager._register_sensor_task("render", lambda: calls.append("render"), graph_capturable=False)
+    NewtonManager._update_sensor_tasks("render")
+
+    assert calls == ["render"]
+    assert NewtonManager._sensor_graph is None
+    assert NewtonManager._sensor_graph_capture_failed is False
+
+
+@pytest.mark.parametrize(
+    ("triangle_count", "expected_graph_capturable"),
+    [
+        pytest.param(None, True, id="no-triangle-array"),
+        pytest.param(0, True, id="empty-triangle-array"),
+        pytest.param(1, False, id="deformable-triangle-mesh"),
+    ],
+)
+def test_newton_warp_renderer_marks_triangle_mesh_refit_as_eager(
+    monkeypatch, triangle_count, expected_graph_capturable
+):
+    """Deformable triangle-mesh rendering should opt out of conditional CUDA graph capture."""
+    from isaaclab_newton.renderers.newton_warp_renderer import NewtonWarpRenderer
+
+    registration: dict[str, object] = {}
+
+    def register_task(cls, name, update_fn, *, graph_capturable=True):
+        registration.update(name=name, update_fn=update_fn, graph_capturable=graph_capturable)
+
+    monkeypatch.setattr(NewtonManager, "_register_sensor_task", classmethod(register_task))
+    monkeypatch.setattr(NewtonManager, "_update_sensor_tasks", classmethod(lambda cls, *names: None))
+
+    tri_indices = None if triangle_count is None else SimpleNamespace(shape=(triangle_count, 3))
+    renderer = object.__new__(NewtonWarpRenderer)
+    renderer._newton_model = SimpleNamespace(tri_indices=tri_indices)
+    render_data = SimpleNamespace(sensor_task_name=None, ppisp_pipeline=None)
+
+    renderer.render(render_data)
+
+    assert registration["graph_capturable"] is expected_graph_capturable
+
+
 def test_sensor_bvh_shape_flags_are_fixed_before_builder_creation(monkeypatch):
     """Builder finalization includes collision-only shapes without a later BVH rebuild."""
     import newton
@@ -730,6 +796,135 @@ def test_active_manager_create_builder_registers_mpm_attributes():
     assert builder.has_custom_attribute("mpm:young_modulus")
 
 
+@pytest.mark.parametrize("import_path", ["clone", "standalone"])
+@pytest.mark.parametrize(
+    ("manager_cls", "solver_cfg", "expected_friction", "expected_damping"),
+    [
+        pytest.param(NewtonMJWarpManager, MJWarpSolverCfg(), 0.11, 0.23, id="mjwarp"),
+        pytest.param(NewtonFeatherstoneManager, FeatherstoneSolverCfg(), 0.0, 0.0, id="featherstone"),
+    ],
+)
+def test_production_imports_scope_mujoco_joint_properties(
+    monkeypatch, import_path, manager_cls, solver_cfg, expected_friction, expected_damping
+):
+    """Only MJWarp imports MuJoCo joint properties through either production path."""
+    from isaaclab_newton.cloner.replicate import _build_newton_builder_from_mapping
+
+    from pxr import Sdf, Usd, UsdGeom, UsdPhysics
+
+    stage = Usd.Stage.CreateInMemory()
+    UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z)
+    UsdGeom.SetStageMetersPerUnit(stage, 1.0)
+    physics_prim_path = "/physicsScene"
+    UsdPhysics.Scene.Define(stage, physics_prim_path)
+
+    root_path = "/Sources/robot" if import_path == "clone" else "/World/robot"
+    root = UsdGeom.Cube.Define(stage, root_path).GetPrim()
+    UsdPhysics.RigidBodyAPI.Apply(root)
+    UsdPhysics.ArticulationRootAPI.Apply(root)
+
+    child_path = f"{root_path}/child"
+    child = UsdGeom.Cube.Define(stage, child_path).GetPrim()
+    UsdPhysics.RigidBodyAPI.Apply(child)
+
+    joint = UsdPhysics.RevoluteJoint.Define(stage, f"{child_path}/joint")
+    joint.CreateAxisAttr().Set("Z")
+    joint.CreateBody0Rel().SetTargets([root_path])
+    joint.CreateBody1Rel().SetTargets([child_path])
+    joint.GetPrim().CreateAttribute("mjc:frictionloss", Sdf.ValueTypeNames.Double, True).Set(0.11)
+    joint.GetPrim().CreateAttribute("mjc:damping", Sdf.ValueTypeNames.Double, True).Set(0.23)
+
+    monkeypatch.setattr(
+        PhysicsManager,
+        "_sim",
+        SimpleNamespace(physics_manager=manager_cls, cfg=SimpleNamespace(physics_prim_path=physics_prim_path)),
+    )
+    monkeypatch.setattr(PhysicsManager, "_cfg", NewtonCfg(solver_cfg=solver_cfg))
+    monkeypatch.setattr(PhysicsManager, "_device", "cpu")
+    monkeypatch.setattr(NewtonManager, "_builder", None)
+    monkeypatch.setattr(NewtonManager, "_deformable_registry", [])
+    monkeypatch.setattr(NewtonManager, "_cl_pending_sites", {})
+    monkeypatch.setattr(NewtonManager, "_per_world_builder_hooks", [])
+    monkeypatch.setattr(NewtonManager, "_world_xforms", None)
+
+    if import_path == "clone":
+        builder, *_ = _build_newton_builder_from_mapping(
+            stage=stage,
+            sources=(root_path,),
+            destinations=("/World/envs/env_{}/robot",),
+            env_ids=np.array([0], dtype=np.int64),
+            mapping=np.ones((1, 1), dtype=np.bool_),
+            load_visual_shapes=False,
+        )
+    else:
+        monkeypatch.setattr(newton_manager_module, "get_current_stage", lambda: stage)
+        monkeypatch.setattr(
+            newton_manager_module, "_restore_visible_colliders_without_visual_shapes", lambda *args: None
+        )
+        monkeypatch.setattr(newton_manager_module, "replace_newton_builder_shape_colors", lambda *args: None)
+        monkeypatch.setattr(newton_manager_module, "import_builder_visual_material_paths", lambda *args: None)
+        manager_cls.instantiate_builder_from_stage()
+        builder = NewtonManager._builder
+
+    model = builder.finalize(device="cpu")
+
+    assert model.joint_friction.numpy()[-1] == pytest.approx(expected_friction)
+    assert model.joint_damping.numpy()[-1] == pytest.approx(expected_damping)
+
+
+@pytest.mark.parametrize(
+    ("manager_cls", "imports_mujoco"),
+    [
+        pytest.param(NewtonMJWarpManager, True, id="mjwarp"),
+        pytest.param(NewtonFeatherstoneManager, False, id="featherstone"),
+    ],
+)
+@pytest.mark.parametrize(
+    "author_newton_values",
+    [
+        pytest.param(False, id="physx-over-mjc"),
+        pytest.param(True, id="newton-over-physx-over-mjc"),
+    ],
+)
+def test_schema_resolver_policy_and_precedence(manager_cls, imports_mujoco, author_newton_values):
+    """Resolver precedence and MuJoCo fallback selection follow active solver needs."""
+    from pxr import Sdf, Usd, UsdGeom, UsdPhysics
+
+    stage = Usd.Stage.CreateInMemory()
+    root_path = "/World/robot"
+    root = UsdGeom.Cube.Define(stage, root_path).GetPrim()
+    UsdPhysics.RigidBodyAPI.Apply(root)
+    UsdPhysics.ArticulationRootAPI.Apply(root)
+    child_path = f"{root_path}/child"
+    child = UsdGeom.Cube.Define(stage, child_path).GetPrim()
+    UsdPhysics.RigidBodyAPI.Apply(child)
+    joint = UsdPhysics.RevoluteJoint.Define(stage, f"{child_path}/joint")
+    joint.CreateAxisAttr().Set("Z")
+    joint.CreateBody0Rel().SetTargets([root_path])
+    joint.CreateBody1Rel().SetTargets([child_path])
+    joint_prim = joint.GetPrim()
+    joint_prim.CreateAttribute("mjc:frictionloss", Sdf.ValueTypeNames.Double, True).Set(0.11)
+    joint_prim.CreateAttribute("mjc:damping", Sdf.ValueTypeNames.Double, True).Set(0.23)
+    joint_prim.CreateAttribute("mjc:armature", Sdf.ValueTypeNames.Double, True).Set(0.12)
+    joint_prim.CreateAttribute("physxJoint:armature", Sdf.ValueTypeNames.Float, True).Set(0.21)
+    if author_newton_values:
+        joint_prim.CreateAttribute("newton:friction", Sdf.ValueTypeNames.Double, True).Set(0.31)
+        joint_prim.CreateAttribute("newton:armature", Sdf.ValueTypeNames.Double, True).Set(0.41)
+
+    schema_resolvers = manager_cls._get_usd_import_schema_resolvers()
+    builder = ModelBuilder()
+    manager_cls._register_builder_attributes(builder)
+    builder.add_usd(stage, schema_resolvers=schema_resolvers)
+    model = builder.finalize(device="cpu")
+
+    expected_friction = 0.31 if author_newton_values else (0.11 if imports_mujoco else 0.0)
+    expected_damping = 0.23 if imports_mujoco else 0.0
+    expected_armature = 0.41 if author_newton_values else 0.21
+    assert model.joint_friction.numpy()[-1] == pytest.approx(expected_friction)
+    assert model.joint_damping.numpy()[-1] == pytest.approx(expected_damping)
+    assert model.joint_armature.numpy()[-1] == pytest.approx(expected_armature)
+
+
 def test_mpm_end_to_end_with_particle_custom_attributes():
     """End-to-end MPM step using ``add_particles(custom_attributes=...)`` — the production path."""
     sim_cfg = SimulationCfg(
@@ -1072,11 +1267,13 @@ def test_clear_resets_rigid_body_force_capability(monkeypatch):
     """Teardown clears the canonical solver capability without subclass shadowing."""
     monkeypatch.setattr(NewtonManager, "_supports_rigid_body_force_input", True)
     monkeypatch.setattr(NewtonManager, "_sensor_bvh_shape_flags", ShapeFlags.COLLIDE_SHAPES)
+    monkeypatch.setattr(NewtonManager, "_num_envs", 4)
 
     NewtonManager.clear()
 
     assert NewtonManager._supports_rigid_body_force_input is False
     assert NewtonManager._sensor_bvh_shape_flags == ShapeFlags.VISIBLE
+    assert NewtonManager._num_envs is None
     for manager in (
         NewtonMJWarpManager,
         NewtonXPBDManager,
diff --git a/source/isaaclab_newton/test/physics/test_vbd_core.py b/source/isaaclab_newton/test/physics/test_vbd_core.py
index 4e0db788a4d4..0a946d1eca89 100644
--- a/source/isaaclab_newton/test/physics/test_vbd_core.py
+++ b/source/isaaclab_newton/test/physics/test_vbd_core.py
@@ -100,14 +100,14 @@ def test_vbd_excludes_registered_deformable_meshes(monkeypatch, env_paths):
     class Builder:
         def __init__(self):
             self.imports = []
-            self.color_calls = 0
+            self.color_calls = []
 
         def add_usd(self, stage, *, root_path=None, ignore_paths=(), schema_resolvers=()):
             self.imports.append((root_path, list(ignore_paths)))
             return {"path_shape_map": {}}
 
-        def color(self):
-            self.color_calls += 1
+        def color(self, *, balance_colors):
+            self.color_calls.append(balance_colors)
 
     children = [
         SimpleNamespace(
@@ -179,7 +179,7 @@ def hook(builder, world_idx, position, rotation):
     else:
         assert builders[0].imports == [(None, ["/World/terrain", *deformable_paths])]
         assert hook_calls == [0]
-    assert builders[0].color_calls == 1
+    assert builders[0].color_calls == [False]
 
 
 def test_vbd_colors_prebuilt_builder_before_start(monkeypatch):
@@ -189,8 +189,8 @@ def test_vbd_colors_prebuilt_builder_before_start(monkeypatch):
     events = []
 
     class Builder:
-        def color(self):
-            events.append("color")
+        def color(self, *, balance_colors):
+            events.append(("color", balance_colors))
 
     monkeypatch.setattr(physics.NewtonVBDManager, "_builder", Builder())
     monkeypatch.setattr(NewtonManager, "start_simulation", classmethod(lambda cls: events.append("start")))
@@ -198,7 +198,7 @@ def color(self):
 
     physics.NewtonVBDManager.start_simulation()
 
-    assert events == ["color", "start"]
+    assert events == [("color", False), "start"]
 
 
 @pytest.mark.parametrize("external_rigid_solver", [False, True])
diff --git a/source/isaaclab_newton/test/sensors/test_contact_sensor.py b/source/isaaclab_newton/test/sensors/test_contact_sensor.py
index 34245c2d906e..2a8c751efca5 100644
--- a/source/isaaclab_newton/test/sensors/test_contact_sensor.py
+++ b/source/isaaclab_newton/test/sensors/test_contact_sensor.py
@@ -53,7 +53,7 @@
 from isaaclab.sensors import ContactSensor, ContactSensorCfg
 from isaaclab.sim import build_simulation_context
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_assets.robots.allegro import ALLEGRO_HAND_CFG
 
@@ -1194,3 +1194,104 @@ def test_invalid_expression_raises_regex_error():
     """Reject malformed selector expressions at contact sensor construction."""
     with pytest.raises(re.error):
         _compile_label_pattern("foo(")
+
+
+@pytest.mark.parametrize("device", test_devices())
+@pytest.mark.parametrize("clock_age", [2.5, 10.0, 30.0])
+@pytest.mark.parametrize("history_length", [1, 0], ids=["substep_refresh", "lazy_refresh"])
+def test_first_transition_with_aged_clock(device: str, clock_age: float, history_length: int):
+    """Regression for #7283: transitions must still be reported once the sensor clock has aged.
+
+    The sensor clock is a float32 accumulator whose rounding error grows with simulated time. On a
+    transition step the contact (resp. air) timer is exactly one polling period, so the default
+    tolerance of :meth:`compute_first_contact` has to absorb that error. A fixed 1e-8 tolerance is
+    ~100x too small after a few seconds and silently drops touchdowns and lift-offs.
+    """
+    # With history, the sensor refreshes every physics step; without it, only when data is read.
+    decimation = 1 if history_length > 0 else 4
+    poll_dt = decimation * SIM_DT
+    settle_steps = 40
+    poll_steps = 120 // decimation
+
+    sim_cfg = make_sim_cfg(use_mujoco_contacts=False, device=device, gravity=(0.0, 0.0, -9.81))
+    with build_simulation_context(sim_cfg=sim_cfg, auto_add_lighting=True) as sim:
+        sim._app_control_on_stop_handle = None
+
+        scene_cfg = ContactSensorTestSceneCfg(num_envs=1, env_spacing=5.0)
+        scene_cfg.object_a = create_shape_cfg(
+            ShapeType.BOX,
+            "{ENV_REGEX_NS}/Object",
+            pos=(0.0, 0.0, get_shape_height(ShapeType.BOX) / 2),
+            disable_gravity=False,
+            activate_contact_sensors=True,
+        )
+        scene_cfg.contact_sensor_a = ContactSensorCfg(
+            prim_path="{ENV_REGEX_NS}/Object",
+            update_period=0.0,
+            history_length=history_length,
+            track_air_time=True,
+        )
+
+        scene = InteractiveScene(scene_cfg)
+        sim.reset()
+        scene.reset()
+
+        sensor: ContactSensor = scene["contact_sensor_a"]
+        obj: RigidObject = scene["object_a"]
+
+        def _in_contact() -> bool:
+            """Ground truth for the contact state, read through the public data accessor."""
+            return torch.norm(sensor.data.net_normal_forces_w.torch, dim=-1).max().item() > 0.1
+
+        # Let the box come to rest on the ground so the sensor starts in contact.
+        for _ in range(settle_steps):
+            perform_sim_step(sim, scene, SIM_DT)
+        assert _in_contact(), "Box should be resting on the ground before the clock is aged."
+
+        # Age the sensor clock without stepping physics: the resting contact state is unchanged, so
+        # this isolates the float32 clock drift from any change in the contact forces.
+        for tick in range(int(round(clock_age / SIM_DT))):
+            sensor.update(SIM_DT)
+            if history_length == 0 and (tick + 1) % decimation == 0:
+                _in_contact()  # lazy refresh, mirroring a policy-rate reader
+        aged_clock = wp.to_torch(sensor._timestamp).max().item()
+        assert aged_clock == pytest.approx(clock_age + settle_steps * SIM_DT, abs=0.05)
+
+        # Launch the box so that it leaves the ground and lands again within the polling window.
+        velocity = torch.zeros(1, 6, device=obj.device)
+        velocity[:, 2] = 3.0
+        obj.write_root_velocity_to_sim_index(root_velocity=velocity)
+
+        reported_air: list[int] = []
+        reported_contact: list[int] = []
+        expected_air: list[int] = []
+        expected_contact: list[int] = []
+        was_in_contact = True
+        for step in range(poll_steps):
+            for _ in range(decimation):
+                perform_sim_step(sim, scene, SIM_DT)
+            # Poll before anything reads ``data`` this step: the query itself must refresh lazily
+            # updated buffers, otherwise it reports the previous step's timers.
+            first_contact = sensor.compute_first_contact(poll_dt).torch.any().item()
+            first_air = sensor.compute_first_air(poll_dt).torch.any().item()
+            in_contact = _in_contact()
+            if in_contact and not was_in_contact:
+                expected_contact.append(step)
+            if not in_contact and was_in_contact:
+                expected_air.append(step)
+            was_in_contact = in_contact
+            if first_contact:
+                reported_contact.append(step)
+            if first_air:
+                reported_air.append(step)
+
+        assert len(expected_air) == 1, f"Expected exactly one lift-off in the window; got {expected_air}."
+        assert len(expected_contact) == 1, f"Expected exactly one touchdown in the window; got {expected_contact}."
+        assert reported_air == expected_air, (
+            f"compute_first_air missed or mis-reported the lift-off at clock {aged_clock:.3f}s: "
+            f"reported {reported_air}, expected {expected_air}."
+        )
+        assert reported_contact == expected_contact, (
+            f"compute_first_contact missed or mis-reported the touchdown at clock {aged_clock:.3f}s: "
+            f"reported {reported_contact}, expected {expected_contact}."
+        )
diff --git a/source/isaaclab_newton/test/sensors/test_frame_transformer.py b/source/isaaclab_newton/test/sensors/test_frame_transformer.py
index 57b99ae9da22..d9572b53dd59 100644
--- a/source/isaaclab_newton/test/sensors/test_frame_transformer.py
+++ b/source/isaaclab_newton/test/sensors/test_frame_transformer.py
@@ -24,7 +24,7 @@
 from isaaclab.sensors import FrameTransformerCfg, OffsetCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Pre-defined configs
diff --git a/source/isaaclab_newton/test/sensors/test_imu.py b/source/isaaclab_newton/test/sensors/test_imu.py
index 53b6406f0905..2a2abc83e584 100644
--- a/source/isaaclab_newton/test/sensors/test_imu.py
+++ b/source/isaaclab_newton/test/sensors/test_imu.py
@@ -21,7 +21,7 @@
 from isaaclab.sensors.imu import Imu, ImuCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_newton/test/sensors/test_joint_wrench_sensor.py b/source/isaaclab_newton/test/sensors/test_joint_wrench_sensor.py
index 1c2f2bae506a..4191d22d0b6b 100644
--- a/source/isaaclab_newton/test/sensors/test_joint_wrench_sensor.py
+++ b/source/isaaclab_newton/test/sensors/test_joint_wrench_sensor.py
@@ -22,9 +22,9 @@
 from isaaclab.sensors.joint_wrench import JointWrenchSensor, JointWrenchSensorCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.terrains import TerrainImporterCfg
+from isaaclab.utils import configclass
 from isaaclab.utils import math as math_utils
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_assets.robots.ant import ANT_CFG
 
diff --git a/source/isaaclab_newton/test/sensors/test_newton_raycast_sensor.py b/source/isaaclab_newton/test/sensors/test_newton_raycast_sensor.py
index fb4528890dce..68509a5be8bf 100644
--- a/source/isaaclab_newton/test/sensors/test_newton_raycast_sensor.py
+++ b/source/isaaclab_newton/test/sensors/test_newton_raycast_sensor.py
@@ -37,7 +37,7 @@
 from isaaclab.sensors.ray_caster.patterns import GridPatternCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 SENSOR_HEIGHT = 2.0
 RAY_OFFSET = 0.2
diff --git a/source/isaaclab_newton/test/sensors/test_pva.py b/source/isaaclab_newton/test/sensors/test_pva.py
index c9eced0a55e9..026d5bcd4ab3 100644
--- a/source/isaaclab_newton/test/sensors/test_pva.py
+++ b/source/isaaclab_newton/test/sensors/test_pva.py
@@ -21,7 +21,7 @@
 from isaaclab.sensors.pva import Pva, PvaCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_newton/test/sim/test_views_xform_prim_newton.py b/source/isaaclab_newton/test/sim/test_views_xform_prim_newton.py
index 44b0d0b8de95..b031ca47b9ce 100644
--- a/source/isaaclab_newton/test/sim/test_views_xform_prim_newton.py
+++ b/source/isaaclab_newton/test/sim/test_views_xform_prim_newton.py
@@ -33,7 +33,7 @@
 from isaaclab.assets import RigidObjectCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg, build_simulation_context
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 NEWTON_SIM_CFG = SimulationCfg(physics=NewtonCfg(solver_cfg=MJWarpSolverCfg()))
 WORLD_MARKER_POS = (5.0, 3.0, 1.0)
diff --git a/source/isaaclab_ov/benchmark/sensors/benchmark_contact_sensor.py b/source/isaaclab_ov/benchmark/sensors/benchmark_contact_sensor.py
index ed650b828dc8..0faaa47ef232 100644
--- a/source/isaaclab_ov/benchmark/sensors/benchmark_contact_sensor.py
+++ b/source/isaaclab_ov/benchmark/sensors/benchmark_contact_sensor.py
@@ -40,7 +40,7 @@
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg, build_simulation_context
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 wp.init()
 
diff --git a/source/isaaclab_ov/benchmark/sensors/benchmark_frame_transformer.py b/source/isaaclab_ov/benchmark/sensors/benchmark_frame_transformer.py
index ff29f21f0b2a..9d38b0a44736 100644
--- a/source/isaaclab_ov/benchmark/sensors/benchmark_frame_transformer.py
+++ b/source/isaaclab_ov/benchmark/sensors/benchmark_frame_transformer.py
@@ -45,7 +45,7 @@
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import FrameTransformerCfg, OffsetCfg
 from isaaclab.sim import SimulationCfg, build_simulation_context
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 wp.init()
 
diff --git a/source/isaaclab_ov/benchmark/sensors/benchmark_imu_pva.py b/source/isaaclab_ov/benchmark/sensors/benchmark_imu_pva.py
index 942236e3d389..1c47bc46b640 100644
--- a/source/isaaclab_ov/benchmark/sensors/benchmark_imu_pva.py
+++ b/source/isaaclab_ov/benchmark/sensors/benchmark_imu_pva.py
@@ -45,7 +45,7 @@
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import ImuCfg, PvaCfg
 from isaaclab.sim import SimulationCfg, build_simulation_context
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 wp.init()
 
diff --git a/source/isaaclab_ov/benchmark/sensors/benchmark_joint_wrench.py b/source/isaaclab_ov/benchmark/sensors/benchmark_joint_wrench.py
index 3f8183de1469..ce7ab6fcb701 100644
--- a/source/isaaclab_ov/benchmark/sensors/benchmark_joint_wrench.py
+++ b/source/isaaclab_ov/benchmark/sensors/benchmark_joint_wrench.py
@@ -40,7 +40,7 @@
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import JointWrenchSensorCfg
 from isaaclab.sim import SimulationCfg, build_simulation_context
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_assets import CARTPOLE_CFG
 
diff --git a/source/isaaclab_ov/benchmark/sensors/benchmark_ray_caster.py b/source/isaaclab_ov/benchmark/sensors/benchmark_ray_caster.py
index 3be8fe665de4..cab350d11528 100644
--- a/source/isaaclab_ov/benchmark/sensors/benchmark_ray_caster.py
+++ b/source/isaaclab_ov/benchmark/sensors/benchmark_ray_caster.py
@@ -54,7 +54,7 @@
 from isaaclab.sensors import RayCasterCfg, patterns
 from isaaclab.sim import SimulationCfg, build_simulation_context
 from isaaclab.terrains import HfRandomUniformTerrainCfg, TerrainGeneratorCfg, TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.seed import configure_seed
 
 wp.init()
diff --git a/source/isaaclab_ov/changelog.d/fix-ovphysx-static-property-rereads.rst b/source/isaaclab_ov/changelog.d/fix-ovphysx-static-property-rereads.rst
new file mode 100644
index 000000000000..632fd9866b27
--- /dev/null
+++ b/source/isaaclab_ov/changelog.d/fix-ovphysx-static-property-rereads.rst
@@ -0,0 +1,9 @@
+Fixed
+^^^^^
+
+* Fixed OVPhysX articulation joint properties (stiffness, damping, armature, position/velocity/effort
+  limits, friction) and body mass/inertia being re-read from their CPU-only bindings on every simulation
+  step. These static properties are now read once after invalidation and kept current by the
+  ``write_*`` / ``set_*`` setters. This removes three blocking host round-trips per physics step from the
+  native Newton actuator path, which made it several times slower than the Isaac Lab actuator path on
+  OVPhysX at large environment counts.
diff --git a/source/isaaclab_ov/changelog.d/ovstage-gpu-hierarchy-computation.rst b/source/isaaclab_ov/changelog.d/ovstage-gpu-hierarchy-computation.rst
new file mode 100644
index 000000000000..36cd364c82d3
--- /dev/null
+++ b/source/isaaclab_ov/changelog.d/ovstage-gpu-hierarchy-computation.rst
@@ -0,0 +1,11 @@
+Changed
+^^^^^^^
+
+* Changed :func:`~isaaclab_ov.stage.create_ovstage` to select the ovstage hierarchy computation
+  model from the installed ovstage version instead of always requesting
+  ``HierarchyComputationModel.CPU_INCREMENTAL``. ovstage 0.2 and later place objects correctly
+  under ``GPU_INCREMENTAL``, which moves world-transform computation off the host; ovstage 0.1
+  keeps the host model. The version is resolved once at import by the new
+  :mod:`isaaclab_ov.ovstage_compat` module. No migration is required: the public extras stay
+  pinned to ``ovstage==0.1.1.355824``, so the host model remains in force until that pin moves,
+  and a missing or unparsable install also keeps the host model.
diff --git a/source/isaaclab_ov/docs/CHANGELOG.rst b/source/isaaclab_ov/docs/CHANGELOG.rst
index 14e3da95918d..d6f1fb169da8 100644
--- a/source/isaaclab_ov/docs/CHANGELOG.rst
+++ b/source/isaaclab_ov/docs/CHANGELOG.rst
@@ -1,6 +1,55 @@
 Changelog
 ---------
 
+3.1.2 (2026-09-16)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed implicit actuator PD estimates being submitted as additional joint forces
+  alongside the native ovphysx joint drives. Implicit actuators now submit only
+  their feedforward effort commands while retaining PD estimates as telemetry.
+
+
+3.1.1 (2026-09-12)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Disabled the reversed-joint sign correction for OvPhysX 0.6 and newer, which already returned Jacobians and mass matrices
+  in the public joint basis. Preserved the correction for the default OvPhysX 0.5.11
+  runtime and custom joint and body ordering on both versions.
+* Removed an unnecessary reversed-joint sign correction from gravity compensation forces on OvPhysX 0.5.11.
+* Registered the OvPhysX codeless physics schemas with OVStage before scene population when its registration API was
+  available, including when the host USD registry already provided those schemas.
+* Fixed :class:`~isaaclab_ov.sensors.ContactSensor` reporting the last in-contact force forever after a body
+  left contact on GPU (issue #7613), when the sensor was configured with ``history_length=0`` and its data
+  was read less often than every physics step (for example once per policy step with
+  ``lazy_sensor_update=True``). PhysX zeroes the net contact force of a body only on the exact physics step
+  where its contact is lost, so a lazily refreshed sensor skipped that step. The ovphysx contact bindings
+  are now read on every physics step regardless of the history length, while the warp kernels that consume
+  the fetched buffers stay lazy.
+
+
+3.1.0 (2026-09-08)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed :meth:`compute_first_contact` and :meth:`compute_first_air` on the contact sensor silently
+  missing touchdowns and lift-offs once the simulation had run for a few seconds (issue #7283).
+  Their ``abs_tol`` argument now defaults to ``None``, which resolves to half the sensor update
+  interval instead of a fixed ``1e-8``. The old value was around 100x smaller than the float32
+  rounding error of the sensor clock, so most transitions were dropped. Callers that relied on the
+  previous behavior can pass ``abs_tol=1e-8`` explicitly.
+  Both methods now also refresh outdated sensor buffers before comparing, so a sensor with
+  ``history_length=0`` no longer reports the previous step's transitions when it is queried before
+  its data is read.
+
+
 3.0.2 (2026-09-07)
 ~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab_ov/isaaclab_ov/assets/articulation/actuator_control.py b/source/isaaclab_ov/isaaclab_ov/assets/articulation/actuator_control.py
index 163c08762d07..b3d53f4ea2ae 100644
--- a/source/isaaclab_ov/isaaclab_ov/assets/articulation/actuator_control.py
+++ b/source/isaaclab_ov/isaaclab_ov/assets/articulation/actuator_control.py
@@ -54,13 +54,14 @@ def prepare_native_actuators(self, collection: ActuatorCollection, actuator_cfgs
             return set()
 
         _validate_newton_native_actuator_cfgs(actuator_cfgs)
-        # Activate the runtime even without explicit native groups: implicit-only
-        # articulations still rely on it for the solver telemetry fast path.
-        self._native_actuator_path_active = True
-        articulation._has_newton_actuators = True
         native_group_names = {
             name for name, actuator_cfg in actuator_cfgs.items() if not _is_implicit_actuator_cfg(actuator_cfg)
         }
+        if not native_group_names:
+            return set()
+
+        self._native_actuator_path_active = True
+        articulation._has_newton_actuators = True
         first_prim = find_first_matching_prim(articulation.cfg.prim_path)
         articulation_prim_path = str(first_prim.GetPath()) if first_prim is not None else None
         self._actuator_runtime = PhysxActuatorRuntime(articulation, logger=logger)
@@ -127,13 +128,13 @@ def stage_user_command(
 
     def submit_commands(self, collection: ActuatorCollection) -> None:
         articulation = self._articulation
-        # Native telemetry contains the local implicit-drive shadow. Submit raw runtime effort
-        # instead, so OVPhysX evaluates each implicit PD drive exactly once.
+        # Submit the processed effort command, not telemetry that includes the implicit PD estimate.
+        # The native runtime similarly provides effort without the implicit-drive estimate.
         write_effort = articulation._can_write_effort
         # position and velocity targets only for implicit actuators.
         write_pos = articulation._has_implicit_actuators and articulation._can_write_pos_target
         write_vel = articulation._has_implicit_actuators and articulation._can_write_vel_target
-        user_effort = collection._applied_effort
+        user_effort = collection._joint_effort_target_sim
         if self._actuator_runtime is not None:
             user_effort = self._actuator_runtime.wrapper.joint_f_2d
         if articulation.data.has_joint_ordering:
diff --git a/source/isaaclab_ov/isaaclab_ov/assets/articulation/articulation.py b/source/isaaclab_ov/isaaclab_ov/assets/articulation/articulation.py
index 6ef0b4ee0a2d..98efca433794 100644
--- a/source/isaaclab_ov/isaaclab_ov/assets/articulation/articulation.py
+++ b/source/isaaclab_ov/isaaclab_ov/assets/articulation/articulation.py
@@ -39,6 +39,7 @@
 from isaaclab_ov import tensor_types as TT
 from isaaclab_ov.assets import kernels as shared_kernels
 from isaaclab_ov.physics import OvPhysxManager
+from isaaclab_ov.physics.ovphysx_compat import OVPHYSX_VERSION, requires_legacy_joint_sign_correction
 from isaaclab_ov.sim.views.ovphysx_view import OvPhysxView
 
 from .actuator_control import OvPhysxActuatorControl
@@ -3958,11 +3959,13 @@ def has_articulation_root_api(prim) -> bool:
                 self._root_view.try_binding_for(tt)
 
         # construct the data container; counts come from the view's bindings
-        joint_dof_signs = self._resolve_joint_dof_signs(stage)
         self._data = ArticulationData(self._root_view, self._device)
-        if -1 in joint_dof_signs:
-            self._data._joint_dof_signs = wp.array(joint_dof_signs, dtype=wp.int32, device=self.device)
-            self._data._has_reversed_joints = True
+        # OvPhysX 0.6 already corrects reversed-joint dynamics in the runtime.
+        if requires_legacy_joint_sign_correction(OVPHYSX_VERSION):
+            joint_dof_signs = self._resolve_joint_dof_signs(stage)
+            if -1 in joint_dof_signs:
+                self._data._joint_dof_signs = wp.array(joint_dof_signs, dtype=wp.int32, device=self.device)
+                self._data._has_reversed_joints = True
         self._resolve_and_install_ordering_maps()
         self._data.fixed_tendon_names = self._fixed_tendon_names
         self._data.spatial_tendon_names = self._spatial_tendon_names
diff --git a/source/isaaclab_ov/isaaclab_ov/assets/articulation/articulation_data.py b/source/isaaclab_ov/isaaclab_ov/assets/articulation/articulation_data.py
index 222aec52ae92..ae87c4fdefab 100644
--- a/source/isaaclab_ov/isaaclab_ov/assets/articulation/articulation_data.py
+++ b/source/isaaclab_ov/isaaclab_ov/assets/articulation/articulation_data.py
@@ -314,6 +314,8 @@ def _reset_body_com_pose_b_dependents(self) -> None:
                 self._body_state_w_buf,
                 self._body_link_state_w_buf,
                 self._body_com_state_w_buf,
+                self._body_inertia,
+                self._body_inertia_backend,
             ]
         )
         self._reset_dynamics(body_com_jacobian=True, mass_matrix=True, gravity_compensation=True)
@@ -872,12 +874,15 @@ def _refresh_reordered_body_buffer(
         tensor_type: int,
         *,
         component_count: int | None = None,
+        static: bool = False,
     ) -> None:
         """Refresh a body buffer from its binding, gathering into public order under body ordering.
 
         Under identity body ordering the binding is read straight into the public buffer;
         otherwise it is staged in backend order and gathered into public order when the
-        public buffer is stale for the current step.
+        public buffer is stale. State buffers go stale every simulation step; static
+        property buffers (mass, inertia) only after explicit invalidation, since stepping
+        never changes them and their setters update the buffers in place.
 
         Args:
             buf: Owned public-order buffer to refresh in place.
@@ -885,13 +890,16 @@ def _refresh_reordered_body_buffer(
             tensor_type: ``TensorType`` key of the source binding.
             component_count: Trailing components per body for a three-dimensional buffer,
                 or ``None`` for a two-dimensional buffer.
+            static: Whether the binding is a static property that is read once after
+                invalidation instead of once per simulation step.
         """
+        read_binding = self._read_static_binding_into_buf if static else self._read_binding_into_buf
         if self.body_ordering is None:
-            self._read_binding_into_buf(tensor_type, buf)
+            read_binding(tensor_type, buf)
             return
-        if buf.timestamp >= self._sim_timestamp:
+        if buf.timestamp >= (0.0 if static else self._sim_timestamp):
             return
-        self._read_binding_into_buf(tensor_type, backend_buffer)
+        read_binding(tensor_type, backend_buffer)
         if component_count is None:
             self._read_launch_cache.launch(
                 (id(buf), "body_2d"),
@@ -919,7 +927,7 @@ def body_mass(self) -> ProxyArray:
         Routed through pinned-host staging because the underlying OVPhysX
         binding is CPU-only (``ARTICULATION_BODY_MASS``).
         """
-        self._refresh_reordered_body_buffer(self._body_mass, self._body_mass_backend, TT.BODY_MASS)
+        self._refresh_reordered_body_buffer(self._body_mass, self._body_mass_backend, TT.BODY_MASS, static=True)
         if self._body_mass_ta is None:
             self._body_mass_ta = ProxyArray(self._body_mass.data)
         return self._body_mass_ta
@@ -935,7 +943,7 @@ def body_inertia(self) -> ProxyArray:
         a CPU-only binding).
         """
         self._refresh_reordered_body_buffer(
-            self._body_inertia, self._body_inertia_backend, TT.BODY_INERTIA, component_count=9
+            self._body_inertia, self._body_inertia_backend, TT.BODY_INERTIA, component_count=9, static=True
         )
         if self._body_inertia_ta is None:
             self._body_inertia_ta = ProxyArray(self._body_inertia.data)
@@ -1107,12 +1115,18 @@ def body_link_jacobian_w(self) -> ProxyArray:
         return self._body_link_jacobian_w_ta
 
     def _refresh_generalized_dynamics_buffer(
-        self, buffer: TimestampedBuffer, backend_buffer: wp.array, tensor_type: int, reorder_kernel: wp.Kernel
+        self,
+        buffer: TimestampedBuffer,
+        backend_buffer: wp.array,
+        tensor_type: int,
+        reorder_kernel: wp.Kernel,
+        *,
+        correct_joint_signs: bool = True,
     ) -> None:
         """Refresh a generalized dynamics buffer and gather its joint axes when needed."""
         if buffer.timestamp >= self._sim_timestamp:
             return
-        if self.has_joint_ordering or self._has_reversed_joints:
+        if self.has_joint_ordering or (correct_joint_signs and self._has_reversed_joints):
             self._binding_read(tensor_type, backend_buffer)
             self._read_launch_cache.launch(
                 (id(buffer), "generalized_dynamics"),
@@ -1121,7 +1135,7 @@ def _refresh_generalized_dynamics_buffer(
                 inputs=[
                     backend_buffer,
                     self._jacobian_joint_user_to_backend,
-                    self._joint_dof_signs,
+                    self._joint_dof_signs if correct_joint_signs else None,
                     self._num_base_dofs,
                     self.has_joint_ordering,
                 ],
@@ -1145,11 +1159,13 @@ def mass_matrix(self) -> ProxyArray:
     @property
     def gravity_compensation_forces(self) -> ProxyArray:
         """See :attr:`isaaclab.assets.BaseArticulationData.gravity_compensation_forces`."""
+        # Gravity forces already use the public joint basis on both 0.5.11 and 0.6.
         self._refresh_generalized_dynamics_buffer(
             self._gravity_compensation_forces,
             self._gravity_compensation_forces_backend,
             TT.GRAVITY_FORCE,
             ordering_kernels.reorder_generalized_vector_backend_to_user,
+            correct_joint_signs=False,
         )
         return self._gravity_compensation_forces_ta
 
@@ -2386,14 +2402,23 @@ def _read_joint_property_binding(
         backend_buffer: TimestampedBuffer | None,
         component_count: int | None = None,
     ) -> None:
-        """Refresh a joint property binding into a public user-order buffer."""
+        """Refresh a joint property binding into a public user-order buffer.
+
+        Joint properties (gains, limits, armature, friction) are static bindings: stepping
+        the simulation never changes them, and the ``write_*`` setters update these buffers
+        in place before pushing to the wheel. They are therefore read once after explicit
+        invalidation rather than once per simulation step. On OVPhysX these bindings are
+        CPU-only, so every read is a blocking host round-trip whose cost scales with the
+        number of environments; re-reading them per physics step dominated the step time
+        of any hot path touching them (for example the native actuator telemetry sync).
+        """
         if not self.has_joint_ordering:
-            self._read_scalar_binding(tensor_type, user_buffer)
+            self._read_static_binding_into_buf(tensor_type, user_buffer)
             return
 
-        if user_buffer.timestamp >= self._sim_timestamp:
+        if user_buffer.timestamp >= 0.0:
             return
-        self._read_scalar_binding(tensor_type, backend_buffer)
+        self._read_static_binding_into_buf(tensor_type, backend_buffer)
         if component_count is None:
             self._read_launch_cache.launch(
                 (id(user_buffer), "joint_property_2d"),
diff --git a/source/isaaclab_ov/isaaclab_ov/ovstage_compat.py b/source/isaaclab_ov/isaaclab_ov/ovstage_compat.py
new file mode 100644
index 000000000000..187f064a5b07
--- /dev/null
+++ b/source/isaaclab_ov/isaaclab_ov/ovstage_compat.py
@@ -0,0 +1,92 @@
+# 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
+
+"""Version compatibility between the public OVStage 0.1 API and OVStage 0.2 and later.
+
+OVStage computes world transforms from the prim hierarchy either on the host or on the
+device. The host model costs CPU work proportional to the number of prims, which the
+barrier in the OVRTX ovstage write path then waits on, so the device model is preferred
+wherever it is available. ``GPU_INCREMENTAL`` leaves objects out of place on OVStage 0.1
+and is corrected in 0.2, so the model is chosen from the installed version rather than
+hard-coded.
+
+The installed version cannot change while the process runs, so the model is resolved once
+at import and published as :data:`HIERARCHY_COMPUTATION_MODEL`.
+
+The published name is resolved against :class:`ovstage.HierarchyComputationModel` by the
+caller, which keeps this module free of an ``ovstage`` import and therefore importable
+wherever the version policy needs to be inspected or tested.
+
+The public extras stay pinned to ``ovstage==0.1.1.355824``; a missing or unparsable
+install keeps the OVStage 0.1 host model.
+"""
+
+from __future__ import annotations
+
+import importlib.metadata
+import logging
+
+from packaging.version import InvalidVersion, Version
+
+logger = logging.getLogger(__name__)
+
+# First OVStage version whose GPU_INCREMENTAL hierarchy model places objects correctly.
+_GPU_HIERARCHY_VERSION = Version("0.2")
+
+
+def detect_ovstage_version() -> Version | None:
+    """Return the installed ``ovstage`` version.
+
+    Read from distribution metadata rather than importing ``ovstage`` so the version
+    policy can be inspected without loading the runtime. An unparsable version is logged
+    and reported as missing, which keeps the OVStage 0.1 behavior.
+
+    Returns:
+        The installed version, or ``None`` when ``ovstage`` is absent or its version
+        string cannot be parsed.
+    """
+    try:
+        raw = importlib.metadata.version("ovstage")
+    except importlib.metadata.PackageNotFoundError:
+        return None
+    try:
+        return Version(raw)
+    except InvalidVersion:
+        logger.warning("Could not parse ovstage version %r; assuming the OVStage 0.1 hierarchy model.", raw)
+        return None
+
+
+def supports_gpu_hierarchy_computation(version: Version | None) -> bool:
+    """Return whether ``version`` computes the prim hierarchy correctly on the device.
+
+    Args:
+        version: OVStage version to classify, or ``None`` when OVStage is unavailable.
+
+    Returns:
+        Whether ``version`` is OVStage 0.2 or newer.
+    """
+    return version is not None and version >= _GPU_HIERARCHY_VERSION
+
+
+def resolve_hierarchy_computation_model(version: Version | None) -> str:
+    """Return the :class:`ovstage.HierarchyComputationModel` member name for ``version``.
+
+    Args:
+        version: OVStage version the model is chosen for, or ``None`` when OVStage is
+            unavailable.
+
+    Returns:
+        ``"GPU_INCREMENTAL"`` on OVStage 0.2 and later, otherwise ``"CPU_INCREMENTAL"``.
+    """
+    if supports_gpu_hierarchy_computation(version):
+        return "GPU_INCREMENTAL"
+    return "CPU_INCREMENTAL"
+
+
+OVSTAGE_VERSION: Version | None = detect_ovstage_version()
+"""Installed OVStage version, or ``None`` when it is unavailable or unparsable."""
+
+HIERARCHY_COMPUTATION_MODEL: str = resolve_hierarchy_computation_model(OVSTAGE_VERSION)
+"""Name of the hierarchy computation model to request for the installed OVStage."""
diff --git a/source/isaaclab_ov/isaaclab_ov/physics/ovphysx_compat.py b/source/isaaclab_ov/isaaclab_ov/physics/ovphysx_compat.py
index ca93b0706703..df3be95ce000 100644
--- a/source/isaaclab_ov/isaaclab_ov/physics/ovphysx_compat.py
+++ b/source/isaaclab_ov/isaaclab_ov/physics/ovphysx_compat.py
@@ -12,7 +12,9 @@
 :data:`OVPHYSX_LIFECYCLE_ENTRY_POINTS`.
 
 The public extras stay pinned to ``ovphysx==0.5.11``; a missing or unparsable
-install keeps the 0.5.11 entry points.
+install keeps the 0.5.11 entry points and reversed-joint sign correction.
+OvPhysX 0.6 fixes the dynamics tensor signs in the runtime, so that correction
+must be disabled on the new release line.
 """
 
 from __future__ import annotations
@@ -49,7 +51,7 @@ def detect_ovphysx_version() -> Version | None:
     try:
         return Version(raw)
     except InvalidVersion:
-        logger.warning("Could not parse ovphysx version %r; assuming the OVPhysX 0.5.11 lifecycle API.", raw)
+        logger.warning("Could not parse ovphysx version %r; assuming OVPhysX 0.5.11 compatibility behavior.", raw)
         return None
 
 
@@ -65,6 +67,19 @@ def uses_current_lifecycle_api(version: Version | None) -> bool:
     return version is not None and version.release[:2] >= _CURRENT_LIFECYCLE_RELEASE
 
 
+def requires_legacy_joint_sign_correction(version: Version | None) -> bool:
+    """Return whether dynamics tensors need the pre-0.6 reversed-joint correction.
+
+    Args:
+        version: Installed OVPhysX version, or ``None`` when unavailable or unparsable.
+
+    Returns:
+        Whether to preserve the legacy correction. The 0.6 release line, including
+        development builds, already returns tensors in the public joint basis.
+    """
+    return version is None or version.release[:2] < (0, 6)
+
+
 def build_lifecycle_entry_points(version: Version | None) -> Mapping[str, str]:
     """Return the lifecycle entry-point names for ``version``.
 
diff --git a/source/isaaclab_ov/isaaclab_ov/physics/ovphysx_manager.py b/source/isaaclab_ov/isaaclab_ov/physics/ovphysx_manager.py
index c2671f87322b..e0cc6370b72e 100644
--- a/source/isaaclab_ov/isaaclab_ov/physics/ovphysx_manager.py
+++ b/source/isaaclab_ov/isaaclab_ov/physics/ovphysx_manager.py
@@ -489,12 +489,12 @@ def _prepare_stage_creation(cls) -> None:
 
     @classmethod
     def _ensure_physx_schemas_registered(cls) -> None:
-        """Register the codeless USD plugins published by the OVPhysX wheel.
+        """Register the codeless USD schemas published by the OVPhysX wheel.
 
-        The wheel's public paths include both ``PhysxSchema`` and
-        ``OmniUsdPhysicsDeformableSchema``. A host may already provide one of
-        those plugins from a compiled library, so only missing plugin names are
-        registered from the wheel's codeless resource paths.
+        OVStage maintains its own USD schema registry, so register the wheel's
+        schema root there even when the host USD runtime already provides the
+        same plugins. For the host USD registry, only register providers that
+        are not already available from a compiled plugin.
         """
         if cls._physx_schemas_registered:
             return
@@ -504,6 +504,15 @@ def _ensure_physx_schemas_registered(cls) -> None:
             from pxr import Plug  # noqa: PLC0415
         except ImportError:
             return
+        try:
+            import ovstage  # noqa: PLC0415
+        except ImportError:
+            pass  # Host USD schemas can still be registered without OVStage.
+        else:
+            schema_root = getattr(ovphysx, "codeless_schema_root", None)
+            register_ovstage_schemas = getattr(getattr(ovstage, "population", None), "register_usd_schemas", None)
+            if callable(schema_root) and callable(register_ovstage_schemas):
+                register_ovstage_schemas(str(schema_root()))
         registry = Plug.Registry()
         registered_names = {plugin.name.casefold() for plugin in registry.GetAllPlugins()}
         # The wheel documents ``<module>/resources`` as its stable layout and its
diff --git a/source/isaaclab_ov/isaaclab_ov/physics/ovphysx_manager_cfg.py b/source/isaaclab_ov/isaaclab_ov/physics/ovphysx_manager_cfg.py
index 3ccb5f1d3222..08558ea7f67e 100644
--- a/source/isaaclab_ov/isaaclab_ov/physics/ovphysx_manager_cfg.py
+++ b/source/isaaclab_ov/isaaclab_ov/physics/ovphysx_manager_cfg.py
@@ -11,7 +11,7 @@
 import tempfile
 
 from isaaclab.physics import PhysicsCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 # POSIX temp roots are shared between users; Windows already gives each user a private one.
 _CACHE_DIR_NAME = f"ovphysx_derived_data_cache_{os.getuid()}" if hasattr(os, "getuid") else "ovphysx_derived_data_cache"
diff --git a/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py b/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py
index d2e51d9f0b3d..7b0806bcb622 100644
--- a/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py
+++ b/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py
@@ -12,7 +12,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.renderers.renderer_cfg import RendererCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .ovrtx_renderer import OVRTXRenderer
diff --git a/source/isaaclab_ov/isaaclab_ov/sensors/contact_sensor/contact_sensor.py b/source/isaaclab_ov/isaaclab_ov/sensors/contact_sensor/contact_sensor.py
index f92689d09a43..652eca86a35b 100644
--- a/source/isaaclab_ov/isaaclab_ov/sensors/contact_sensor/contact_sensor.py
+++ b/source/isaaclab_ov/isaaclab_ov/sensors/contact_sensor/contact_sensor.py
@@ -336,17 +336,34 @@ def _create_buffers(self) -> None:
         else:
             self._poses_flat_buf = None
 
+    def _fetch_ovphysx_buffers(self, include_pose: bool = True) -> None:
+        """Read the contact (and optionally pose) data from ovphysx into the flat buffers.
+
+        The ovphysx bindings write into the tensors allocated once in :meth:`_create_buffers`,
+        so the buffers are refreshed in place on every call.
+
+        Args:
+            include_pose: Whether to also read the body poses when ``track_pose`` is enabled.
+                The per-step refresh in :meth:`update` skips them since only the contact
+                buffers carry the contact-loss transient. Defaults to True.
+        """
+        # Pull aggregate forces into the pre-allocated flat buffer:
+        # shape [num_envs * num_sensors, 3] float32.
+        self._contact_binding.read_net_forces(self._net_forces_flat_buf)
+        if self._force_matrix_flat_buf is not None:
+            self._contact_binding.read_force_matrix(self._force_matrix_flat_buf)
+        if self.cfg.track_pose and include_pose:
+            # Read pose into [num_envs * num_sensors, 7] float32.
+            self._root_view.read_into(TT.RIGID_BODY_POSE, self._poses_flat_buf)
+
     def _update_buffers_impl(self, env_mask: wp.array | None = None) -> None:
         """Read contact data from ovphysx and update sensor buffers."""
         env_mask = self._resolve_indices_and_mask(None, env_mask)
+        self._fetch_ovphysx_buffers()
 
-        # Pull aggregate forces into the pre-allocated flat buffer:
-        # shape [num_envs * num_sensors, 3] float32 -> [num_envs * num_sensors] vec3f.
-        self._contact_binding.read_net_forces(self._net_forces_flat_buf)
+        # [num_envs * num_sensors, 3] float32 -> [num_envs * num_sensors] vec3f.
         net_forces_flat = self._net_forces_flat_buf.view(wp.vec3f)
-
         if self._force_matrix_flat_buf is not None:
-            self._contact_binding.read_force_matrix(self._force_matrix_flat_buf)
             force_matrix_flat = self._force_matrix_flat_buf.view(wp.vec3f)
         else:
             force_matrix_flat = None
@@ -380,8 +397,6 @@ def _update_buffers_impl(self, env_mask: wp.array | None = None) -> None:
         )
 
         if self.cfg.track_pose:
-            # Read pose into [num_envs * num_sensors, 7] float32 -> view as transformf.
-            self._root_view.read_into(TT.RIGID_BODY_POSE, self._poses_flat_buf)
             poses_flat = self._poses_flat_buf.view(wp.transformf)
             wp.launch(
                 split_flat_pose_to_pos_quat,
@@ -395,6 +410,27 @@ def _update_buffers_impl(self, env_mask: wp.array | None = None) -> None:
     Operations
     """
 
+    def update(self, dt: float, force_recompute: bool = False) -> None:
+        """Advances the sensor timestamp and refreshes the ovphysx contact buffers.
+
+        PhysX zeroes the net contact force of a body only on the physics step where its contact
+        is lost. A sensor that is refreshed lazily (on data access) would skip that step and keep
+        reporting the last in-contact force until the next touchdown, so the ovphysx bindings are
+        read on every physics step. The warp kernels that turn those buffers into sensor data
+        remain lazy and only run when :attr:`data` is accessed. The body poses have no such
+        transient and are only read on data access.
+
+        Args:
+            dt: Time elapsed since the previous sensor update [s].
+            force_recompute: Whether to recompute the sensor buffers regardless of their
+                configured update period. Defaults to False.
+        """
+        super().update(dt, force_recompute=force_recompute)
+        # Skip the read if the base class already refreshed the buffers on this step, which it
+        # does when the sensor carries a history buffer.
+        if self._is_initialized and self._data_generation != self._data_generation_last_update:
+            self._fetch_ovphysx_buffers(include_pose=False)
+
     def reset(self, env_ids: Sequence[int] | None = None, env_mask: wp.array | None = None) -> None:
         env_mask = self._resolve_indices_and_mask(env_ids, env_mask)
         super().reset(None, env_mask)
@@ -423,12 +459,15 @@ def reset(self, env_ids: Sequence[int] | None = None, env_mask: wp.array | None
             device=self._device,
         )
 
-    def compute_first_contact(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArray:
+    def compute_first_contact(self, dt: float, abs_tol: float | None = None) -> ProxyArray:
         """Boolean mask (as float) of bodies that established contact within ``dt`` [s].
 
+        Outdated sensor buffers are refreshed before the comparison.
+
         Args:
             dt: Time window since contact establishment [s].
-            abs_tol: Absolute tolerance for the comparison [s].
+            abs_tol: Absolute tolerance for the comparison [s]. Defaults to None, in which case
+                half the sensor update interval is used.
 
         Returns:
             Boolean tensor (1.0/0.0) of shape ``(num_envs, num_sensors)``.
@@ -441,21 +480,27 @@ def compute_first_contact(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArra
                 "The contact sensor is not configured to track contact time."
                 " Please enable 'track_air_time' in the sensor configuration."
             )
+        tol = self._resolve_first_transition_tolerance(abs_tol)
+        # refresh lazily updated buffers so the timers reflect the current physics step
+        self._update_outdated_buffers()
         wp.launch(
             compute_first_transition_kernel,
             dim=(self._num_envs, self._num_sensors),
-            inputs=[float(dt + abs_tol), self._data._current_contact_time],
+            inputs=[float(dt + tol), self._data._current_contact_time],
             outputs=[self._data._first_transition],
             device=self._device,
         )
         return self._data._first_transition_ta
 
-    def compute_first_air(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArray:
+    def compute_first_air(self, dt: float, abs_tol: float | None = None) -> ProxyArray:
         """Boolean mask (as float) of bodies that broke contact within ``dt`` [s].
 
+        Outdated sensor buffers are refreshed before the comparison.
+
         Args:
             dt: Time window since contact break [s].
-            abs_tol: Absolute tolerance for the comparison [s].
+            abs_tol: Absolute tolerance for the comparison [s]. Defaults to None, in which case
+                half the sensor update interval is used.
 
         Returns:
             Boolean tensor (1.0/0.0) of shape ``(num_envs, num_sensors)``.
@@ -468,10 +513,13 @@ def compute_first_air(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArray:
                 "The contact sensor is not configured to track air time."
                 " Please enable 'track_air_time' in the sensor configuration."
             )
+        tol = self._resolve_first_transition_tolerance(abs_tol)
+        # refresh lazily updated buffers so the timers reflect the current physics step
+        self._update_outdated_buffers()
         wp.launch(
             compute_first_transition_kernel,
             dim=(self._num_envs, self._num_sensors),
-            inputs=[float(dt + abs_tol), self._data._current_air_time],
+            inputs=[float(dt + tol), self._data._current_air_time],
             outputs=[self._data._first_transition],
             device=self._device,
         )
diff --git a/source/isaaclab_ov/isaaclab_ov/sensors/contact_sensor/contact_sensor_cfg.py b/source/isaaclab_ov/isaaclab_ov/sensors/contact_sensor/contact_sensor_cfg.py
index f874b80ddae0..47ff45048268 100644
--- a/source/isaaclab_ov/isaaclab_ov/sensors/contact_sensor/contact_sensor_cfg.py
+++ b/source/isaaclab_ov/isaaclab_ov/sensors/contact_sensor/contact_sensor_cfg.py
@@ -6,7 +6,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.sensors.contact_sensor.contact_sensor_cfg import ContactSensorCfg as _BaseContactSensorCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .contact_sensor import ContactSensor
diff --git a/source/isaaclab_ov/isaaclab_ov/stage.py b/source/isaaclab_ov/isaaclab_ov/stage.py
index e054e7f1476e..1a9ec98ad8ea 100644
--- a/source/isaaclab_ov/isaaclab_ov/stage.py
+++ b/source/isaaclab_ov/isaaclab_ov/stage.py
@@ -10,10 +10,16 @@
 
 from __future__ import annotations
 
+import logging
+
 import numpy as np
 import ovstage
 import warp as wp
 
+from isaaclab_ov.ovstage_compat import HIERARCHY_COMPUTATION_MODEL
+
+logger = logging.getLogger(__name__)
+
 # DLDataType for a 4x4 double matrix (``omni:xform`` column). ovstage stores omni:xform as one
 # 16-lane float64 element per prim; wp.mat44d maps to the same layout via __dlpack__.
 OVSTAGE_XFORM_DTYPE = ovstage.DLDataType(code=ovstage.DLDataTypeCode.kDLFloat, bits=64, lanes=16)
@@ -32,10 +38,11 @@ def create_ovstage(name: str) -> ovstage.Stage:
     Every Isaac Lab stage is therefore created through this helper so the whole process agrees on
     one model.
 
-    :attr:`~ovstage.HierarchyComputationModel.CPU_INCREMENTAL` is requested explicitly rather than
-    left implicit, so the model in force is visible at the call site.
-    :attr:`~ovstage.HierarchyComputationModel.GPU_INCREMENTAL` is currently not working - objects
-    are out-of-place.  Needs investigation
+    The model is requested explicitly rather than left implicit, so the model in force is visible
+    at the call site. Which one is requested depends on the installed ovstage version; see
+    :mod:`isaaclab_ov.ovstage_compat`. A selected model the installed enum does not carry falls
+    back to the host model, so a version gate that runs ahead of the runtime degrades rather than
+    preventing stage creation.
 
     Args:
         name: Instance name used for ovstage diagnostics.
@@ -43,9 +50,15 @@ def create_ovstage(name: str) -> ovstage.Stage:
     Returns:
         The created :class:`ovstage.Stage`.
     """
-    config = ovstage.StageConfig(
-        runtime_default_hierarchy_computation_model=ovstage.HierarchyComputationModel.CPU_INCREMENTAL
-    )
+    hierarchy_computation_model = getattr(ovstage.HierarchyComputationModel, HIERARCHY_COMPUTATION_MODEL, None)
+    if hierarchy_computation_model is None:
+        logger.warning(
+            "This ovstage does not expose HierarchyComputationModel.%s; falling back to CPU_INCREMENTAL.",
+            HIERARCHY_COMPUTATION_MODEL,
+        )
+        # Left unguarded: an ovstage without the host model is broken, and should say so loudly.
+        hierarchy_computation_model = ovstage.HierarchyComputationModel.CPU_INCREMENTAL
+    config = ovstage.StageConfig(runtime_default_hierarchy_computation_model=hierarchy_computation_model)
     return ovstage.Stage(name, config=config)
 
 
diff --git a/source/isaaclab_ov/pyproject.toml b/source/isaaclab_ov/pyproject.toml
index d72da96f6c66..9f39b71c64a0 100644
--- a/source/isaaclab_ov/pyproject.toml
+++ b/source/isaaclab_ov/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab_ov"
-version = "3.0.2"
+version = "3.1.2"
 description = "Extension providing Omniverse rendering and OVPhysX simulation integrations."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]
diff --git a/source/isaaclab_ov/test/assets/test_articulation.py b/source/isaaclab_ov/test/assets/test_articulation.py
index 165e42230dc2..ee15662d9019 100644
--- a/source/isaaclab_ov/test/assets/test_articulation.py
+++ b/source/isaaclab_ov/test/assets/test_articulation.py
@@ -53,13 +53,14 @@
 import importlib
 import sys
 from pathlib import Path
+from types import SimpleNamespace
 from unittest.mock import Mock
 
 import pytest
 import torch
 import warp as wp
 
-from pxr import Usd, UsdGeom, UsdPhysics
+from pxr import Gf, Usd, UsdGeom, UsdPhysics
 
 from isaaclab.test.utils import test_devices
 from isaaclab.test.utils.articulation_ordering import (
@@ -77,6 +78,7 @@
 
 from isaaclab_ov import tensor_types as TT  # noqa: E402
 from isaaclab_ov.assets import Articulation  # noqa: E402
+from isaaclab_ov.assets.articulation.actuator_control import OvPhysxActuatorControl  # noqa: E402
 from isaaclab_ov.assets.articulation.articulation_data import ArticulationData  # noqa: E402
 from isaaclab_ov.physics import OvPhysxCfg  # noqa: E402
 
@@ -108,6 +110,34 @@
     "``omni.physx.scripts.utils`` module, which is not shipped by the ovphysx wheel."
 )
 
+
+def test_prepare_native_actuators_leaves_implicit_only_articulation_on_standard_path(monkeypatch):
+    """Keep implicit-only articulations on the unchanged solver-drive path."""
+    from isaaclab_ov.assets.articulation import actuator_control
+
+    runtime_prepare_calls = []
+    runtime = SimpleNamespace(
+        prepare=lambda *args, **kwargs: runtime_prepare_calls.append(True), wrapper=None, adapter=None
+    )
+    articulation = SimpleNamespace(
+        _sim_cfg=SimpleNamespace(use_newton_actuators=True),
+        cfg=SimpleNamespace(prim_path="/World/Robot"),
+    )
+    monkeypatch.setattr(actuator_control, "PhysxActuatorRuntime", lambda *args, **kwargs: runtime)
+    monkeypatch.setattr(actuator_control, "find_first_matching_prim", lambda _: None)
+
+    control = OvPhysxActuatorControl(articulation)
+    native_groups = control.prepare_native_actuators(
+        collection=None,
+        actuator_cfgs={"implicit": ImplicitActuatorCfg(joint_names_expr=["joint"], stiffness=10.0, damping=1.0)},
+    )
+
+    assert native_groups == set()
+    assert not control.native_actuator_path_active
+    assert not articulation._has_newton_actuators
+    assert runtime_prepare_calls == []
+
+
 _SPATIAL_TENDON_OVSTAGE_GAP_REASON = (
     "OVPhysX 0.5.9 segfaults while attaching OVStage scenes containing spatial tendon schemas."
 )
@@ -189,6 +219,65 @@ def read_binding(tensor_type, dst):
     assert buffer.timestamp == 1.0
 
 
+def test_static_property_reads_are_not_invalidated_by_simulation_steps():
+    """Joint properties and body mass/inertia should be read once per invalidation, not once per step.
+
+    On OVPhysX these are blocking CPU-only binding reads whose cost scales with the number of
+    environments, so re-reading them every physics step made per-step consumers (such as the
+    native actuator telemetry sync) host-bound. State buffers must still refresh every step.
+    """
+
+    class Buffer:
+        def __init__(self, shape):
+            self.data = wp.zeros(shape, dtype=wp.float32, device="cpu")
+            self.timestamp = -1.0
+
+    data = ArticulationData.__new__(ArticulationData)
+    data.device = "cpu"
+    data.num_instances = 1
+    data.num_joints = 2
+    data._sim_timestamp = 1.0
+    data.body_ordering = None
+    data._get_binding = lambda tensor_type: object()
+    reads: list[int] = []
+    data._binding_read = lambda tensor_type, dst: reads.append(tensor_type)
+
+    # Joint properties: one read across several steps, one more after explicit invalidation
+    # (simulation reinitialization).
+    data.joint_ordering = None
+    stiffness = Buffer((1, 2))
+    for _ in range(3):
+        data._sim_timestamp += 1.0
+        data._read_joint_property_binding(TT.DOF_STIFFNESS, stiffness, None)
+    assert reads.count(TT.DOF_STIFFNESS) == 1
+    stiffness.timestamp = -1.0
+    data._read_joint_property_binding(TT.DOF_STIFFNESS, stiffness, None)
+    assert reads.count(TT.DOF_STIFFNESS) == 2
+
+    # Body properties behave the same; body state buffers still refresh every step.
+    mass, link_pose = Buffer((1, 2)), Buffer((1, 2))
+    for _ in range(3):
+        data._sim_timestamp += 1.0
+        data._refresh_reordered_body_buffer(mass, None, TT.BODY_MASS, static=True)
+        data._refresh_reordered_body_buffer(link_pose, None, TT.LINK_POSE)
+    assert reads.count(TT.BODY_MASS) == 1
+    assert reads.count(TT.LINK_POSE) == 3
+    mass.timestamp = -1.0
+    data._refresh_reordered_body_buffer(mass, None, TT.BODY_MASS, static=True)
+    assert reads.count(TT.BODY_MASS) == 2
+
+    # Under a non-identity joint ordering the property is gathered once, then served from cache.
+    data.joint_ordering = SimpleNamespace(user_to_backend=wp.array([1, 0], dtype=wp.int32, device="cpu"))
+    data._read_launch_cache = _WarpLaunchCache("cpu")
+    user_buffer, backend_buffer = Buffer((1, 2)), Buffer((1, 2))
+    data._binding_read = lambda tensor_type, dst: (reads.append(tensor_type), dst.assign([[1.0, 2.0]]))
+    for _ in range(3):
+        data._sim_timestamp += 1.0
+        data._read_joint_property_binding(TT.DOF_DAMPING, user_buffer, backend_buffer)
+    assert reads.count(TT.DOF_DAMPING) == 1
+    torch.testing.assert_close(wp.to_torch(user_buffer.data), torch.tensor([[2.0, 1.0]]))
+
+
 def _read_binding_to_torch(articulation: Articulation, tensor_type: int, device: str | torch.device) -> torch.Tensor:
     """Read an OVPhysX attribute into a torch tensor on *device*.
 
@@ -472,38 +561,64 @@ def reject_newton_probe(name, *args, **kwargs):
 
 
 @pytest.mark.parametrize("device", ["cuda:0"])
-def test_newton_native_ovphysx_effort_binding_excludes_implicit_pd(device):
-    """Submit raw native effort so OVPhysX evaluates the implicit joint drive once."""
-    with _ovphysx_sim_context(device=device, gravity_enabled=False, use_newton_actuators=True) as sim:
+@pytest.mark.parametrize("use_newton_actuators", [False, True])
+def test_ovphysx_effort_binding_excludes_implicit_pd(device, use_newton_actuators):
+    """Submit implicit feedforward and explicit PD effort without submitting implicit PD telemetry."""
+    stiffness, effort_limit = 20.0, 400.0
+    with _ovphysx_sim_context(device=device, gravity_enabled=False, use_newton_actuators=use_newton_actuators) as sim:
         sim._app_control_on_stop_handle = None
         articulation_cfg = CARTPOLE_CFG.replace(
             actuators={
                 "cart": ImplicitActuatorCfg(
-                    joint_names_expr=["slider_to_cart"], joint_effort_limit=400.0, stiffness=20.0, damping=0.0
+                    joint_names_expr=["slider_to_cart"],
+                    joint_effort_limit=effort_limit,
+                    stiffness=stiffness,
+                    damping=0.0,
                 ),
                 "pole": IdealPDActuatorCfg(
                     joint_names_expr=["cart_to_pole"],
-                    stiffness=20.0,
+                    stiffness=stiffness,
                     damping=0.0,
-                    actuator_effort_limit=400.0,
+                    actuator_effort_limit=effort_limit,
                 ),
             }
         )
         articulation, _ = generate_articulation(articulation_cfg, 1, device)
         sim.reset()
 
-        articulation.actuators.target_command.set_position_index(
-            value=articulation.data.joint_pos.torch + torch.tensor([[0.25, 0.5]], device=device)
-        )
+        joint_names = articulation.joint_names
+        cart_id = joint_names.index("slider_to_cart")
+        pole_id = joint_names.index("cart_to_pole")
+        initial_pos = articulation.data.joint_pos.torch.clone()
+        position_target = initial_pos.clone()
+        position_target[:, cart_id] += 0.25
+        position_target[:, pole_id] += 0.5
+        feedforward = torch.zeros_like(initial_pos)
+        feedforward[:, cart_id] = 1.5
+        feedforward[:, pole_id] = -0.75
+        articulation.actuators.target_command.set_position_index(value=position_target)
+        articulation.actuators.target_command.set_effort_index(value=feedforward)
         articulation.write_data_to_sim()
 
-        raw_effort = wp.to_torch(articulation._physx_actuator_wrapper.joint_f_2d)
+        expected_pd_effort = torch.clamp(
+            stiffness * (position_target - initial_pos) + feedforward, -effort_limit, effort_limit
+        )
         applied_effort = articulation.actuators.applied_effort.torch
-        assert torch.any(applied_effort[:, 0] != raw_effort[:, 0])
+        torch.testing.assert_close(applied_effort, expected_pd_effort)
+        assert torch.all(applied_effort[:, cart_id] != feedforward[:, cart_id])
+        expected_force = expected_pd_effort.clone()
+        expected_force[:, cart_id] = feedforward[:, cart_id]
+        backend_to_user = [joint_names.index(name) for name in articulation.root_view.dof_names]
+        backend_force = _read_binding_to_torch(articulation, TT.DOF_ACTUATION_FORCE, device)
+        torch.testing.assert_close(backend_force, expected_force[:, backend_to_user])
+
+        expected_stiffness = torch.zeros_like(initial_pos)
+        expected_stiffness[:, cart_id] = stiffness
         torch.testing.assert_close(
-            _read_binding_to_torch(articulation, TT.DOF_ACTUATION_FORCE, device),
-            raw_effort,
+            _read_binding_to_torch(articulation, TT.DOF_STIFFNESS, device),
+            expected_stiffness[:, backend_to_user],
         )
+        assert articulation._actuator_control.native_actuator_path_active == use_newton_actuators
 
 
 @pytest.mark.parametrize("device", ["cuda:0"])
@@ -586,8 +701,9 @@ def sim(request):
         add_ground_plane = request.getfixturevalue("add_ground_plane")
     else:
         add_ground_plane = False  # default to no ground plane
+    dt = request.getfixturevalue("dt") if "dt" in request.fixturenames else 1.0 / 60.0
     with _ovphysx_sim_context(
-        device=device, auto_add_lighting=True, gravity_enabled=gravity_enabled, add_ground_plane=add_ground_plane
+        device=device, auto_add_lighting=True, gravity_enabled=gravity_enabled, add_ground_plane=add_ground_plane, dt=dt
     ) as sim:
         sim._app_control_on_stop_handle = None
         yield sim
@@ -619,10 +735,13 @@ def test_write_joint_state_accepts_int64_selector(sim, device, gravity_enabled):
     torch.testing.assert_close(articulation.data.joint_vel.torch, expected_velocity)
 
 
-@pytest.mark.parametrize("device", ["cpu"])
-@pytest.mark.parametrize("gravity_enabled", [False])
-def test_reversed_joint_dynamics_use_public_joint_basis(sim, device, gravity_enabled):
-    """Keep dynamics tensors consistent with public joint velocity."""
+@pytest.mark.parametrize("device", ["cpu", "cuda:0"])
+@pytest.mark.parametrize("gravity_enabled", [False, True])
+@pytest.mark.parametrize("user_ordering", [False, True])
+# Keep integration-time pose/velocity differences below the dynamics tolerance.
+@pytest.mark.parametrize("dt", [1e-4])
+def test_reversed_joint_dynamics_use_public_joint_basis(sim, device, gravity_enabled, user_ordering, dt):
+    """Check velocity, kinetic energy and gravity in the public joint basis."""
     articulation = Articulation(
         ArticulationCfg(
             prim_path="/World/Robot",
@@ -630,6 +749,8 @@ def test_reversed_joint_dynamics_use_public_joint_basis(sim, device, gravity_ena
                 usd_path=str(Path(__file__).parent / "data" / "articulation_ordering_branching.usda")
             ),
             actuators={},
+            joint_ordering=BRANCHING_MJWARP_JOINT_NAMES if user_ordering else None,
+            body_ordering=BRANCHING_MJWARP_BODY_NAMES if user_ordering else None,
         )
     )
     UsdPhysics.FixedJoint.Define(sim.stage, "/World/Robot/fixed_root").GetBody1Rel().SetTargets(["/World/Robot/base"])
@@ -637,6 +758,14 @@ def test_reversed_joint_dynamics_use_public_joint_basis(sim, device, gravity_ena
     body0, body1 = joint.GetBody0Rel().GetTargets(), joint.GetBody1Rel().GetTargets()
     joint.GetBody0Rel().SetTargets(body1)
     joint.GetBody1Rel().SetTargets(body0)
+    for prim in Usd.PrimRange(sim.stage.GetPrimAtPath("/World/Robot")):
+        if prim.IsA(UsdPhysics.RevoluteJoint):
+            UsdPhysics.RevoluteJoint(prim).GetAxisAttr().Set("Y")
+        if prim.HasAPI(UsdPhysics.MassAPI):
+            mass = UsdPhysics.MassAPI(prim)
+            mass.CreateCenterOfMassAttr(Gf.Vec3f(0.2, 0.0, 0.0))
+            # Isotropic inertia makes the energy check independent of body rotation.
+            mass.CreateDiagonalInertiaAttr(Gf.Vec3f(0.1))
     sim.reset()
 
     velocity = torch.zeros((1, articulation.num_joints), device=device)
@@ -644,7 +773,7 @@ def test_reversed_joint_dynamics_use_public_joint_basis(sim, device, gravity_ena
     velocity[:, articulation.find_joints("left_elbow")[0][0]] = 0.7
     articulation.write_joint_velocity_to_sim_index(velocity=velocity)
     sim.step()
-    articulation.update(sim.cfg.dt)
+    articulation.update(dt)
 
     joint_velocity = articulation.data.joint_vel.torch
     predicted_velocity = torch.einsum("nbij,nj->nbi", articulation.data.body_com_jacobian_w.torch, joint_velocity)
@@ -661,6 +790,19 @@ def test_reversed_joint_dynamics_use_public_joint_basis(sim, device, gravity_ena
     )
     torch.testing.assert_close(generalized_energy, body_energy, atol=1e-5, rtol=1e-5)
 
+    gravity = torch.tensor(sim.cfg.gravity, device=device)
+    body_weight = articulation.data.body_mass.torch[:, 1:, None] * gravity
+    expected_compensation = -torch.einsum(
+        "nbij,nbi->nj", articulation.data.body_com_jacobian_w.torch[:, :, :3], body_weight
+    )
+    if gravity_enabled:
+        assert torch.all(expected_compensation.abs() > 0.1)
+    else:
+        assert torch.count_nonzero(expected_compensation) == 0
+    torch.testing.assert_close(
+        articulation.data.gravity_compensation_forces.torch, expected_compensation, atol=1e-5, rtol=1e-5
+    )
+
 
 def test_joint_dof_sign_resolution_traverses_instance_proxies():
     """Resolve reversed joints inside an instanceable articulation."""
@@ -720,11 +862,12 @@ def test_live_anymal_c_manual_joint_ordering_preserves_unselected_backend_state(
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 def test_live_anymal_c_manual_joint_ordering_reorders_joint_targets(sim, device):
     """Write nonidentity-ordered joint targets into their intended backend columns."""
+    stiffness, damping = 10.0, 2.0
     backend_joint_names = ANYMAL_C_PHYSX_JOINT_NAMES
     joint_ordering = (*backend_joint_names[1:], backend_joint_names[0])
     articulation_cfg = generate_articulation_cfg("anymal").replace(
         joint_ordering=joint_ordering,
-        actuators={"legs": ImplicitActuatorCfg(joint_names_expr=[".*"], stiffness=10.0, damping=2.0)},
+        actuators={"legs": ImplicitActuatorCfg(joint_names_expr=[".*"], stiffness=stiffness, damping=damping)},
     )
     articulation, _ = generate_articulation(articulation_cfg, 1, device=device)
     sim.reset()
@@ -738,14 +881,28 @@ def test_live_anymal_c_manual_joint_ordering_reorders_joint_targets(sim, device)
     joint_index = torch.arange(articulation.num_joints, dtype=torch.float32, device=device).unsqueeze(0)
     position_target = -0.25 + 0.031 * joint_index
     velocity_target = 0.07 + 0.017 * joint_index
+    effort_target = torch.where(joint_index.remainder(2) == 0, 0.0, 0.13 * joint_index)
+    joint_pos = articulation.data.joint_pos.torch.clone()
+    joint_vel = articulation.data.joint_vel.torch.clone()
     articulation.set_joint_position_target_index(target=position_target)
     articulation.set_joint_velocity_target_index(target=velocity_target)
+    articulation.actuators.target_command.set_effort_index(value=effort_target)
     articulation.write_data_to_sim()
 
     backend_position_target = _read_binding_to_torch(articulation, TT.DOF_POSITION_TARGET, device)
     backend_velocity_target = _read_binding_to_torch(articulation, TT.DOF_VELOCITY_TARGET, device)
     torch.testing.assert_close(backend_position_target, position_target[:, backend_to_user])
     torch.testing.assert_close(backend_velocity_target, velocity_target[:, backend_to_user])
+    torch.testing.assert_close(
+        _read_binding_to_torch(articulation, TT.DOF_ACTUATION_FORCE, device), effort_target[:, backend_to_user]
+    )
+    computed_effort = (
+        stiffness * (position_target - joint_pos) + damping * (velocity_target - joint_vel) + effort_target
+    )
+    limits = articulation.data.joint_effort_limits.torch
+    expected_telemetry = torch.clamp(computed_effort, min=-limits, max=limits)
+    torch.testing.assert_close(articulation.actuators.applied_effort.torch, expected_telemetry)
+    assert not torch.allclose(expected_telemetry, effort_target)
 
 
 @pytest.mark.parametrize("device", ["cpu"])
@@ -2961,6 +3118,42 @@ def test_body_com_pose_b_cache_and_set_coms_invalidation(sim, device):
         assert buffer.timestamp < articulation.data._sim_timestamp, name
 
 
+@pytest.mark.parametrize("device", ["cpu"])
+def test_com_orientation_write_invalidates_static_inertia_cache_with_body_ordering(sim, device):
+    """A COM rotation refreshes the static inertia cache in non-identity body order."""
+    sim._app_control_on_stop_handle = None
+    articulation_cfg = FRANKA_PANDA_CFG.replace(body_ordering=PANDA_ROOT_PRESERVING_REVERSED_BODY_NAMES)
+    articulation, _ = generate_articulation(articulation_cfg, 1, device=device)
+
+    sim.reset()
+    articulation.update(sim.cfg.dt)
+    assert articulation.body_ordering is not None
+
+    public_body_id = 1
+    backend_body_id = articulation.body_ordering.user_to_backend_indices[public_body_id]
+    assert backend_body_id != public_body_id
+
+    coms = articulation.data.body_com_pose_b.torch[:, public_body_id : public_body_id + 1].clone()
+    coms[..., 3:7] = torch.tensor([0.0, 0.0, 0.0, 1.0], device=device)
+    articulation.set_coms_index(coms=wp.from_torch(coms.contiguous(), dtype=wp.transformf), body_ids=[public_body_id])
+
+    principal_inertia = torch.tensor([[[1.0, 0.0, 0.0, 0.0, 2.0, 0.0, 0.0, 0.0, 3.0]]], device=device)
+    articulation.set_inertias_index(inertias=principal_inertia, body_ids=[public_body_id])
+    torch.testing.assert_close(
+        articulation.data.body_inertia.torch[:, public_body_id : public_body_id + 1], principal_inertia
+    )
+
+    coms[..., 3:7] = torch.tensor([0.0, 0.0, 0.70710677, 0.70710677], device=device)
+    articulation.set_coms_index(coms=wp.from_torch(coms.contiguous(), dtype=wp.transformf), body_ids=[public_body_id])
+    sim.step()
+    articulation.update(sim.cfg.dt)
+    expected_rotated_inertia = torch.tensor([[[2.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 3.0]]], device=device)
+    torch.testing.assert_close(
+        articulation.data.body_inertia.torch[:, public_body_id : public_body_id + 1],
+        expected_rotated_inertia,
+    )
+
+
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 def test_root_link_vel_w_refreshes_fk_before_body_com_vel_w_read(sim, device):
     """Reading ``root_link_vel_w`` must run FK before ``body_com_vel_w`` sees a "fresh" buffer.
diff --git a/source/isaaclab_ov/test/assets/test_deformable_object.py b/source/isaaclab_ov/test/assets/test_deformable_object.py
index 06622fc6cfdb..1c1b3fd50602 100644
--- a/source/isaaclab_ov/test/assets/test_deformable_object.py
+++ b/source/isaaclab_ov/test/assets/test_deformable_object.py
@@ -33,7 +33,7 @@
 from isaaclab.assets import DeformableObject, DeformableObjectCfg, RigidObjectCfg  # noqa: E402
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg  # noqa: E402
 from isaaclab.sim import SimulationCfg, build_simulation_context  # noqa: E402
-from isaaclab.utils.configclass import configclass  # noqa: E402
+from isaaclab.utils import configclass  # noqa: E402
 
 from ..deformable_utils import (  # noqa: E402
     pre_tetrahedralized_deformable_spawn_cfg,
diff --git a/source/isaaclab_ov/test/conftest.py b/source/isaaclab_ov/test/conftest.py
new file mode 100644
index 000000000000..5f460add94f7
--- /dev/null
+++ b/source/isaaclab_ov/test/conftest.py
@@ -0,0 +1,12 @@
+# 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
+
+"""Shared configuration for kitless OVPhysX tests."""
+
+import os
+
+# TODO: Remove once usd-core>=26.5 is the minimum. Earlier releases can corrupt
+# the heap when OpenUSD parses payloads concurrently in kitless processes.
+os.environ["PXR_WORK_THREAD_LIMIT"] = "1"
diff --git a/source/isaaclab_ov/test/deformable_utils.py b/source/isaaclab_ov/test/deformable_utils.py
index 40d76cba20e3..0e72c118161b 100644
--- a/source/isaaclab_ov/test/deformable_utils.py
+++ b/source/isaaclab_ov/test/deformable_utils.py
@@ -15,7 +15,7 @@
 from pxr import Gf, Sdf, Usd, UsdGeom, UsdShade
 
 import isaaclab.sim as sim_utils
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 _VOLUME_MATERIAL_CFG = PhysxDeformableBodyMaterialCfg(
     dynamic_friction=0.5,
diff --git a/source/isaaclab_ov/test/physics/test_ovphysx_compat.py b/source/isaaclab_ov/test/physics/test_ovphysx_compat.py
index 5906cf36cca1..b887cd59f09a 100644
--- a/source/isaaclab_ov/test/physics/test_ovphysx_compat.py
+++ b/source/isaaclab_ov/test/physics/test_ovphysx_compat.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Tests for OVPhysX 0.5.11 / 0.6 lifecycle compatibility."""
+"""Tests for OVPhysX 0.5.11 / 0.6 lifecycle and dynamics compatibility."""
 
 from __future__ import annotations
 
@@ -29,11 +29,13 @@
         OVPHYSX_LIFECYCLE_ENTRY_POINTS,
         build_lifecycle_entry_points,
         detect_ovphysx_version,
+        requires_legacy_joint_sign_correction,
     )
 else:
     OVPHYSX_LIFECYCLE_ENTRY_POINTS = None
     build_lifecycle_entry_points = None
     detect_ovphysx_version = None
+    requires_legacy_joint_sign_correction = None
 
 _LEGACY_ENTRY_POINTS = {"warmup": "warmup_gpu", "destroy": "release"}
 _CURRENT_ENTRY_POINTS = {"warmup": "warmup", "destroy": "destroy"}
@@ -75,3 +77,18 @@ def test_lifecycle_entry_points(version: Version | None, expected: dict[str, str
 def test_published_entry_points_are_read_only():
     with pytest.raises(TypeError):
         OVPHYSX_LIFECYCLE_ENTRY_POINTS["warmup"] = "mutated"  # type: ignore[index]
+
+
+@pytest.mark.parametrize(
+    ("version", "expected"),
+    [
+        (None, True),
+        (Version("0.5.11"), True),
+        (Version("0.6.0.dev1+trunk.e15a64a2"), False),
+        (Version("0.6"), False),
+        (Version("0.6.2"), False),
+        (Version("1.0"), False),
+    ],
+)
+def test_reversed_joint_sign_correction_version_boundary(version: Version | None, expected: bool):
+    assert requires_legacy_joint_sign_correction(version) is expected
diff --git a/source/isaaclab_ov/test/physics/test_ovphysx_manager_lifecycle.py b/source/isaaclab_ov/test/physics/test_ovphysx_manager_lifecycle.py
index 58c2e712f4d5..abc6ae633f7b 100644
--- a/source/isaaclab_ov/test/physics/test_ovphysx_manager_lifecycle.py
+++ b/source/isaaclab_ov/test/physics/test_ovphysx_manager_lifecycle.py
@@ -72,41 +72,61 @@ def _fake_ovphysx_module(bootstrap):
 
 
 @pytest.mark.parametrize(
-    ("registered_names", "expected_paths"),
+    ("registered_names", "expected_paths", "schema_root", "has_registration_api"),
     [
-        (["physxSchema"], ["/schemas/OmniUsdPhysicsDeformableSchema/resources"]),
-        (["PhysxSchema", "OmniUsdPhysicsDeformableSchema"], []),
+        (["physxSchema"], ["/schemas/OmniUsdPhysicsDeformableSchema/resources"], "/schemas", True),
+        (["PhysxSchema", "OmniUsdPhysicsDeformableSchema"], [], "/schemas", True),
+        (["PhysxSchema", "OmniUsdPhysicsDeformableSchema"], [], None, True),
+        (["physxSchema"], ["/schemas/OmniUsdPhysicsDeformableSchema/resources"], "/schemas", False),
+        pytest.param(
+            ["physxSchema"],
+            ["/schemas/OmniUsdPhysicsDeformableSchema/resources"],
+            "/schemas",
+            None,
+            id="ovstage-import-unavailable",
+        ),
     ],
 )
 def test_schema_registration_skips_providers_already_supplied_by_host(
-    monkeypatch, manager_module, registered_names, expected_paths
+    monkeypatch, manager_module, registered_names, expected_paths, schema_root, has_registration_api
 ):
     manager = manager_module.OvPhysxManager
     schema_paths = [
         Path("/schemas/PhysxSchema/resources"),
         Path("/schemas/OmniUsdPhysicsDeformableSchema/resources"),
     ]
-    registrations = []
+    host_registrations = []
+    ovstage_registrations = []
 
     fake_ovphysx = ModuleType("ovphysx")
     fake_ovphysx.codeless_schema_paths = lambda: schema_paths
+    if schema_root is not None:
+        fake_ovphysx.codeless_schema_root = lambda: Path(schema_root)
+
+    fake_ovstage = ModuleType("ovstage")
+    fake_ovstage.population = SimpleNamespace()
+    if has_registration_api:
+        fake_ovstage.population.register_usd_schemas = ovstage_registrations.append
 
     class FakeRegistry:
         def GetAllPlugins(self):
             return [SimpleNamespace(name=name) for name in registered_names]
 
         def RegisterPlugins(self, paths):
-            registrations.append(list(paths))
+            host_registrations.append(list(paths))
 
     fake_pxr = ModuleType("pxr")
     fake_pxr.Plug = type("FakePlug", (), {"Registry": staticmethod(FakeRegistry)})
     monkeypatch.setitem(sys.modules, "ovphysx", fake_ovphysx)
+    # A None entry makes importing OVStage raise ModuleNotFoundError.
+    monkeypatch.setitem(sys.modules, "ovstage", fake_ovstage if has_registration_api is not None else None)
     monkeypatch.setitem(sys.modules, "pxr", fake_pxr)
 
     manager._ensure_physx_schemas_registered()
     manager._ensure_physx_schemas_registered()
 
-    assert registrations == ([expected_paths] if expected_paths else [])
+    assert ovstage_registrations == ([schema_root] if schema_root is not None and has_registration_api else [])
+    assert host_registrations == ([expected_paths] if expected_paths else [])
 
 
 def test_construct_physx_bootstraps_each_runtime_without_replacing_pxr(monkeypatch, manager_module):
diff --git a/source/isaaclab_ov/test/sensors/test_contact_sensor.py b/source/isaaclab_ov/test/sensors/test_contact_sensor.py
index 87b46ff901f2..42dcf80437f8 100644
--- a/source/isaaclab_ov/test/sensors/test_contact_sensor.py
+++ b/source/isaaclab_ov/test/sensors/test_contact_sensor.py
@@ -64,7 +64,7 @@
 from isaaclab.sim import SimulationCfg, SimulationContext, build_simulation_context  # noqa: E402
 from isaaclab.sim.utils.stage import get_current_stage  # noqa: E402
 from isaaclab.terrains import HfRandomUniformTerrainCfg, TerrainGeneratorCfg, TerrainImporterCfg  # noqa: E402
-from isaaclab.utils.configclass import configclass  # noqa: E402
+from isaaclab.utils import configclass  # noqa: E402
 
 wp.init()
 
@@ -336,6 +336,104 @@ def test_sphere_contact_time(device):
     _run_contact_sensor_test(SPHERE_CFG, _SIM_DT, device, _TERRAINS, _DURATIONS)
 
 
+@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.parametrize("clock_age", [2.5, 10.0, 30.0])
+def test_first_transition_with_aged_clock(device, clock_age):
+    """Regression for #7283: transitions must still be reported once the sensor clock has aged.
+
+    The sensor clock is a float32 accumulator whose rounding error grows with simulated time. On a
+    transition step the contact (resp. air) timer is exactly one polling period, so the default
+    tolerance of :meth:`ContactSensor.compute_first_contact` has to absorb that error. A fixed 1e-8
+    tolerance is orders of magnitude too small after a few seconds of simulated time.
+    """
+    # The sensor keeps history, so it refreshes every physics step and is polled at that same rate.
+    # The lazy (zero-history) cadence is covered by the kernel-level tolerance test: on GPU this
+    # backend serves stale contact forces when buffers refresh only on data access, which is
+    # unrelated to the tolerance under test here.
+    history_length = 1
+    decimation = 1
+    poll_dt = decimation * _SIM_DT
+    poll_steps = 16
+
+    with _ovphysx_sim_context(device=device, dt=_SIM_DT, add_lighting=True) as sim:
+        scene_cfg = ContactSensorSceneCfg(num_envs=1, env_spacing=1.0)
+        scene_cfg.terrain = FLAT_TERRAIN_CFG
+        scene_cfg.shape = CUBE_CFG
+        scene_cfg.contact_sensor = ContactSensorCfg(
+            prim_path=CUBE_CFG.prim_path,
+            track_pose=True,
+            debug_vis=False,
+            update_period=0.0,
+            track_air_time=True,
+            history_length=history_length,
+            track_contact_points=False,
+            track_friction_forces=False,
+            filter_prim_paths_expr=[],
+        )
+        scene = InteractiveScene(scene_cfg)
+        sim.reset()
+
+        sensor: ContactSensor = scene["contact_sensor"]
+        shape: RigidObject = scene["shape"]
+        contact_pose = CUBE_CFG.contact_pose.to(device=shape.device).unsqueeze(0)
+        non_contact_pose = CUBE_CFG.non_contact_pose.to(device=shape.device).unsqueeze(0)
+
+        def _in_contact() -> bool:
+            """Ground truth for the contact state, read through the public data accessor."""
+            return torch.norm(sensor.data.net_normal_forces_w.torch, dim=-1).max().item() > 0.1
+
+        def _hold(pose: torch.Tensor, num_steps: int) -> None:
+            """Pin the cube to a pose for the given number of physics steps."""
+            for _ in range(num_steps):
+                shape.write_root_pose_to_sim_index(root_pose=pose)
+                _perform_sim_step(sim, scene, _SIM_DT)
+
+        # Settle the cube on the ground so the sensor starts in contact.
+        _hold(contact_pose, 8)
+        assert _in_contact(), "Cube should be in contact with the ground before the clock is aged."
+
+        # Age the sensor clock without stepping physics: the resting contact state is unchanged, so
+        # this isolates the float32 clock drift from any change in the contact forces.
+        for tick in range(int(round(clock_age / _SIM_DT))):
+            sensor.update(_SIM_DT)
+        aged_clock = wp.to_torch(sensor._timestamp).max().item()
+        assert aged_clock == pytest.approx(clock_age + 8 * _SIM_DT, abs=0.05)
+
+        # Lift the cube off the ground for half the window, then set it back down.
+        reported_air: list[int] = []
+        reported_contact: list[int] = []
+        expected_air: list[int] = []
+        expected_contact: list[int] = []
+        was_in_contact = True
+        for step in range(poll_steps):
+            _hold(non_contact_pose if step < poll_steps // 2 else contact_pose, decimation)
+            # Poll before anything reads ``data`` this step: the query itself must refresh lazily
+            # updated buffers, otherwise it reports the previous step's timers.
+            first_contact = sensor.compute_first_contact(poll_dt).torch.any().item()
+            first_air = sensor.compute_first_air(poll_dt).torch.any().item()
+            in_contact = _in_contact()
+            if in_contact and not was_in_contact:
+                expected_contact.append(step)
+            if not in_contact and was_in_contact:
+                expected_air.append(step)
+            was_in_contact = in_contact
+            if first_contact:
+                reported_contact.append(step)
+            if first_air:
+                reported_air.append(step)
+
+        assert len(expected_air) == 1, f"Expected exactly one lift-off in the window; got {expected_air}."
+        assert len(expected_contact) == 1, f"Expected exactly one touchdown in the window; got {expected_contact}."
+        assert reported_air == expected_air, (
+            f"compute_first_air missed or mis-reported the lift-off at clock {aged_clock:.3f}s: "
+            f"reported {reported_air}, expected {expected_air}."
+        )
+        assert reported_contact == expected_contact, (
+            f"compute_first_contact missed or mis-reported the touchdown at clock {aged_clock:.3f}s: "
+            f"reported {reported_contact}, expected {expected_contact}."
+        )
+
+
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("num_envs", [1, 6, 24])
 def test_cube_stack_contact_filtering(device, num_envs):
@@ -667,6 +765,56 @@ def test_contact_sensor_threshold(device):
                 )
 
 
+@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+def test_lazy_sensor_reports_contact_loss(device):
+    """Regression for issue #7613: a lazily read sensor must report the loss of contact.
+
+    Mirrors the PhysX regression test: with ``history_length=0`` and ``lazy_sensor_update=True``
+    the sensor is only refreshed when :attr:`ContactSensor.data` is accessed, which a policy-rate
+    reader does once per four physics steps. The reported force must still drop to zero once the
+    shape is held in the air.
+    """
+    with _ovphysx_sim_context(device=device, dt=_SIM_DT, add_lighting=False) as sim:
+        scene_cfg = ContactSensorSceneCfg(num_envs=1, env_spacing=1.0, lazy_sensor_update=True)
+        scene_cfg.terrain = FLAT_TERRAIN_CFG
+        scene_cfg.shape = CUBE_CFG
+        scene_cfg.contact_sensor = ContactSensorCfg(
+            prim_path=CUBE_CFG.prim_path,
+            track_pose=True,
+            update_period=0.0,
+            track_air_time=True,
+            history_length=0,
+        )
+        scene = InteractiveScene(scene_cfg)
+        sim.reset()
+
+        sensor: ContactSensor = scene["contact_sensor"]
+        shape: RigidObject = scene["shape"]
+        contact_pose = CUBE_CFG.contact_pose.to(device=shape.device).unsqueeze(0)
+        non_contact_pose = CUBE_CFG.non_contact_pose.to(device=shape.device).unsqueeze(0)
+
+        # Mimic a policy stepping the environment with a decimation of 4: the sensor data is
+        # read once per policy step and left untouched in between.
+        decimation = 4
+        num_policy_steps = 6
+
+        def run_policy_step(root_pose: torch.Tensor) -> float:
+            """Holds the shape at ``root_pose`` for one policy step and reads the sensor once."""
+            for _ in range(decimation):
+                shape.write_root_pose_to_sim_index(root_pose=root_pose)
+                _perform_sim_step(sim, scene, _SIM_DT)
+            return torch.linalg.norm(sensor.data.net_normal_forces_w.torch, dim=-1).max().item()
+
+        contact_forces = [run_policy_step(contact_pose) for _ in range(num_policy_steps)]
+        air_forces = [run_policy_step(non_contact_pose) for _ in range(num_policy_steps)]
+
+        # Guard against a vacuous test: the sensor must have reported contact while on the ground.
+        assert contact_forces[-1] > 0.1, f"Expected a contact force on the ground; got {contact_forces}"
+        # The first read in the air may still carry the impulse of the last contact step, so only
+        # the subsequent reads are required to be free of contact.
+        assert max(air_forces[1:]) < 0.1, f"Stale contact force reported in the air: {air_forces}"
+
+
 @pytest.mark.skip(
     reason=(
         "ovphysx ContactSensor v1 does not support track_friction_forces; "
diff --git a/source/isaaclab_ov/test/sensors/test_frame_transformer.py b/source/isaaclab_ov/test/sensors/test_frame_transformer.py
index 407a50fc38d9..9194c0a5a8e4 100644
--- a/source/isaaclab_ov/test/sensors/test_frame_transformer.py
+++ b/source/isaaclab_ov/test/sensors/test_frame_transformer.py
@@ -46,7 +46,7 @@
 from isaaclab.sensors import BaseFrameTransformer, FrameTransformerCfg, OffsetCfg  # noqa: E402
 from isaaclab.sim import SimulationCfg, build_simulation_context  # noqa: E402
 from isaaclab.terrains import TerrainImporterCfg  # noqa: E402
-from isaaclab.utils.configclass import configclass  # noqa: E402
+from isaaclab.utils import configclass  # noqa: E402
 
 from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # noqa: E402
 
diff --git a/source/isaaclab_ov/test/sensors/test_imu.py b/source/isaaclab_ov/test/sensors/test_imu.py
index 18bacade272b..ca1d03ee67f9 100644
--- a/source/isaaclab_ov/test/sensors/test_imu.py
+++ b/source/isaaclab_ov/test/sensors/test_imu.py
@@ -62,7 +62,7 @@
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg  # noqa: E402
 from isaaclab.sensors.imu import Imu, ImuCfg  # noqa: E402
 from isaaclab.sim import SimulationCfg, build_simulation_context  # noqa: E402
-from isaaclab.utils.configclass import configclass  # noqa: E402
+from isaaclab.utils import configclass  # noqa: E402
 
 from isaaclab_assets.robots.anymal import ANYMAL_C_CFG  # noqa: E402
 
diff --git a/source/isaaclab_ov/test/sensors/test_joint_wrench_sensor.py b/source/isaaclab_ov/test/sensors/test_joint_wrench_sensor.py
index 8eee9ff4d96e..903fbd3b91b6 100644
--- a/source/isaaclab_ov/test/sensors/test_joint_wrench_sensor.py
+++ b/source/isaaclab_ov/test/sensors/test_joint_wrench_sensor.py
@@ -43,9 +43,9 @@
 from isaaclab.sensors import JointWrenchSensor, JointWrenchSensorCfg  # noqa: E402
 from isaaclab.sim import SimulationCfg, build_simulation_context  # noqa: E402
 from isaaclab.terrains import TerrainImporterCfg  # noqa: E402
+from isaaclab.utils import configclass  # noqa: E402
 from isaaclab.utils import math as math_utils  # noqa: E402
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR  # noqa: E402
-from isaaclab.utils.configclass import configclass  # noqa: E402
 
 from isaaclab_assets.robots.ant import ANT_CFG  # noqa: E402
 
diff --git a/source/isaaclab_ov/test/sensors/test_pva.py b/source/isaaclab_ov/test/sensors/test_pva.py
index eae9665dc31e..26fa58a323a4 100644
--- a/source/isaaclab_ov/test/sensors/test_pva.py
+++ b/source/isaaclab_ov/test/sensors/test_pva.py
@@ -51,7 +51,7 @@
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg  # noqa: E402
 from isaaclab.sensors.pva import Pva, PvaCfg  # noqa: E402
 from isaaclab.sim import SimulationCfg, build_simulation_context  # noqa: E402
-from isaaclab.utils.configclass import configclass  # noqa: E402
+from isaaclab.utils import configclass  # noqa: E402
 
 wp.init()
 
diff --git a/source/isaaclab_ov/test/sim/test_views_xform_prim_ovphysx.py b/source/isaaclab_ov/test/sim/test_views_xform_prim_ovphysx.py
index a413ccb77525..84e1855788a2 100644
--- a/source/isaaclab_ov/test/sim/test_views_xform_prim_ovphysx.py
+++ b/source/isaaclab_ov/test/sim/test_views_xform_prim_ovphysx.py
@@ -152,7 +152,7 @@ def initialize(value):
 
 from isaaclab.assets import RigidObjectCfg  # noqa: E402
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg  # noqa: E402
-from isaaclab.utils.configclass import configclass  # noqa: E402
+from isaaclab.utils import configclass  # noqa: E402
 
 
 @configclass
diff --git a/source/isaaclab_ov/test/test_ovstage_compat.py b/source/isaaclab_ov/test/test_ovstage_compat.py
new file mode 100644
index 000000000000..fb0cbe0eb77b
--- /dev/null
+++ b/source/isaaclab_ov/test/test_ovstage_compat.py
@@ -0,0 +1,145 @@
+# 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
+
+"""Tests for OVStage 0.1 / 0.2 hierarchy computation model compatibility."""
+
+from __future__ import annotations
+
+import importlib.metadata
+import importlib.util
+import logging
+
+import pytest
+from packaging.version import Version
+
+_REQUIRED_MODULES = ("isaaclab_ov",)
+_MISSING_MODULES = [module for module in _REQUIRED_MODULES if importlib.util.find_spec(module) is None]
+
+pytestmark = [
+    pytest.mark.isaacsim_ci,
+    pytest.mark.skipif(
+        bool(_MISSING_MODULES),
+        reason=f"requires optional modules: {', '.join(_MISSING_MODULES)}",
+    ),
+]
+
+if not _MISSING_MODULES:
+    from isaaclab_ov.ovstage_compat import (  # noqa: E402
+        HIERARCHY_COMPUTATION_MODEL,
+        detect_ovstage_version,
+        resolve_hierarchy_computation_model,
+        supports_gpu_hierarchy_computation,
+    )
+else:
+    HIERARCHY_COMPUTATION_MODEL = None
+    detect_ovstage_version = None
+    resolve_hierarchy_computation_model = None
+    supports_gpu_hierarchy_computation = None
+
+
+def test_detect_ovstage_version_reads_distribution_metadata(monkeypatch: pytest.MonkeyPatch):
+    monkeypatch.setattr(importlib.metadata, "version", lambda name: "0.1.1.355824")
+    assert detect_ovstage_version() == Version("0.1.1.355824")
+
+
+def test_detect_ovstage_version_returns_none_when_uninstalled(monkeypatch: pytest.MonkeyPatch):
+    def _missing(name: str) -> str:
+        raise importlib.metadata.PackageNotFoundError(name)
+
+    monkeypatch.setattr(importlib.metadata, "version", _missing)
+    assert detect_ovstage_version() is None
+
+
+def test_detect_ovstage_version_returns_none_for_unparseable_version(monkeypatch: pytest.MonkeyPatch):
+    monkeypatch.setattr(importlib.metadata, "version", lambda name: "internal-build")
+    assert detect_ovstage_version() is None
+
+
+@pytest.mark.parametrize(
+    ("version", "expected"),
+    [
+        (None, False),
+        (Version("0.1.0.346039"), False),
+        (Version("0.1.1.355824"), False),
+        (Version("0.1.2"), False),
+        (Version("0.2"), True),
+        (Version("0.2.0.377349"), True),
+        (Version("1.0"), True),
+    ],
+)
+def test_supports_gpu_hierarchy_computation_switches_at_ovstage_02(version: Version | None, expected: bool):
+    assert supports_gpu_hierarchy_computation(version) is expected
+
+
+@pytest.mark.parametrize("version", [None, Version("0.1.1.355824")])
+def test_ovstage_01_uses_the_host_hierarchy_model(version: Version | None):
+    """OVStage 0.1 places objects out of position under the device model, so it must stay on the host."""
+    assert resolve_hierarchy_computation_model(version) == "CPU_INCREMENTAL"
+
+
+@pytest.mark.parametrize("version", [Version("0.2"), Version("0.2.0.377349"), Version("1.0")])
+def test_ovstage_02_uses_the_device_hierarchy_model(version: Version):
+    assert resolve_hierarchy_computation_model(version) == "GPU_INCREMENTAL"
+
+
+def test_installed_model_matches_the_installed_version():
+    """The published name is baked from the installed OVStage version at import."""
+    assert resolve_hierarchy_computation_model(detect_ovstage_version()) == HIERARCHY_COMPUTATION_MODEL
+
+
+@pytest.mark.skipif(importlib.util.find_spec("ovstage") is None, reason="requires optional module: ovstage")
+def test_published_model_names_exist_on_the_installed_enum():
+    """Both names must resolve, since :func:`create_ovstage` looks the published one up by name."""
+    import ovstage
+
+    for name in ("CPU_INCREMENTAL", "GPU_INCREMENTAL"):
+        assert isinstance(getattr(ovstage.HierarchyComputationModel, name), ovstage.HierarchyComputationModel)
+
+
+@pytest.fixture()
+def captured_stage_config(monkeypatch: pytest.MonkeyPatch):
+    """Replace stage construction with fakes and yield the requested hierarchy model.
+
+    :func:`~isaaclab_ov.stage.create_ovstage` reaches ovstage through module attributes, so
+    patching them intercepts the config without building a real process-scoped stage.
+    """
+    import ovstage
+
+    captured: dict[str, object] = {}
+
+    def fake_stage_config(*, runtime_default_hierarchy_computation_model):
+        captured["model"] = runtime_default_hierarchy_computation_model
+        return object()
+
+    monkeypatch.setattr(ovstage, "StageConfig", fake_stage_config)
+    monkeypatch.setattr(ovstage, "Stage", lambda name, config: object())
+    return captured
+
+
+@pytest.mark.skipif(importlib.util.find_spec("ovstage") is None, reason="requires optional module: ovstage")
+def test_create_ovstage_requests_the_selected_model(monkeypatch: pytest.MonkeyPatch, captured_stage_config: dict):
+    import ovstage
+    from isaaclab_ov import stage as stage_module
+
+    monkeypatch.setattr(stage_module, "HIERARCHY_COMPUTATION_MODEL", "GPU_INCREMENTAL")
+    stage_module.create_ovstage("compat.selected")
+
+    assert captured_stage_config["model"] is ovstage.HierarchyComputationModel.GPU_INCREMENTAL
+
+
+@pytest.mark.skipif(importlib.util.find_spec("ovstage") is None, reason="requires optional module: ovstage")
+def test_create_ovstage_falls_back_to_the_host_model_for_an_unknown_name(
+    monkeypatch: pytest.MonkeyPatch, captured_stage_config: dict, caplog: pytest.LogCaptureFixture
+):
+    """A model this ovstage does not carry must degrade to the host model, not fail the stage."""
+    import ovstage
+    from isaaclab_ov import stage as stage_module
+
+    monkeypatch.setattr(stage_module, "HIERARCHY_COMPUTATION_MODEL", "MODEL_FROM_A_FUTURE_OVSTAGE")
+    with caplog.at_level(logging.WARNING, logger=stage_module.__name__):
+        stage_module.create_ovstage("compat.fallback")
+
+    assert captured_stage_config["model"] is ovstage.HierarchyComputationModel.CPU_INCREMENTAL
+    assert "MODEL_FROM_A_FUTURE_OVSTAGE" in caplog.text
diff --git a/source/isaaclab_physx/benchmark/sensors/benchmark_frame_transformer.py b/source/isaaclab_physx/benchmark/sensors/benchmark_frame_transformer.py
index 4980c5697854..c0ae96fa49f6 100644
--- a/source/isaaclab_physx/benchmark/sensors/benchmark_frame_transformer.py
+++ b/source/isaaclab_physx/benchmark/sensors/benchmark_frame_transformer.py
@@ -55,7 +55,7 @@
 from isaaclab.benchmark.sensor_suites import add_sensor_latency_measurements, collect_sensor_latency_samples
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import FrameTransformerCfg, OffsetCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_physx/benchmark/sensors/benchmark_imu_pva.py b/source/isaaclab_physx/benchmark/sensors/benchmark_imu_pva.py
index 042c01d85342..85d3f970650f 100644
--- a/source/isaaclab_physx/benchmark/sensors/benchmark_imu_pva.py
+++ b/source/isaaclab_physx/benchmark/sensors/benchmark_imu_pva.py
@@ -51,7 +51,7 @@
 from isaaclab.benchmark.sensor_suites import add_sensor_latency_measurements, collect_sensor_latency_samples
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import ImuCfg, PvaCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_physx/benchmark/sensors/benchmark_joint_wrench.py b/source/isaaclab_physx/benchmark/sensors/benchmark_joint_wrench.py
index e6f920e5771c..641ccd48decf 100644
--- a/source/isaaclab_physx/benchmark/sensors/benchmark_joint_wrench.py
+++ b/source/isaaclab_physx/benchmark/sensors/benchmark_joint_wrench.py
@@ -51,7 +51,7 @@
 from isaaclab.benchmark.sensor_suites import add_sensor_latency_measurements, collect_sensor_latency_samples
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import JointWrenchSensorCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_assets import CARTPOLE_CFG
 
diff --git a/source/isaaclab_physx/benchmark/sensors/benchmark_ray_caster.py b/source/isaaclab_physx/benchmark/sensors/benchmark_ray_caster.py
index f6c4df771195..ea3b411bee0f 100644
--- a/source/isaaclab_physx/benchmark/sensors/benchmark_ray_caster.py
+++ b/source/isaaclab_physx/benchmark/sensors/benchmark_ray_caster.py
@@ -64,7 +64,7 @@
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import RayCasterCfg, patterns
 from isaaclab.terrains import HfRandomUniformTerrainCfg, TerrainGeneratorCfg, TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.seed import configure_seed
 
 _ROUGH_TERRAIN_SEED = 0
diff --git a/source/isaaclab_physx/docs/CHANGELOG.rst b/source/isaaclab_physx/docs/CHANGELOG.rst
index 23341ae4895d..05610238b7c8 100644
--- a/source/isaaclab_physx/docs/CHANGELOG.rst
+++ b/source/isaaclab_physx/docs/CHANGELOG.rst
@@ -1,6 +1,66 @@
 Changelog
 ---------
 
+7.1.3 (2026-09-12)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed :class:`~isaaclab_physx.sensors.ContactSensor` reporting the last in-contact force forever after a
+  body left contact on GPU (issue #7613), when the sensor was configured with ``history_length=0`` and its
+  data was read less often than every physics step (for example once per policy step with
+  ``lazy_sensor_update=True``). PhysX zeroes the net contact force of a body only on the exact physics step
+  where its contact is lost, so a lazily refreshed sensor skipped that step. The PhysX getters are now
+  called on every physics step regardless of the history length, while the warp kernels that consume the
+  fetched buffers stay lazy. As a consequence, :meth:`~isaaclab_physx.sensors.ContactSensor.update` now
+  raises a ``RuntimeError`` for such sensors when called inside an outer CUDA graph capture, as it already
+  did for history-bearing sensors: update the sensor outside the capture.
+
+
+7.1.2 (2026-09-10)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed a SIGSEGV crash when calling ``SimulationContext.play()`` a second time after
+  ``SimulationContext.stop()`` without an intervening ``reset()``, e.g. registering a raw
+  ``omni.timeline`` event subscription and cycling play/stop twice on the GPU PhysX pipeline.
+  ``PhysxManager`` now detaches the PhysX stage on ``stop()`` so the next play's automatic
+  re-warmup reattaches cleanly instead of calling ``attach_stage`` on a stage that PhysX still
+  considered attached, which corrupted its internal view registry.
+
+
+7.1.1 (2026-09-09)
+~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed ``IsaacRtxRenderer.render()`` to pass the tiled annotator buffer to
+  ``reshape_tiled_image`` as a 3D array instead of flattening it to 1D. Large environment counts
+  and camera resolutions no longer overflow the maximum size of a single Warp array dimension.
+
+
+7.1.0 (2026-09-08)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Handled empty Isaac RTX annotator warm-up frames without invalid Warp slicing.
+* Fixed :meth:`compute_first_contact` and :meth:`compute_first_air` on the contact sensor silently
+  missing touchdowns and lift-offs once the simulation had run for a few seconds (issue #7283).
+  Their ``abs_tol`` argument now defaults to ``None``, which resolves to half the sensor update
+  interval instead of a fixed ``1e-8``. The old value was around 100x smaller than the float32
+  rounding error of the sensor clock, so most transitions were dropped. Callers that relied on the
+  previous behavior can pass ``abs_tol=1e-8`` explicitly.
+  Both methods now also refresh outdated sensor buffers before comparing, so a sensor with
+  ``history_length=0`` no longer reports the previous step's transitions when it is queried before
+  its data is read.
+
+
 7.0.1 (2026-09-06)
 ~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab_physx/isaaclab_physx/assets/articulation/actuator_control.py b/source/isaaclab_physx/isaaclab_physx/assets/articulation/actuator_control.py
index f8cbc6b49bf4..e24164da95bd 100644
--- a/source/isaaclab_physx/isaaclab_physx/assets/articulation/actuator_control.py
+++ b/source/isaaclab_physx/isaaclab_physx/assets/articulation/actuator_control.py
@@ -62,14 +62,14 @@ def prepare_native_actuators(self, collection: ActuatorCollection, actuator_cfgs
             return set()
 
         _validate_newton_native_actuator_cfgs(actuator_cfgs)
-
-        # Activate the runtime even without explicit native groups: implicit-only
-        # articulations still rely on it for the solver telemetry fast path.
-        self._native_actuator_path_active = True
-        articulation._has_newton_actuators = True
         native_group_names = {
             name for name, actuator_cfg in actuator_cfgs.items() if not _is_implicit_actuator_cfg(actuator_cfg)
         }
+        if not native_group_names:
+            return set()
+
+        self._native_actuator_path_active = True
+        articulation._has_newton_actuators = True
 
         first_prim = find_first_matching_prim(articulation.cfg.prim_path)
         art_prim_path = str(first_prim.GetPath()) if first_prim is not None else None
diff --git a/source/isaaclab_physx/isaaclab_physx/assets/surface_gripper/surface_gripper_cfg.py b/source/isaaclab_physx/isaaclab_physx/assets/surface_gripper/surface_gripper_cfg.py
index 3aa74800e026..7b2c3c5493fe 100644
--- a/source/isaaclab_physx/isaaclab_physx/assets/surface_gripper/surface_gripper_cfg.py
+++ b/source/isaaclab_physx/isaaclab_physx/assets/surface_gripper/surface_gripper_cfg.py
@@ -7,7 +7,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.assets.asset_base_cfg import AssetBaseCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .surface_gripper import SurfaceGripper
diff --git a/source/isaaclab_physx/isaaclab_physx/physics/physx_manager.py b/source/isaaclab_physx/isaaclab_physx/physics/physx_manager.py
index bdda5e93eecf..3418545ec574 100644
--- a/source/isaaclab_physx/isaaclab_physx/physics/physx_manager.py
+++ b/source/isaaclab_physx/isaaclab_physx/physics/physx_manager.py
@@ -1009,6 +1009,15 @@ def _on_play(cls, event: Any) -> None:
     def _on_stop(cls, event: Any) -> None:
         cls._warmup_needed = True
         cls._invalidate_views()
+        # Detach the stage `_warmup_and_create_views` attached (GPU pipeline only, matching its own
+        # is_gpu guard) so the next play() can reattach cleanly. Without this, a second
+        # `_warmup_and_create_views` (e.g. play() -> stop() -> play() with no reset() in between)
+        # calls attach_stage() on a stage that is still attached ("Stage already attached") and
+        # corrupts PhysX's native view registry (SIGSEGV inside omni.physx.tensors). Guarded by
+        # get_attached_stage() so this is a no-op when close() already detached it.
+        if "cuda" in PhysicsManager.get_device() and (physx_sim := omni.physx.get_physx_simulation_interface()):
+            if physx_sim.get_attached_stage():
+                physx_sim.detach_stage()
 
     @classmethod
     def _on_stage_open(cls, event: Any) -> None:
diff --git a/source/isaaclab_physx/isaaclab_physx/physics/physx_manager_cfg.py b/source/isaaclab_physx/isaaclab_physx/physics/physx_manager_cfg.py
index 0bd9e84379b4..a0d22c27b8c0 100644
--- a/source/isaaclab_physx/isaaclab_physx/physics/physx_manager_cfg.py
+++ b/source/isaaclab_physx/isaaclab_physx/physics/physx_manager_cfg.py
@@ -10,7 +10,7 @@
 from typing import TYPE_CHECKING, Literal
 
 from isaaclab.physics import PhysicsCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .physx_manager import PhysxManager
diff --git a/source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer.py b/source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer.py
index a242c3c332ac..7a9122ebf058 100644
--- a/source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer.py
+++ b/source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer.py
@@ -573,7 +573,7 @@ def tiling_grid_shape():
             rows = math.ceil(view_count / cols)
             return (cols, rows)
 
-        num_tiles_x = tiling_grid_shape()[0]
+        num_tiles_x, num_tiles_y = tiling_grid_shape()
 
         # Extract the flattened image buffer
         for data_type, annotator in render_data.annotators.items():
@@ -585,6 +585,17 @@ def tiling_grid_shape():
             else:
                 tiled_data_buffer = output
 
+            # The RTX annotator may return an empty frame while its render product is warming up.
+            # Clear the destination so callers do not observe stale data, then wait for the next frame.
+            if data_type == str(RenderBufferKind.RGB_HDR) and data_type not in output_data:
+                assert render_data._hdr_scratch_wp is not None
+                buf_wp = render_data._hdr_scratch_wp
+            else:
+                buf_wp = output_data[data_type].warp
+            if tiled_data_buffer.size == 0:
+                buf_wp.zero_()
+                continue
+
             # convert data buffer to warp array
             if isinstance(tiled_data_buffer, np.ndarray):
                 # Let warp infer the dtype from numpy array instead of hardcoding uint8
@@ -619,19 +630,30 @@ def tiling_grid_shape():
             if data_type == str(RenderBufferKind.RGB_HDR):
                 tiled_data_buffer = tiled_data_buffer[:, :, :3].contiguous()
 
-            # The HDR annotator's destination is the user-visible ``output_data["rgb_hdr"]``
-            # when they requested it explicitly; otherwise the renderer's internal
-            # scratch buffer that the PPISP pipeline reads.
-            if data_type == str(RenderBufferKind.RGB_HDR) and data_type not in output_data:
-                assert render_data._hdr_scratch_wp is not None
-                buf_wp = render_data._hdr_scratch_wp
-            else:
-                buf_wp = output_data[data_type].warp
+            # ``reshape_tiled_image`` indexes the tiled buffer as
+            # (num_tiles_y * height, num_tiles_x * width, channels), but annotators hand this data back
+            # with varying shapes: 3D for multi-channel outputs, 2D for single-channel ones, and — for the
+            # colorized segmentation types reinterpreted above — a descriptor that over-claims the backing
+            # memory when the raw buffer already carries a channel axis (e.g. (H, W, 4) becomes (H, W, 4, 4)).
+            # Build the view directly from the pointer rather than reshaping, so the extra claimed elements
+            # are ignored exactly as the previous flattened indexing ignored them. Keeping the view 3D
+            # instead of 1D also keeps every dimension within Warp's per-dimension array size limit, so
+            # large environment counts and camera resolutions no longer overflow a flattened dimension.
+            tile_height, tile_width, num_channels = (int(dim) for dim in buf_wp.shape[1:])
+            # ``tiled_source`` must outlive the view below: the view does not own the annotator memory.
+            tiled_source = tiled_data_buffer
+            tiled_data_buffer = wp.array(
+                ptr=tiled_source.ptr,
+                shape=(num_tiles_y * tile_height, num_tiles_x * tile_width, num_channels),
+                dtype=tiled_source.dtype,
+                device=device,
+            )
+
             wp.launch(
                 kernel=reshape_tiled_image,
                 dim=(view_count, cfg.height, cfg.width),
                 inputs=[
-                    tiled_data_buffer.flatten(),
+                    tiled_data_buffer,
                     buf_wp,
                     *list(buf_wp.shape[1:]),
                     num_tiles_x,
diff --git a/source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer_cfg.py b/source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer_cfg.py
index 698f13a95d44..1b67b4aac477 100644
--- a/source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer_cfg.py
+++ b/source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer_cfg.py
@@ -11,7 +11,7 @@
 from typing import TYPE_CHECKING, Any, Literal
 
 from isaaclab.renderers.renderer_cfg import RendererCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.renderers import isaac_rtx_per_env_scene_partition_enabled
 
 if TYPE_CHECKING:
diff --git a/source/isaaclab_physx/isaaclab_physx/sensors/contact_sensor/contact_sensor.py b/source/isaaclab_physx/isaaclab_physx/sensors/contact_sensor/contact_sensor.py
index f39cdb1c46ce..f6fad26f1fb0 100644
--- a/source/isaaclab_physx/isaaclab_physx/sensors/contact_sensor/contact_sensor.py
+++ b/source/isaaclab_physx/isaaclab_physx/sensors/contact_sensor/contact_sensor.py
@@ -190,6 +190,31 @@ def contact_view(self) -> physx.RigidContactView:
     Operations
     """
 
+    def update(self, dt: float, force_recompute: bool = False) -> None:
+        """Advances the sensor timestamp and refreshes the PhysX contact buffers.
+
+        PhysX zeroes the net contact force of a body only on the physics step where its contact
+        is lost. A sensor that is refreshed lazily (on data access) would skip that step and keep
+        reporting the last in-contact force until the next touchdown, so the PhysX getters are
+        called on every physics step. The warp kernels that turn those buffers into sensor data
+        remain lazy and only run when :attr:`data` is accessed. The body poses have no such
+        transient and are only read on data access.
+
+        Args:
+            dt: Time elapsed since the previous sensor update [s].
+            force_recompute: Whether to recompute the sensor buffers regardless of their
+                configured update period. Defaults to False.
+
+        Raises:
+            RuntimeError: If an outer CUDA graph capture is active. The PhysX tensor reads
+                cannot be graph-captured, so the sensor must be updated outside the capture.
+        """
+        super().update(dt, force_recompute=force_recompute)
+        # Skip the fetch if the base class already refreshed the buffers on this step, which it
+        # does when the sensor carries a history buffer.
+        if self._is_initialized and self._data_generation != self._data_generation_last_update:
+            self._fetch_physx_buffers(include_pose=False)
+
     def reset(self, env_ids: Sequence[int] | None = None, env_mask: wp.array | None = None) -> None:
         # resolve env_ids to warp array
         env_mask = self._resolve_indices_and_mask(env_ids, env_mask)
@@ -219,12 +244,13 @@ def reset(self, env_ids: Sequence[int] | None = None, env_mask: wp.array | None
             device=self._device,
         )
 
-    def compute_first_contact(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArray:
+    def compute_first_contact(self, dt: float, abs_tol: float | None = None) -> ProxyArray:
         """Checks if bodies that have established contact within the last :attr:`dt` seconds.
 
         This function checks if the bodies have established contact within the last :attr:`dt` seconds
         by comparing the current contact time with the given time period. If the contact time is less
-        than the given time period, then the bodies are considered to be in contact.
+        than the given time period, then the bodies are considered to be in contact. Outdated sensor
+        buffers are refreshed before the comparison.
 
         .. note::
             The function assumes that :attr:`dt` is a factor of the sensor update time-step. In other
@@ -239,7 +265,8 @@ def compute_first_contact(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArra
 
         Args:
             dt: The time period since the contact was established.
-            abs_tol: The absolute tolerance for the comparison.
+            abs_tol: The absolute tolerance for the comparison [s]. Defaults to None, in which case
+                half the sensor update interval is used.
 
         Returns:
             A boolean tensor indicating the bodies that have established contact within the last
@@ -255,21 +282,25 @@ def compute_first_contact(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArra
                 "The contact sensor is not configured to track contact time."
                 "Please enable the 'track_air_time' in the sensor configuration."
             )
+        tol = self._resolve_first_transition_tolerance(abs_tol)
+        # refresh lazily updated buffers so the timers reflect the current physics step
+        self._update_outdated_buffers()
         wp.launch(
             compute_first_transition_kernel,
             dim=(self._num_envs, self._num_sensors),
-            inputs=[float(dt + abs_tol), self._data._current_contact_time],
+            inputs=[float(dt + tol), self._data._current_contact_time],
             outputs=[self._data._first_transition],
             device=self._device,
         )
         return self._data._first_transition_ta
 
-    def compute_first_air(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArray:
+    def compute_first_air(self, dt: float, abs_tol: float | None = None) -> ProxyArray:
         """Checks if bodies that have broken contact within the last :attr:`dt` seconds.
 
         This function checks if the bodies have broken contact within the last :attr:`dt` seconds
         by comparing the current air time with the given time period. If the air time is less
-        than the given time period, then the bodies are considered to not be in contact.
+        than the given time period, then the bodies are considered to not be in contact. Outdated sensor
+        buffers are refreshed before the comparison.
 
         .. note::
             It assumes that :attr:`dt` is a factor of the sensor update time-step. In other words,
@@ -284,7 +315,8 @@ def compute_first_air(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArray:
 
         Args:
             dt: The time period since the contract is broken.
-            abs_tol: The absolute tolerance for the comparison.
+            abs_tol: The absolute tolerance for the comparison [s]. Defaults to None, in which case
+                half the sensor update interval is used.
 
         Returns:
             A boolean tensor indicating the bodies that have broken contact within the last :attr:`dt` seconds.
@@ -300,10 +332,13 @@ def compute_first_air(self, dt: float, abs_tol: float = 1.0e-8) -> ProxyArray:
                 "Please enable the 'track_air_time' in the sensor configuration."
             )
 
+        tol = self._resolve_first_transition_tolerance(abs_tol)
+        # refresh lazily updated buffers so the timers reflect the current physics step
+        self._update_outdated_buffers()
         wp.launch(
             compute_first_transition_kernel,
             dim=(self._num_envs, self._num_sensors),
-            inputs=[float(dt + abs_tol), self._data._current_air_time],
+            inputs=[float(dt + tol), self._data._current_air_time],
             outputs=[self._data._first_transition],
             device=self._device,
         )
@@ -425,13 +460,8 @@ def _update_buffers_impl(self, env_mask: wp.array | None = None):
                 cannot be graph-captured, so replays of such a graph would consume stale
                 contact data.
         """
+        self._raise_if_graph_capturing()
         device = wp.get_device(self._device)
-        if device.is_capturing:
-            raise RuntimeError(
-                f"Cannot update the contact sensor at '{self.cfg.prim_path}' while a CUDA graph capture"
-                " is active: the PhysX tensor reads cannot be graph-captured, so replaying the captured"
-                " graph would consume stale contact data."
-            )
 
         # Convert env_mask to warp array
         env_mask = self._resolve_indices_and_mask(None, env_mask)
@@ -459,6 +489,19 @@ def _update_buffers_impl(self, env_mask: wp.array | None = None):
             self._compute_graph = capture.graph
         wp.capture_launch(self._compute_graph)
 
+    def _raise_if_graph_capturing(self) -> None:
+        """Rejects a PhysX tensor read while an outer CUDA graph capture is active.
+
+        Raises:
+            RuntimeError: If the sensor's device is capturing a CUDA graph.
+        """
+        if wp.get_device(self._device).is_capturing:
+            raise RuntimeError(
+                f"Cannot update the contact sensor at '{self.cfg.prim_path}' while a CUDA graph capture"
+                " is active: the PhysX tensor reads cannot be graph-captured, so replaying the captured"
+                " graph would consume stale contact data."
+            )
+
     @staticmethod
     def _checked_view(buffer: wp.array, view: wp.array | None, dtype) -> wp.array:
         """Returns the cached typed view over ``buffer``, verifying pointer stability.
@@ -477,7 +520,7 @@ def _checked_view(buffer: wp.array, view: wp.array | None, dtype) -> wp.array:
             )
         return view
 
-    def _fetch_physx_buffers(self) -> None:
+    def _fetch_physx_buffers(self, include_pose: bool = True) -> None:
         """Refreshes the contact data from PhysX and lazily builds the warp views over it.
 
         The PhysX tensor getters allocate their output buffers once and refresh them in place on
@@ -486,7 +529,19 @@ def _fetch_physx_buffers(self) -> None:
         refreshes the same count and start-index buffers as ``get_contact_data``, the
         contact-point counts are staged into sensor-owned copies before the friction read
         overwrites them.
+
+        Args:
+            include_pose: Whether to also read the body poses when ``track_pose`` is enabled.
+                The per-step refresh in :meth:`update` skips them since only the contact
+                buffers carry the contact-loss transient. Defaults to True.
+
+        Raises:
+            RuntimeError: If an outer CUDA graph capture is active. The PhysX tensor reads
+                cannot be graph-captured, so replays of such a graph would consume stale
+                contact data.
         """
+        self._raise_if_graph_capturing()
+
         # PhysX returns (B*N, 3) float32 -> viewed as (B*N,) vec3f, body-major (one view
         # pattern per body)
         net_forces = self.contact_view.get_net_contact_forces(dt=self._sim_physics_dt)
@@ -498,7 +553,7 @@ def _fetch_physx_buffers(self) -> None:
             self._force_matrix_flat = self._checked_view(force_matrix, self._force_matrix_flat, wp.vec3f)
 
         # PhysX returns (B*N, 7) float32 -> viewed as (B*N,) transformf, body-major
-        if self.cfg.track_pose:
+        if self.cfg.track_pose and include_pose:
             poses = self.body_physx_view.get_transforms()
             self._poses_flat = self._checked_view(poses, self._poses_flat, wp.transformf)
 
diff --git a/source/isaaclab_physx/isaaclab_physx/sensors/contact_sensor/contact_sensor_cfg.py b/source/isaaclab_physx/isaaclab_physx/sensors/contact_sensor/contact_sensor_cfg.py
index 095ab64ac696..8950342a0f37 100644
--- a/source/isaaclab_physx/isaaclab_physx/sensors/contact_sensor/contact_sensor_cfg.py
+++ b/source/isaaclab_physx/isaaclab_physx/sensors/contact_sensor/contact_sensor_cfg.py
@@ -6,7 +6,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.sensors.contact_sensor.contact_sensor_cfg import ContactSensorCfg as _BaseContactSensorCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .contact_sensor import ContactSensor
diff --git a/source/isaaclab_physx/isaaclab_physx/sim/schemas/schemas_cfg.py b/source/isaaclab_physx/isaaclab_physx/sim/schemas/schemas_cfg.py
index 7f7b7b351c81..e93dc04788f6 100644
--- a/source/isaaclab_physx/isaaclab_physx/sim/schemas/schemas_cfg.py
+++ b/source/isaaclab_physx/isaaclab_physx/sim/schemas/schemas_cfg.py
@@ -25,7 +25,7 @@
     SpatialTendonFragment,
     _deprecate_field_alias,
 )
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_physx/isaaclab_physx/sim/spawners/materials/physics_materials_cfg.py b/source/isaaclab_physx/isaaclab_physx/sim/spawners/materials/physics_materials_cfg.py
index 3560bc12bb3b..ec834ded93be 100644
--- a/source/isaaclab_physx/isaaclab_physx/sim/spawners/materials/physics_materials_cfg.py
+++ b/source/isaaclab_physx/isaaclab_physx/sim/spawners/materials/physics_materials_cfg.py
@@ -15,7 +15,7 @@
     RigidBodyMaterialFragment,
     SurfaceDeformableBodyMaterialBaseCfg,
 )
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_physx/pyproject.toml b/source/isaaclab_physx/pyproject.toml
index d7155d71cf08..24b8b7d131a0 100644
--- a/source/isaaclab_physx/pyproject.toml
+++ b/source/isaaclab_physx/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab_physx"
-version = "7.0.1"
+version = "7.1.3"
 description = "Extension providing IsaacLab with PhysX specific abstractions."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]
diff --git a/source/isaaclab_physx/test/assets/test_articulation.py b/source/isaaclab_physx/test/assets/test_articulation.py
index 40054e59999a..6765b0e49153 100644
--- a/source/isaaclab_physx/test/assets/test_articulation.py
+++ b/source/isaaclab_physx/test/assets/test_articulation.py
@@ -724,7 +724,7 @@ def test_initialization_floating_base_non_root(sim, num_articulations, device, a
     # -- actuator type
     for actuator_name, actuator in articulation.actuators.items():
         is_implicit_model_cfg = isinstance(articulation_cfg.actuators[actuator_name], ImplicitActuatorCfg)
-        assert actuator.is_implicit_model == is_implicit_model_cfg
+        assert getattr(actuator, "is_implicit_model", False) == is_implicit_model_cfg
 
     # Simulate physics
     for _ in range(10):
@@ -781,7 +781,7 @@ def test_initialization_floating_base(sim, num_articulations, device, add_ground
     # -- actuator type
     for actuator_name, actuator in articulation.actuators.items():
         is_implicit_model_cfg = isinstance(articulation_cfg.actuators[actuator_name], ImplicitActuatorCfg)
-        assert actuator.is_implicit_model == is_implicit_model_cfg
+        assert getattr(actuator, "is_implicit_model", False) == is_implicit_model_cfg
 
     # Simulate physics
     for _ in range(10):
@@ -837,7 +837,7 @@ def test_initialization_fixed_base(sim, num_articulations, device):
     # -- actuator type
     for actuator_name, actuator in articulation.actuators.items():
         is_implicit_model_cfg = isinstance(articulation_cfg.actuators[actuator_name], ImplicitActuatorCfg)
-        assert actuator.is_implicit_model == is_implicit_model_cfg
+        assert getattr(actuator, "is_implicit_model", False) == is_implicit_model_cfg
 
     # Simulate physics
     for _ in range(10):
@@ -902,7 +902,7 @@ def test_initialization_fixed_base_single_joint(sim, num_articulations, device,
     # -- actuator type
     for actuator_name, actuator in articulation.actuators.items():
         is_implicit_model_cfg = isinstance(articulation_cfg.actuators[actuator_name], ImplicitActuatorCfg)
-        assert actuator.is_implicit_model == is_implicit_model_cfg
+        assert getattr(actuator, "is_implicit_model", False) == is_implicit_model_cfg
 
     # Simulate physics
     for _ in range(10):
@@ -963,7 +963,7 @@ def test_initialization_hand_with_tendons(sim, num_articulations, device):
     # -- actuator type
     for actuator_name, actuator in articulation.actuators.items():
         is_implicit_model_cfg = isinstance(articulation_cfg.actuators[actuator_name], ImplicitActuatorCfg)
-        assert actuator.is_implicit_model == is_implicit_model_cfg
+        assert getattr(actuator, "is_implicit_model", False) == is_implicit_model_cfg
 
     # Simulate physics
     for _ in range(10):
diff --git a/source/isaaclab_physx/test/assets/test_newton_actuators_physx.py b/source/isaaclab_physx/test/assets/test_newton_actuators_physx.py
index 06e8e6f9e6f6..0eb73dfc2c20 100644
--- a/source/isaaclab_physx/test/assets/test_newton_actuators_physx.py
+++ b/source/isaaclab_physx/test/assets/test_newton_actuators_physx.py
@@ -31,7 +31,7 @@
 from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
-from isaaclab.actuators import IdealPDActuatorCfg
+from isaaclab.actuators import IdealPDActuatorCfg, ImplicitActuatorCfg
 from isaaclab.actuators.newton import read_group_parameter
 from isaaclab.sim import SimulationCfg, build_simulation_context
 from isaaclab.test.utils.actuator_equivalence import (
@@ -114,6 +114,33 @@ def test_prepare_native_actuators_does_not_zero_solver_gains(monkeypatch):
     assert gain_writes == []
 
 
+def test_prepare_native_actuators_leaves_implicit_only_articulation_on_standard_path(monkeypatch):
+    """Keep implicit-only articulations on the unchanged solver-drive path."""
+    from isaaclab_physx.assets.articulation import actuator_control
+
+    runtime_prepare_calls = []
+    runtime = SimpleNamespace(
+        prepare=lambda *args, **kwargs: runtime_prepare_calls.append(True), wrapper=None, adapter=None
+    )
+    articulation = SimpleNamespace(
+        _sim_cfg=SimpleNamespace(use_newton_actuators=True),
+        cfg=SimpleNamespace(prim_path="/World/Robot"),
+    )
+    monkeypatch.setattr(actuator_control, "PhysxActuatorRuntime", lambda *args, **kwargs: runtime)
+    monkeypatch.setattr(actuator_control, "find_first_matching_prim", lambda _: None)
+
+    control = PhysxActuatorControl(articulation)
+    native_groups = control.prepare_native_actuators(
+        collection=None,
+        actuator_cfgs={"implicit": ImplicitActuatorCfg(joint_names_expr=["joint"], stiffness=10.0, damping=1.0)},
+    )
+
+    assert native_groups == set()
+    assert not control.native_actuator_path_active
+    assert not articulation._has_newton_actuators
+    assert runtime_prepare_calls == []
+
+
 # ---------------------------------------------------------------------------
 # Simulation runner
 # ---------------------------------------------------------------------------
@@ -214,7 +241,7 @@ def _run_simulation(
             recorded_vel.append(wp.to_torch(articulation.data.joint_vel).clone())
             recorded_computed_effort.append(articulation.actuators.computed_effort.torch.clone())
             recorded_applied_effort.append(articulation.actuators.applied_effort.torch.clone())
-            if use_newton_actuators:
+            if articulation._physx_actuator_wrapper is not None:
                 recorded_adapter_applied.append(wp.to_torch(articulation._physx_actuator_wrapper.joint_f_2d).clone())
         native_actuator_graph_count = len(getattr(articulation._actuator_control, "_native_actuator_graphs", ()) or ())
 
diff --git a/source/isaaclab_physx/test/renderers/test_isaac_rtx_renderer_contract.py b/source/isaaclab_physx/test/renderers/test_isaac_rtx_renderer_contract.py
index 589e7e54e393..4835274e4023 100644
--- a/source/isaaclab_physx/test/renderers/test_isaac_rtx_renderer_contract.py
+++ b/source/isaaclab_physx/test/renderers/test_isaac_rtx_renderer_contract.py
@@ -13,6 +13,7 @@
 from types import SimpleNamespace
 from unittest.mock import MagicMock, call, patch
 
+import numpy as np
 import pytest
 import warp as wp
 from packaging import version
@@ -433,6 +434,41 @@ def test_deterministic_flag_gates_rtx_determinism_settings(monkeypatch, stored,
         determinism_mock.assert_called_once_with(settings)
 
 
+@pytest.mark.parametrize("data_type", ["rgba", "normals"])
+def test_render_treats_empty_annotator_frame_as_not_ready(monkeypatch, data_type):
+    """An empty warm-up frame should clear its output without slicing or launching a reshape."""
+    _install_omni_stubs(monkeypatch)
+    import isaaclab_physx.renderers.isaac_rtx_renderer as rtx_renderer
+    from isaaclab_physx.renderers.isaac_rtx_renderer_cfg import IsaacRtxRendererCfg
+
+    annotator = MagicMock()
+    annotator.get_data.return_value = np.empty((0, 0, 4), dtype=np.uint8)
+    output_buffer = MagicMock()
+    render_data = SimpleNamespace(
+        annotators={data_type: annotator},
+        output_data={data_type: SimpleNamespace(warp=output_buffer)},
+        spec=SimpleNamespace(
+            view_count=1,
+            device="cpu",
+            cfg=SimpleNamespace(width=64, height=64),
+        ),
+        renderer_info={},
+        ppisp_pipeline=None,
+        _hdr_scratch_wp=None,
+    )
+    renderer = rtx_renderer.IsaacRtxRenderer.__new__(rtx_renderer.IsaacRtxRenderer)
+    renderer.cfg = IsaacRtxRendererCfg()
+
+    with (
+        patch.object(rtx_renderer, "ensure_isaac_rtx_render_update"),
+        patch.object(rtx_renderer.wp, "launch") as launch,
+    ):
+        renderer.render(render_data)
+
+    output_buffer.zero_.assert_called_once_with()
+    launch.assert_not_called()
+
+
 def test_isaac_rtx_read_output_clears_stale_metadata_and_keeps_seeded_keys(monkeypatch):
     """read_output replaces (not merges): a dropped annotator info resets its info entry, seeded keys persist."""
     _install_omni_stubs(monkeypatch)
diff --git a/source/isaaclab_physx/test/renderers/test_isaac_rtx_renderer_scene_partitioning.py b/source/isaaclab_physx/test/renderers/test_isaac_rtx_renderer_scene_partitioning.py
index 1cbfe5c18772..cd93366ed000 100644
--- a/source/isaaclab_physx/test/renderers/test_isaac_rtx_renderer_scene_partitioning.py
+++ b/source/isaaclab_physx/test/renderers/test_isaac_rtx_renderer_scene_partitioning.py
@@ -45,7 +45,7 @@
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors.camera import CameraCfg
 from isaaclab.sim import build_simulation_context
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_assets.robots.kuka_allegro import KUKA_ALLEGRO_CFG
 
@@ -213,7 +213,10 @@ class _Scene(InteractiveSceneCfg):
             (
                 (green > 1.5 * red) & (green > 1.5 * blue) & (green > 80.0),
                 (blue > 1.5 * red) & (blue > 1.5 * green) & (blue > 80.0),
-                (red > 80.0) & (green > 80.0) & (blue < 0.6 * torch.minimum(red, green)),
+                (red > 80.0)
+                & (green > 80.0)
+                & (blue < 0.6 * torch.minimum(red, green))
+                & (torch.minimum(red, green) > 0.95 * torch.maximum(red, green)),
                 (red > 80.0) & (blue > 80.0) & (green < 0.6 * torch.minimum(red, blue)),
             ),
             dim=1,
diff --git a/source/isaaclab_physx/test/sensors/test_contact_sensor.py b/source/isaaclab_physx/test/sensors/test_contact_sensor.py
index e8a98d3360ee..d9d56b9f8978 100644
--- a/source/isaaclab_physx/test/sensors/test_contact_sensor.py
+++ b/source/isaaclab_physx/test/sensors/test_contact_sensor.py
@@ -37,7 +37,7 @@
 from isaaclab.sim import SimulationCfg, SimulationContext, build_simulation_context
 from isaaclab.sim.utils.stage import get_current_stage
 from isaaclab.terrains import HfRandomUniformTerrainCfg, TerrainGeneratorCfg, TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Custom helper classes.
@@ -393,6 +393,104 @@ def test_sphere_contact_time(setup_simulation, disable_contact_processing):
     _run_contact_sensor_test(SPHERE_CFG, sim_dt, devices, terrains, settings, durations)
 
 
+@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+@pytest.mark.parametrize("clock_age", [2.5, 10.0, 30.0])
+def test_first_transition_with_aged_clock(setup_simulation, device, clock_age):
+    """Regression for #7283: transitions must still be reported once the sensor clock has aged.
+
+    The sensor clock is a float32 accumulator whose rounding error grows with simulated time. On a
+    transition step the contact (resp. air) timer is exactly one polling period, so the default
+    tolerance of :meth:`ContactSensor.compute_first_contact` has to absorb that error. A fixed 1e-8
+    tolerance is orders of magnitude too small after a few seconds of simulated time.
+    """
+    sim_dt = setup_simulation[0]
+    # The sensor keeps history, so it refreshes every physics step and is polled at that same rate.
+    # The lazy (zero-history) cadence is covered by the kernel-level tolerance test: on GPU this
+    # backend serves stale contact forces when buffers refresh only on data access, which is
+    # unrelated to the tolerance under test here.
+    history_length = 1
+    decimation = 1
+    poll_dt = decimation * sim_dt
+    poll_steps = 16
+
+    with build_simulation_context(device=device, dt=sim_dt, add_lighting=True) as sim:
+        sim._app_control_on_stop_handle = None
+
+        scene_cfg = ContactSensorSceneCfg(num_envs=1, env_spacing=1.0)
+        scene_cfg.terrain = FLAT_TERRAIN_CFG
+        scene_cfg.shape = CUBE_CFG
+        scene_cfg.contact_sensor = ContactSensorCfg(
+            prim_path=CUBE_CFG.prim_path,
+            track_pose=True,
+            debug_vis=False,
+            update_period=0.0,
+            track_air_time=True,
+            history_length=history_length,
+        )
+        scene = InteractiveScene(scene_cfg)
+        sim.reset()
+
+        sensor: ContactSensor = scene["contact_sensor"]
+        shape: RigidObject = scene["shape"]
+        contact_pose = CUBE_CFG.contact_pose.to(device=shape.device).unsqueeze(0)
+        non_contact_pose = CUBE_CFG.non_contact_pose.to(device=shape.device).unsqueeze(0)
+
+        def _in_contact() -> bool:
+            """Ground truth for the contact state, read through the public data accessor."""
+            return torch.norm(sensor.data.net_normal_forces_w.torch, dim=-1).max().item() > 0.1
+
+        def _hold(pose: torch.Tensor, num_steps: int) -> None:
+            """Pin the cube to a pose for the given number of physics steps."""
+            for _ in range(num_steps):
+                shape.write_root_pose_to_sim_index(root_pose=pose)
+                _perform_sim_step(sim, scene, sim_dt)
+
+        # Settle the cube on the ground so the sensor starts in contact.
+        _hold(contact_pose, 8)
+        assert _in_contact(), "Cube should be in contact with the ground before the clock is aged."
+
+        # Age the sensor clock without stepping physics: the resting contact state is unchanged, so
+        # this isolates the float32 clock drift from any change in the contact forces.
+        for tick in range(int(round(clock_age / sim_dt))):
+            sensor.update(sim_dt)
+        aged_clock = wp.to_torch(sensor._timestamp).max().item()
+        assert aged_clock == pytest.approx(clock_age + 8 * sim_dt, abs=0.05)
+
+        # Lift the cube off the ground for half the window, then set it back down.
+        reported_air: list[int] = []
+        reported_contact: list[int] = []
+        expected_air: list[int] = []
+        expected_contact: list[int] = []
+        was_in_contact = True
+        for step in range(poll_steps):
+            _hold(non_contact_pose if step < poll_steps // 2 else contact_pose, decimation)
+            # Poll before anything reads ``data`` this step: the query itself must refresh lazily
+            # updated buffers, otherwise it reports the previous step's timers.
+            first_contact = sensor.compute_first_contact(poll_dt).torch.any().item()
+            first_air = sensor.compute_first_air(poll_dt).torch.any().item()
+            in_contact = _in_contact()
+            if in_contact and not was_in_contact:
+                expected_contact.append(step)
+            if not in_contact and was_in_contact:
+                expected_air.append(step)
+            was_in_contact = in_contact
+            if first_contact:
+                reported_contact.append(step)
+            if first_air:
+                reported_air.append(step)
+
+        assert len(expected_air) == 1, f"Expected exactly one lift-off in the window; got {expected_air}."
+        assert len(expected_contact) == 1, f"Expected exactly one touchdown in the window; got {expected_contact}."
+        assert reported_air == expected_air, (
+            f"compute_first_air missed or mis-reported the lift-off at clock {aged_clock:.3f}s: "
+            f"reported {reported_air}, expected {expected_air}."
+        )
+        assert reported_contact == expected_contact, (
+            f"compute_first_contact missed or mis-reported the touchdown at clock {aged_clock:.3f}s: "
+            f"reported {reported_contact}, expected {expected_contact}."
+        )
+
+
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("num_envs", [1, 6, 24])
 def test_cube_stack_contact_filtering(setup_simulation, device, num_envs):
@@ -660,12 +758,17 @@ def test_contact_sensor_no_stale_data_after_reset(setup_simulation, device):
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize(
     ("history_length", "update_period_steps", "expected_fetches", "expected_last_update"),
-    [(0, 1, 0, 0.0), (3, 1, 4, 0.01), (3, 2, 4, 0.0075)],
+    [(0, 1, 4, 0.0), (3, 1, 4, 0.01), (3, 2, 4, 0.0075)],
 )
 def test_contact_history_updates_at_sensor_period(
     setup_simulation, device, history_length, update_period_steps, expected_fetches, expected_last_update
 ):
-    """History-bearing sensors update at their period even when the scene is lazy."""
+    """History-bearing sensors update at their period even when the scene is lazy.
+
+    The PhysX buffers are fetched on every physics step regardless of the history length (see
+    issue #7613), but a history-less sensor only recomputes its data (and therefore its
+    timestamps) on data access.
+    """
     sim_dt, _, _, _, settings = setup_simulation
     settings.set_bool("/physics/disableContactProcessing", False)
     with build_simulation_context(device=device, dt=sim_dt, add_lighting=False) as sim:
@@ -687,10 +790,10 @@ def test_contact_history_updates_at_sensor_period(
         fetch_count = 0
         original_fetch = contact_sensor._fetch_physx_buffers
 
-        def count_fetches() -> None:
+        def count_fetches(**kwargs) -> None:
             nonlocal fetch_count
             fetch_count += 1
-            original_fetch()
+            original_fetch(**kwargs)
 
         contact_sensor._fetch_physx_buffers = count_fetches
 
@@ -702,7 +805,9 @@ def count_fetches() -> None:
         assert last_update == pytest.approx(expected_last_update)
 
         _ = contact_sensor.data
-        expected_fetches_after_read = 1 if history_length == 0 else expected_fetches
+        # A history-less sensor did not recompute during the steps, so the read triggers one
+        # more fetch; a history-bearing one is already up to date.
+        expected_fetches_after_read = expected_fetches + 1 if history_length == 0 else expected_fetches
         assert fetch_count == expected_fetches_after_read
         air_time = contact_sensor.data.current_air_time.torch.item()
         expected_air_time = 4 * sim_dt if history_length == 0 else expected_last_update
@@ -711,6 +816,60 @@ def count_fetches() -> None:
         assert fetch_count == expected_fetches_after_read
 
 
+@pytest.mark.parametrize("device", ["cuda:0", "cpu"])
+def test_lazy_sensor_reports_contact_loss(setup_simulation, device):
+    """Regression for issue #7613: a lazily read sensor must report the loss of contact.
+
+    PhysX zeroes a body's net contact force only on the exact physics step where the contact
+    is lost. With ``history_length=0`` and ``lazy_sensor_update=True`` the sensor used to call
+    its PhysX getters only when :attr:`ContactSensor.data` was accessed, so a policy-rate
+    reader (one read per four physics steps) skipped the contact-loss step and kept reporting
+    the last in-contact force until the next touchdown.
+    """
+    sim_dt, _, _, _, settings = setup_simulation
+    settings.set_bool("/physics/disableContactProcessing", False)
+    with build_simulation_context(device=device, dt=sim_dt, add_lighting=False) as sim:
+        sim._app_control_on_stop_handle = None
+        scene_cfg = ContactSensorSceneCfg(num_envs=1, env_spacing=1.0, lazy_sensor_update=True)
+        scene_cfg.terrain = FLAT_TERRAIN_CFG
+        scene_cfg.shape = CUBE_CFG
+        scene_cfg.contact_sensor = ContactSensorCfg(
+            prim_path=CUBE_CFG.prim_path,
+            track_pose=True,
+            update_period=0.0,
+            track_air_time=True,
+            history_length=0,
+        )
+        scene = InteractiveScene(scene_cfg)
+        sim.reset()
+
+        sensor: ContactSensor = scene["contact_sensor"]
+        shape: RigidObject = scene["shape"]
+        contact_pose = CUBE_CFG.contact_pose.to(device=shape.device).unsqueeze(0)
+        non_contact_pose = CUBE_CFG.non_contact_pose.to(device=shape.device).unsqueeze(0)
+
+        # Mimic a policy stepping the environment with a decimation of 4: the sensor data is
+        # read once per policy step and left untouched in between.
+        decimation = 4
+        num_policy_steps = 6
+
+        def run_policy_step(root_pose: torch.Tensor) -> float:
+            """Holds the shape at ``root_pose`` for one policy step and reads the sensor once."""
+            for _ in range(decimation):
+                shape.write_root_pose_to_sim_index(root_pose=root_pose)
+                _perform_sim_step(sim, scene, sim_dt)
+            return torch.linalg.norm(sensor.data.net_normal_forces_w.torch, dim=-1).max().item()
+
+        contact_forces = [run_policy_step(contact_pose) for _ in range(num_policy_steps)]
+        air_forces = [run_policy_step(non_contact_pose) for _ in range(num_policy_steps)]
+
+        # Guard against a vacuous test: the sensor must have reported contact while on the ground.
+        assert contact_forces[-1] > 0.1, f"Expected a contact force on the ground; got {contact_forces}"
+        # The first read in the air may still carry the impulse of the last contact step, so only
+        # the subsequent reads are required to be free of contact.
+        assert max(air_forces[1:]) < 0.1, f"Stale contact force reported in the air: {air_forces}"
+
+
 @pytest.mark.isaacsim_ci
 def test_sensor_print(setup_simulation):
     """Test sensor print is working correctly."""
diff --git a/source/isaaclab_physx/test/sensors/test_frame_transformer.py b/source/isaaclab_physx/test/sensors/test_frame_transformer.py
index adf36e382ff4..692769714b56 100644
--- a/source/isaaclab_physx/test/sensors/test_frame_transformer.py
+++ b/source/isaaclab_physx/test/sensors/test_frame_transformer.py
@@ -30,7 +30,7 @@
 from isaaclab.sensors import FrameTransformerCfg, OffsetCfg
 from isaaclab.sensors.frame_transformer import BaseFrameTransformer
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Pre-defined configs
diff --git a/source/isaaclab_physx/test/sensors/test_imu.py b/source/isaaclab_physx/test/sensors/test_imu.py
index ab0b3b4da91f..4c6c56fdc5a4 100644
--- a/source/isaaclab_physx/test/sensors/test_imu.py
+++ b/source/isaaclab_physx/test/sensors/test_imu.py
@@ -27,7 +27,7 @@
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors.imu import Imu, ImuCfg
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Pre-defined configs
diff --git a/source/isaaclab_physx/test/sensors/test_joint_wrench_sensor.py b/source/isaaclab_physx/test/sensors/test_joint_wrench_sensor.py
index 41157e2a7c1a..2e185c580cd3 100644
--- a/source/isaaclab_physx/test/sensors/test_joint_wrench_sensor.py
+++ b/source/isaaclab_physx/test/sensors/test_joint_wrench_sensor.py
@@ -33,9 +33,9 @@
 from isaaclab.sensors.joint_wrench import BaseJointWrenchSensor
 from isaaclab.sim import SimulationCfg
 from isaaclab.terrains import TerrainImporterCfg
+from isaaclab.utils import configclass
 from isaaclab.utils import math as math_utils
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_assets.robots.ant import ANT_CFG
 
diff --git a/source/isaaclab_physx/test/sensors/test_pva.py b/source/isaaclab_physx/test/sensors/test_pva.py
index 0170eb5074ea..c1d0e77edeb6 100644
--- a/source/isaaclab_physx/test/sensors/test_pva.py
+++ b/source/isaaclab_physx/test/sensors/test_pva.py
@@ -28,7 +28,7 @@
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors.pva import Pva, PvaCfg
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Pre-defined configs
diff --git a/source/isaaclab_physx/test/sim/test_cloner.py b/source/isaaclab_physx/test/sim/test_cloner.py
index b2e4e61bfe4d..aadd0868f1d9 100644
--- a/source/isaaclab_physx/test/sim/test_cloner.py
+++ b/source/isaaclab_physx/test/sim/test_cloner.py
@@ -631,7 +631,7 @@ def test_disabled_fabric_change_notifies_speedup_regression():
     import isaaclab.sim as sim_utils
     from isaaclab.assets import RigidObjectCfg
     from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
 
     if fabric_notices_mod.get_bindings() is None:
         pytest.skip("omni::fabric::IFabricUsd unavailable")
diff --git a/source/isaaclab_ppisp/isaaclab_ppisp/cfg.py b/source/isaaclab_ppisp/isaaclab_ppisp/cfg.py
index 29275d2672c1..37859bda6d86 100644
--- a/source/isaaclab_ppisp/isaaclab_ppisp/cfg.py
+++ b/source/isaaclab_ppisp/isaaclab_ppisp/cfg.py
@@ -14,7 +14,7 @@
 from dataclasses import field
 from typing import Any
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 PPISP_ATTR_NAMESPACE = "ppisp:"
 """Namespace prefix for authoritative PPISP attributes authored on a USD camera."""
diff --git a/source/isaaclab_rl/docs/CHANGELOG.rst b/source/isaaclab_rl/docs/CHANGELOG.rst
index 6d4c4bce4c37..a7c44fa9e29c 100644
--- a/source/isaaclab_rl/docs/CHANGELOG.rst
+++ b/source/isaaclab_rl/docs/CHANGELOG.rst
@@ -1,6 +1,70 @@
 Changelog
 ---------
 
+0.17.5 (2026-09-16)
+~~~~~~~~~~~~~~~~~~~
+
+Deprecated
+^^^^^^^^^^
+
+* Deprecated legacy RSL-RL configurations. They will no longer be supported in Isaac Lab 3.1; migrate to the current
+  RSL-RL configuration schema.
+
+
+0.17.4 (2026-09-11)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Moved the LEAPP policy exporters into the installed ``isaaclab_rl`` package.
+
+Fixed
+^^^^^
+
+* Fixed RL environment wrapper validation errors reporting the outer Gymnasium wrapper type instead
+  of the rejected unwrapped environment type.
+* Rejected incompatible agent configurations in RL-Games playback before launching simulation,
+  with guidance to select a matching RL library instead of failing with an opaque ``TypeError``.
+  Camera feature presets use ``--rl_library rsl_rl --agent rsl_rl_cfg_entry_point`` with
+  ``presets=resnet18`` or ``presets=theia_tiny``.
+* Restored launch-safe lazy imports for RSL-RL LEAPP exports, preventing Isaac Sim 6.1 PhysX exports from exiting
+  without producing ONNX artifacts.
+
+
+0.17.3 (2026-09-10)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed SKRL train, play, and LEAPP export to default to the canonical task config and derive the algorithm from
+  ``agent.class``. ``--algorithm`` now explicitly selects an algorithm recipe and is rejected when ``--agent`` resolves
+  to a different class. Older runs named after a config suffix such as ``box_discrete`` require an explicit checkpoint
+  path.
+
+
+0.17.2 (2026-09-09)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added policy frequency metadata to LEAPP export artifacts for all supported RL libraries.
+
+
+0.17.1 (2026-09-08)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed published checkpoint lookup ignoring non-default domain presets, which could fetch an
+  incompatible policy or miss an available preset-specific checkpoint. Preset-specific checkpoints
+  can now also be trained, collected, reviewed, and published through the checkpoint management tool.
+* Fixed the zero and random agents overriding task-defined simulation devices when ``--device`` was omitted.
+
+
 0.17.0 (2026-09-05)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab_rl/isaaclab_rl/entrypoints/__init__.pyi b/source/isaaclab_rl/isaaclab_rl/entrypoints/__init__.pyi
index 6e63a4178a5a..d48639df6a96 100644
--- a/source/isaaclab_rl/isaaclab_rl/entrypoints/__init__.pyi
+++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/__init__.pyi
@@ -10,6 +10,7 @@ __all__ = [
     "TrainingRequest",
     "play",
     "random_agent",
+    "run_export_cli",
     "run_play_cli",
     "run_random_agent_cli",
     "run_train_cli",
@@ -20,5 +21,5 @@ __all__ = [
 ]
 
 from .api import BackendName, PlaybackRequest, SimpleAgentRequest, TrainingRequest, play, random_agent, train, zero_agent
-from .dispatch import run_play_cli, run_random_agent_cli, run_train_cli, run_zero_agent_cli
+from .dispatch import run_export_cli, run_play_cli, run_random_agent_cli, run_train_cli, run_zero_agent_cli
 from .multigpu import run_train_multigpu_cli
diff --git a/scripts/reinforcement_learning/leapp/export_utils.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/export_common.py
similarity index 52%
rename from scripts/reinforcement_learning/leapp/export_utils.py
rename to source/isaaclab_rl/isaaclab_rl/entrypoints/backends/export_common.py
index c2c69ec9a315..a7f8626eeeba 100644
--- a/scripts/reinforcement_learning/leapp/export_utils.py
+++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/export_common.py
@@ -3,16 +3,32 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Shared CLI and recurrent-state helpers for LEAPP policy export."""
+"""Shared CLI, graph metadata, and recurrent-state helpers for LEAPP policy export."""
+
+# ruff: noqa: E402, I001
 
 from __future__ import annotations
 
 import argparse
+import os
+import re
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
+import torch
+
+# TorchScript must be disabled before importing task or environment modules because
+# ``@torch.jit.script`` compiles at decoration time.
+torch.jit._state.disable()
+
 if TYPE_CHECKING:
-    import torch
+    from leapp import GraphConfigs
+
+    from isaaclab.envs import DirectRLEnvCfg, ManagerBasedEnvCfg
+
+from isaaclab.app import AppLauncher
+
+from isaaclab_tasks.utils import setup_preset_cli
 
 
 def add_common_export_args(parser: argparse.ArgumentParser, *, agent_default: str) -> None:
@@ -22,7 +38,6 @@ def add_common_export_args(parser: argparse.ArgumentParser, *, agent_default: st
         parser: Argument parser to extend.
         agent_default: Default Hydra agent configuration entry point for the backend.
     """
-    from isaaclab.app import AppLauncher
 
     parser.add_argument("--task", type=str, default=None, help="Name of the task.")
     parser.add_argument(
@@ -77,41 +92,88 @@ def add_common_export_args(parser: argparse.ArgumentParser, *, agent_default: st
 
 
 def finalize_export_args(
-    parser: argparse.ArgumentParser,
-    argv: list[str] | None = None,
-    *,
-    agent_library: str | None = None,
+    parser: argparse.ArgumentParser, argv: list[str] | None = None
 ) -> tuple[argparse.Namespace, list[str]]:
     """Parse export arguments with preset support and force headless mode."""
-    from isaaclab_tasks.utils import setup_preset_cli
-
-    args_cli, hydra_args = setup_preset_cli(parser, argv, agent_library=agent_library)
+    args_cli, hydra_args = setup_preset_cli(parser, argv)
     args_cli.headless = True
     return args_cli, hydra_args
 
 
-def disable_torchscript_for_export() -> None:
-    """Disable TorchScript compilation so ``@torch.jit.script`` helpers stay traceable.
+def get_checkpoint_path(
+    log_path: str,
+    run_dir: str = ".*",
+    checkpoint: str = ".*",
+    other_dirs: list[str] | None = None,
+    sort_alpha: bool = True,
+    preferred_checkpoint: str | None = None,
+) -> str:
+    """Resolve a model checkpoint from a run directory.
 
-    LEAPP traces the observation and action pipeline in Python. A compiled
-    :class:`torch.jit.ScriptFunction` is opaque to the tracer, so any environment
-    quantity flowing through one (for example the quaternion helpers in
-    ``isaaclab.utils.math``) is folded into the graph as a constant and the exported
-    policy fails validation once that quantity changes.
+    The checkpoint is selected from ``<log_path>/<run_dir>/<*other_dirs>``.
+    Run and checkpoint names may be regular expressions. The latest matching
+    run and naturally sorted checkpoint are returned.
 
-    Call this before importing task or environment modules: :func:`torch.jit.script`
-    compiles at decoration time, so disabling afterwards has no effect on helpers that
-    were already imported.
+    Args:
+        log_path: Log directory containing training runs.
+        run_dir: Regular expression matching a run directory.
+        checkpoint: Regular expression matching checkpoint files.
+        other_dirs: Literal intermediate directories below the run directory.
+        sort_alpha: Sort runs alphabetically instead of by modification time.
+        preferred_checkpoint: Optional checkpoint expression to try first.
+
+    Returns:
+        Path to the selected checkpoint.
+
+    Raises:
+        ValueError: If no matching run or checkpoint exists.
     """
-    import torch
+    try:
+        runs = [
+            os.path.join(log_path, run.name)
+            for run in os.scandir(log_path)
+            if run.is_dir() and re.match(run_dir, run.name)
+        ]
+        runs.sort() if sort_alpha else runs.sort(key=os.path.getmtime)
+        run_path = os.path.join(runs[-1], *other_dirs) if other_dirs is not None else runs[-1]
+    except (IndexError, FileNotFoundError):
+        raise ValueError(f"No runs present in the directory: '{log_path}' match: '{run_dir}'.")
+
+    model_checkpoints = []
+    if preferred_checkpoint is not None:
+        model_checkpoints = [name for name in os.listdir(run_path) if re.match(preferred_checkpoint, name)]
+    if not model_checkpoints:
+        model_checkpoints = [name for name in os.listdir(run_path) if re.match(checkpoint, name)]
+    if not model_checkpoints:
+        patterns = f"'{checkpoint}'"
+        if preferred_checkpoint is not None:
+            patterns = f"'{preferred_checkpoint}' nor '{checkpoint}'"
+        raise ValueError(f"No checkpoints in the directory: '{run_path}' match {patterns}.")
+
+    model_checkpoints.sort(
+        key=lambda name: [int(token) if token.isdigit() else token for token in re.split(r"(\d+)", name)]
+    )
+    return os.path.join(run_path, model_checkpoints[-1])
 
-    torch.jit._state.disable()
+
+def create_graph_configs(env_cfg: ManagerBasedEnvCfg | DirectRLEnvCfg) -> GraphConfigs:
+    """Create LEAPP graph metadata from an Isaac Lab environment configuration.
+
+    Args:
+        env_cfg: Environment configuration that defines the policy period.
+
+    Returns:
+        Graph metadata containing the policy frequency [Hz].
+    """
+
+    from leapp import GraphConfigs
+
+    policy_frequency = 1.0 / (env_cfg.sim.dt * env_cfg.decimation)
+    return GraphConfigs(frequency=policy_frequency)
 
 
 def is_two_tensor_lstm_state(states: object) -> bool:
     """Return whether *states* looks like an LSTM ``[hidden, cell]`` state."""
-    import torch
-
     return (
         isinstance(states, (list, tuple))
         and len(states) == 2
diff --git a/scripts/reinforcement_learning/leapp/rl_games/export.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/export_rl_games.py
similarity index 62%
rename from scripts/reinforcement_learning/leapp/rl_games/export.py
rename to source/isaaclab_rl/isaaclab_rl/entrypoints/backends/export_rl_games.py
index b75dcabfe80d..eb334c7ab890 100644
--- a/scripts/reinforcement_learning/leapp/rl_games/export.py
+++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/export_rl_games.py
@@ -5,6 +5,8 @@
 
 """Script to export a checkpoint if an RL agent from RL-Games."""
 
+# ruff: noqa: E402, I001
+
 from __future__ import annotations
 
 import argparse
@@ -14,41 +16,45 @@
 import sys
 import time
 
-_RUNTIME_IMPORTS_LOADED = False
-
-torch = None
-leapp = None
-annotate = None
-gym = None
-env_configurations = None
-vecenv = None
-Runner = None
-BasePlayer = None
-DirectMARLEnvCfg = None
-ManagerBasedRLEnv = None
-RlGamesGpuEnv = None
-RlGamesVecEnvWrapper = None
-configure_seed = None
-multi_agent_to_single_agent = None
-retrieve_file_path = None
-patch_env_for_export = None
-ensure_env_spec_id = None
-get_pretrained_checkpoint_backend_names = None
-get_published_pretrained_checkpoint = None
-get_checkpoint_path = None
-hydra_task_config = None
-is_two_tensor_lstm_state = None
-state_dict_from_sequence = None
-state_sequence_from_registered = None
+import torch
+
+# LEAPP traces Isaac Lab's Python tensor operations, so disable TorchScript before
+# importing task or environment modules that compile decorated helpers.
+torch.jit._state.disable()
+
+import gymnasium as gym
+import leapp
+from leapp import annotate
+from rl_games.common import env_configurations, vecenv
+from rl_games.common.player import BasePlayer
+from rl_games.torch_runner import Runner
+
+from isaaclab.app import launch_simulation
+from isaaclab.utils.assets import retrieve_file_path
+from isaaclab.utils.leapp import patch_env_for_export
+from isaaclab.utils.leapp.utils import ensure_env_spec_id
+from isaaclab.utils.seed import configure_seed
+
+from isaaclab_rl.entrypoints.backends.export_common import (
+    add_common_export_args,
+    create_graph_configs,
+    finalize_export_args,
+    get_checkpoint_path,
+    is_two_tensor_lstm_state,
+    state_dict_from_sequence,
+    state_sequence_from_registered,
+)
+from isaaclab_rl.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
+from isaaclab_rl.utils.pretrained_checkpoint import (
+    get_pretrained_checkpoint_backend_names,
+    get_published_pretrained_checkpoint,
+)
+
+from isaaclab_tasks.utils.hydra import hydra_task_config
 
 
 def parse_export_args(argv: list[str] | None = None) -> tuple[argparse.Namespace, list[str]]:
     """Parse export arguments and return remaining Hydra overrides."""
-    _leapp_scripts_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-    if _leapp_scripts_dir not in sys.path:
-        sys.path.insert(0, _leapp_scripts_dir)
-    from export_utils import add_common_export_args, finalize_export_args
-
     parser = argparse.ArgumentParser(description="Export an RL agent with RL-Games.")
     add_common_export_args(parser, agent_default="rl_games_cfg_entry_point")
     parser.add_argument(
@@ -59,89 +65,6 @@ def parse_export_args(argv: list[str] | None = None) -> tuple[argparse.Namespace
     return finalize_export_args(parser, argv)
 
 
-def _load_runtime_dependencies() -> None:
-    """Import runtime dependencies after Isaac Sim has been launched."""
-    global _RUNTIME_IMPORTS_LOADED
-    global BasePlayer, DirectMARLEnvCfg, ManagerBasedRLEnv, RlGamesGpuEnv, RlGamesVecEnvWrapper, Runner
-    global annotate, configure_seed, env_configurations, get_checkpoint_path, gym, leapp
-    global ensure_env_spec_id, get_pretrained_checkpoint_backend_names, get_published_pretrained_checkpoint
-    global hydra_task_config, multi_agent_to_single_agent
-    global patch_env_for_export, retrieve_file_path, torch, vecenv
-    global is_two_tensor_lstm_state, state_dict_from_sequence, state_sequence_from_registered
-
-    if _RUNTIME_IMPORTS_LOADED:
-        return
-
-    try:
-        import leapp as leapp_module
-    except ImportError as e:
-        raise ImportError("LEAPP package is required for policy export. Install with: pip install leapp") from e
-    annotate_module = getattr(leapp_module, "annotate")
-
-    import gymnasium as gym_module
-    import torch as torch_module
-    from rl_games.common import env_configurations as env_configurations_module
-    from rl_games.common import vecenv as vecenv_module
-    from rl_games.common.player import BasePlayer as BasePlayerCls
-    from rl_games.torch_runner import Runner as RunnerCls
-
-    from isaaclab.envs import DirectMARLEnvCfg as DirectMARLEnvCfgCls
-    from isaaclab.envs import ManagerBasedRLEnv as ManagerBasedRLEnvCls
-    from isaaclab.envs import multi_agent_to_single_agent as multi_agent_to_single_agent_fn
-    from isaaclab.utils.assets import retrieve_file_path as retrieve_file_path_fn
-    from isaaclab.utils.leapp import patch_env_for_export as patch_env_for_export_fn
-    from isaaclab.utils.leapp.utils import ensure_env_spec_id as ensure_env_spec_id_fn
-    from isaaclab.utils.seed import configure_seed as configure_seed_fn
-
-    _leapp_scripts_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-    if _leapp_scripts_dir not in sys.path:
-        sys.path.insert(0, _leapp_scripts_dir)
-    from export_utils import (  # isort: skip
-        is_two_tensor_lstm_state as is_two_tensor_lstm_state_fn,
-        state_dict_from_sequence as state_dict_from_sequence_fn,
-        state_sequence_from_registered as state_sequence_from_registered_fn,
-    )
-
-    from isaaclab_rl.rl_games import RlGamesGpuEnv as RlGamesGpuEnvCls
-    from isaaclab_rl.rl_games import RlGamesVecEnvWrapper as RlGamesVecEnvWrapperCls
-    from isaaclab_rl.utils.pretrained_checkpoint import (
-        get_pretrained_checkpoint_backend_names as get_pretrained_checkpoint_backend_names_fn,
-    )
-    from isaaclab_rl.utils.pretrained_checkpoint import (
-        get_published_pretrained_checkpoint as get_published_pretrained_checkpoint_fn,
-    )
-
-    __import__("isaaclab_tasks")
-    from isaaclab_tasks.utils import get_checkpoint_path as get_checkpoint_path_fn
-    from isaaclab_tasks.utils.hydra import hydra_task_config as hydra_task_config_fn
-
-    torch = torch_module
-    leapp = leapp_module
-    annotate = annotate_module
-    gym = gym_module
-    env_configurations = env_configurations_module
-    vecenv = vecenv_module
-    Runner = RunnerCls
-    BasePlayer = BasePlayerCls
-    DirectMARLEnvCfg = DirectMARLEnvCfgCls
-    ManagerBasedRLEnv = ManagerBasedRLEnvCls
-    RlGamesGpuEnv = RlGamesGpuEnvCls
-    RlGamesVecEnvWrapper = RlGamesVecEnvWrapperCls
-    configure_seed = configure_seed_fn
-    multi_agent_to_single_agent = multi_agent_to_single_agent_fn
-    retrieve_file_path = retrieve_file_path_fn
-    patch_env_for_export = patch_env_for_export_fn
-    ensure_env_spec_id = ensure_env_spec_id_fn
-    get_pretrained_checkpoint_backend_names = get_pretrained_checkpoint_backend_names_fn
-    get_published_pretrained_checkpoint = get_published_pretrained_checkpoint_fn
-    get_checkpoint_path = get_checkpoint_path_fn
-    hydra_task_config = hydra_task_config_fn
-    is_two_tensor_lstm_state = is_two_tensor_lstm_state_fn
-    state_dict_from_sequence = state_dict_from_sequence_fn
-    state_sequence_from_registered = state_sequence_from_registered_fn
-    _RUNTIME_IMPORTS_LOADED = True
-
-
 def is_rl_games_lstm_policy(agent) -> bool:
     """Return whether the RL-Games player exposes supported actor-side LSTM feedback state."""
     return bool(getattr(agent, "is_rnn", False) and is_two_tensor_lstm_state(getattr(agent, "states", None)))
@@ -178,7 +101,9 @@ def export_rl_games_agent(
     simulation_app=None,
 ) -> bool:
     """Export an RL-Games agent."""
-    _load_runtime_dependencies()
+    # Concrete environment classes load simulation modules, so import them
+    # only after launch_simulation has initialized the selected backend.
+    from isaaclab.envs import DirectMARLEnvCfg, ManagerBasedRLEnv, multi_agent_to_single_agent
 
     task_name = args_cli.task.split(":")[-1]
     checkpoint_task_name = task_name.replace("-Play", "")
@@ -306,7 +231,11 @@ def export_rl_games_agent(
         leapp.stop()
         leapp_started = False
         validate = args_cli.validation_steps > 0
-        leapp.compile_graph(visualize=not args_cli.disable_graph_visualization, validate=validate)
+        leapp.compile_graph(
+            visualize=not args_cli.disable_graph_visualization,
+            validate=validate,
+            graph_configs=create_graph_configs(env_cfg),
+        )
     finally:
         if leapp_started:
             with contextlib.suppress(Exception):
@@ -319,17 +248,6 @@ def export_rl_games_agent(
 
 def run_export_with_hydra(args_cli: argparse.Namespace, hydra_args: list[str]) -> bool:
     """Resolve Hydra task configuration and export one RL-Games policy."""
-    _leapp_scripts_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-    if _leapp_scripts_dir not in sys.path:
-        sys.path.insert(0, _leapp_scripts_dir)
-    from export_utils import disable_torchscript_for_export
-
-    # Must run before the imports below pull in the task modules.
-    disable_torchscript_for_export()
-
-    from isaaclab.app import launch_simulation
-
-    from isaaclab_tasks.utils.hydra import hydra_task_config
 
     original_argv = sys.argv
     sys.argv = [sys.argv[0]] + hydra_args
@@ -356,5 +274,10 @@ def main_cli(argv: list[str] | None = None) -> bool:
     return run_export_with_hydra(args_cli, hydra_args)
 
 
+def run(argv: list[str] | None = None) -> int:
+    """Run the export backend and return a process exit code."""
+    return 0 if main_cli(argv) else 1
+
+
 if __name__ == "__main__":
-    main_cli()
+    raise SystemExit(run())
diff --git a/scripts/reinforcement_learning/leapp/rsl_rl/export.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/export_rsl_rl.py
similarity index 70%
rename from scripts/reinforcement_learning/leapp/rsl_rl/export.py
rename to source/isaaclab_rl/isaaclab_rl/entrypoints/backends/export_rsl_rl.py
index 34123c8e5a3e..ca6566a6e656 100644
--- a/scripts/reinforcement_learning/leapp/rsl_rl/export.py
+++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/export_rsl_rl.py
@@ -17,38 +17,11 @@
 from collections.abc import Mapping
 
 RSL_RL_MIN_VERSION = "5.0.1"
-_RUNTIME_IMPORTS_LOADED = False
-
-# Keep heavy/runtime-sensitive imports out of module import time. The CLI needs
-# to parse launcher arguments and start Isaac Sim/Kit before importing torch,
-# LEAPP, RSL-RL, and task modules; importing them earlier has caused launcher
-# import-order failures. ``_load_runtime_dependencies()`` populates these
-# globals immediately before export execution.
-torch = None
-leapp = None
-annotate = None
-gym = None
-DistillationRunner = None
-OnPolicyRunner = None
-ManagerBasedRLEnv = None
-RslRlVecEnvWrapper = None
-handle_deprecated_rsl_rl_cfg = None
-retrieve_file_path = None
-patch_env_for_export = None
-ensure_env_spec_id = None
-get_published_pretrained_checkpoint = None
-get_pretrained_checkpoint_backend_names = None
-get_checkpoint_path = None
-hydra_task_config = None
-installed_version = None
 
 
 def parse_export_args(argv: list[str] | None = None) -> tuple[argparse.Namespace, list[str]]:
     """Parse export arguments and return remaining Hydra overrides."""
-    _leapp_scripts_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-    if _leapp_scripts_dir not in sys.path:
-        sys.path.insert(0, _leapp_scripts_dir)
-    from export_utils import add_common_export_args, finalize_export_args
+    from isaaclab_rl.entrypoints.backends.export_common import add_common_export_args, finalize_export_args
 
     parser = argparse.ArgumentParser(description="Export an RL agent with RSL-RL.")
     add_common_export_args(parser, agent_default="rsl_rl_cfg_entry_point")
@@ -62,75 +35,6 @@ def parse_export_args(argv: list[str] | None = None) -> tuple[argparse.Namespace
     return finalize_export_args(parser, argv)
 
 
-def _load_runtime_dependencies() -> None:
-    """Import runtime dependencies after Isaac Sim has been launched."""
-    global _RUNTIME_IMPORTS_LOADED
-    global annotate, leapp, torch
-    global DistillationRunner, ManagerBasedRLEnv, OnPolicyRunner, RslRlVecEnvWrapper, get_checkpoint_path, gym
-    global ensure_env_spec_id, get_pretrained_checkpoint_backend_names, get_published_pretrained_checkpoint
-    global handle_deprecated_rsl_rl_cfg, hydra_task_config
-    global installed_version
-    global patch_env_for_export, retrieve_file_path
-
-    if _RUNTIME_IMPORTS_LOADED:
-        return
-
-    try:
-        import leapp as leapp_module
-    except ImportError as e:
-        raise ImportError("LEAPP package is required for policy export. Install with: pip install leapp") from e
-    annotate_module = getattr(leapp_module, "annotate")
-
-    import gymnasium as gym_module
-    import torch as torch_module
-    from packaging import version as packaging_version_module
-    from rsl_rl.runners import DistillationRunner as DistillationRunnerCls
-    from rsl_rl.runners import OnPolicyRunner as OnPolicyRunnerCls
-
-    from isaaclab.envs import ManagerBasedRLEnv as ManagerBasedRLEnvCls
-    from isaaclab.utils.assets import retrieve_file_path as retrieve_file_path_fn
-    from isaaclab.utils.leapp import patch_env_for_export as patch_env_for_export_fn
-    from isaaclab.utils.leapp.utils import ensure_env_spec_id as ensure_env_spec_id_fn
-
-    from isaaclab_rl.rsl_rl import RslRlVecEnvWrapper as RslRlVecEnvWrapperCls
-    from isaaclab_rl.rsl_rl import handle_deprecated_rsl_rl_cfg as handle_deprecated_rsl_rl_cfg_fn
-    from isaaclab_rl.utils.pretrained_checkpoint import (
-        get_pretrained_checkpoint_backend_names as get_pretrained_checkpoint_backend_names_fn,
-    )
-    from isaaclab_rl.utils.pretrained_checkpoint import (
-        get_published_pretrained_checkpoint as get_published_pretrained_checkpoint_fn,
-    )
-
-    __import__("isaaclab_tasks")
-    from isaaclab_tasks.utils import get_checkpoint_path as get_checkpoint_path_fn
-    from isaaclab_tasks.utils.hydra import hydra_task_config as hydra_task_config_fn
-
-    installed_version = metadata.version("rsl-rl-lib")
-    if packaging_version_module.parse(installed_version) < packaging_version_module.parse(RSL_RL_MIN_VERSION):
-        print(
-            f"[WARNING] LEAPP RSL-RL export is validated with rsl-rl-lib {RSL_RL_MIN_VERSION} or newer. "
-            f"Installed version is '{installed_version}'."
-        )
-
-    torch = torch_module
-    leapp = leapp_module
-    annotate = annotate_module
-    gym = gym_module
-    DistillationRunner = DistillationRunnerCls
-    OnPolicyRunner = OnPolicyRunnerCls
-    ManagerBasedRLEnv = ManagerBasedRLEnvCls
-    RslRlVecEnvWrapper = RslRlVecEnvWrapperCls
-    handle_deprecated_rsl_rl_cfg = handle_deprecated_rsl_rl_cfg_fn
-    retrieve_file_path = retrieve_file_path_fn
-    patch_env_for_export = patch_env_for_export_fn
-    ensure_env_spec_id = ensure_env_spec_id_fn
-    get_pretrained_checkpoint_backend_names = get_pretrained_checkpoint_backend_names_fn
-    get_published_pretrained_checkpoint = get_published_pretrained_checkpoint_fn
-    get_checkpoint_path = get_checkpoint_path_fn
-    hydra_task_config = hydra_task_config_fn
-    _RUNTIME_IMPORTS_LOADED = True
-
-
 def get_actor_memory_module(policy):
     """Return the actor-side RNN module for supported RSL-RL recurrent policies."""
     if hasattr(policy, "rnn"):
@@ -160,9 +64,8 @@ def set_actor_hidden_state(policy, actor_hidden) -> None:
 
 def ensure_actor_hidden_state_initialized(policy, batch_size: int, device, dtype):
     """Initialize and return the actor hidden state when a recurrent policy has not created it yet."""
-    # ``torch`` is a lazy runtime global populated by ``_load_runtime_dependencies()``
-    # after Isaac Sim launches and before export calls this helper.
-    assert torch is not None
+    import torch as torch_module
+
     actor_state = get_actor_hidden_state(policy)
     if actor_state is not None:
         return actor_state
@@ -173,8 +76,8 @@ def ensure_actor_hidden_state_initialized(policy, batch_size: int, device, dtype
 
     num_layers = memory.rnn.num_layers
     hidden_size = memory.rnn.hidden_size
-    zeros = torch.zeros(num_layers, batch_size, hidden_size, device=device, dtype=dtype)
-    if isinstance(memory.rnn, torch.nn.LSTM):
+    zeros = torch_module.zeros(num_layers, batch_size, hidden_size, device=device, dtype=dtype)
+    if isinstance(memory.rnn, torch_module.nn.LSTM):
         actor_state = (zeros.clone(), zeros.clone())
     else:
         actor_state = zeros
@@ -220,7 +123,33 @@ def export_rsl_rl_agent(
     simulation_app=None,
 ) -> bool:
     """Export a RSL-RL agent."""
-    _load_runtime_dependencies()
+    import gymnasium as gym
+    import leapp
+    import torch
+    from leapp import annotate
+    from packaging import version
+    from rsl_rl.runners import DistillationRunner, OnPolicyRunner
+
+    from isaaclab.envs import ManagerBasedRLEnv
+    from isaaclab.utils.assets import retrieve_file_path
+    from isaaclab.utils.leapp import patch_env_for_export
+    from isaaclab.utils.leapp.utils import ensure_env_spec_id
+
+    from isaaclab_rl.entrypoints.backends.export_common import create_graph_configs, get_checkpoint_path
+    from isaaclab_rl.rsl_rl import RslRlVecEnvWrapper, handle_deprecated_rsl_rl_cfg
+    from isaaclab_rl.utils.pretrained_checkpoint import (
+        get_pretrained_checkpoint_backend_names,
+        get_published_pretrained_checkpoint,
+    )
+
+    import isaaclab_tasks  # noqa: F401
+
+    installed_version = metadata.version("rsl-rl-lib")
+    if version.parse(installed_version) < version.parse(RSL_RL_MIN_VERSION):
+        print(
+            f"[WARNING] LEAPP RSL-RL export is validated with rsl-rl-lib {RSL_RL_MIN_VERSION} or newer. "
+            f"Installed version is '{installed_version}'."
+        )
 
     task_name = args_cli.task.split(":")[-1]
     checkpoint_task_name = task_name.replace("-Play", "")
@@ -345,7 +274,11 @@ def export_rsl_rl_agent(
         leapp.stop()
         leapp_started = False
         validate = args_cli.validation_steps > 0
-        leapp.compile_graph(visualize=not args_cli.disable_graph_visualization, validate=validate)
+        leapp.compile_graph(
+            visualize=not args_cli.disable_graph_visualization,
+            validate=validate,
+            graph_configs=create_graph_configs(env_cfg),
+        )
     finally:
         if leapp_started:
             with contextlib.suppress(Exception):
@@ -358,14 +291,6 @@ def export_rsl_rl_agent(
 
 def run_export_with_hydra(args_cli: argparse.Namespace, hydra_args: list[str]) -> bool:
     """Resolve Hydra task configuration and export one RSL-RL policy."""
-    _leapp_scripts_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-    if _leapp_scripts_dir not in sys.path:
-        sys.path.insert(0, _leapp_scripts_dir)
-    from export_utils import disable_torchscript_for_export
-
-    # Must run before the imports below pull in the task modules.
-    disable_torchscript_for_export()
-
     from isaaclab.app import launch_simulation
 
     from isaaclab_tasks.utils.hydra import hydra_task_config
@@ -396,5 +321,10 @@ def main_cli(argv: list[str] | None = None) -> bool:
     return run_export_with_hydra(args_cli, hydra_args)
 
 
+def run(argv: list[str] | None = None) -> int:
+    """Run the export backend and return a process exit code."""
+    return 0 if main_cli(argv) else 1
+
+
 if __name__ == "__main__":
-    main_cli()
+    raise SystemExit(run())
diff --git a/scripts/reinforcement_learning/leapp/sb3/export.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/export_sb3.py
similarity index 71%
rename from scripts/reinforcement_learning/leapp/sb3/export.py
rename to source/isaaclab_rl/isaaclab_rl/entrypoints/backends/export_sb3.py
index 3ce76171e993..2bebc32114cb 100644
--- a/scripts/reinforcement_learning/leapp/sb3/export.py
+++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/export_sb3.py
@@ -5,6 +5,8 @@
 
 """Script to export a checkpoint of an RL agent from Stable-Baselines3."""
 
+# ruff: noqa: E402, I001
+
 from __future__ import annotations
 
 import argparse
@@ -14,119 +16,50 @@
 import time
 from pathlib import Path
 
-_RUNTIME_IMPORTS_LOADED = False
-
-torch = None
-leapp = None
-annotate = None
-gym = None
-PPO = None
-RecurrentPPO = None
-ManagerBasedRLEnv = None
-retrieve_file_path = None
-patch_env_for_export = None
-ensure_env_spec_id = None
-get_pretrained_checkpoint_backend_names = None
-get_published_pretrained_checkpoint = None
-get_checkpoint_path = None
-resolve_checkpoint_selector = None
-load_from_pkl = None
-load_from_zip_file = None
-CHECKPOINT_SELECTORS = None
-state_dict_from_sequence = None
-state_sequence_from_registered = None
+import torch
+
+# LEAPP traces Isaac Lab's Python tensor operations, so disable TorchScript before
+# importing task or environment modules that compile decorated helpers.
+torch.jit._state.disable()
+
+import gymnasium as gym
+import leapp
+from leapp import annotate
+from stable_baselines3 import PPO
+from stable_baselines3.common.save_util import load_from_pkl, load_from_zip_file
+
+from isaaclab.app import launch_simulation
+from isaaclab.utils.assets import retrieve_file_path
+from isaaclab.utils.leapp import patch_env_for_export
+from isaaclab.utils.leapp.utils import ensure_env_spec_id
+
+from isaaclab_rl.entrypoints.backends.export_common import (
+    add_common_export_args,
+    create_graph_configs,
+    finalize_export_args,
+    get_checkpoint_path,
+    state_dict_from_sequence,
+    state_sequence_from_registered,
+)
+from isaaclab_rl.entrypoints.common import CHECKPOINT_SELECTORS, resolve_checkpoint_selector
+from isaaclab_rl.utils.pretrained_checkpoint import (
+    get_pretrained_checkpoint_backend_names,
+    get_published_pretrained_checkpoint,
+)
+
+from isaaclab_tasks.utils.hydra import hydra_task_config
+
+try:
+    from sb3_contrib import RecurrentPPO
+except ImportError:
+    RecurrentPPO = None
 
 
 def parse_export_args(argv: list[str] | None = None) -> tuple[argparse.Namespace, list[str]]:
     """Parse export arguments and return remaining Hydra overrides."""
-    leapp_scripts_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-    if leapp_scripts_dir not in sys.path:
-        sys.path.insert(0, leapp_scripts_dir)
-    from export_utils import add_common_export_args, finalize_export_args
-
     parser = argparse.ArgumentParser(description="Export an RL agent with Stable-Baselines3.")
     add_common_export_args(parser, agent_default="sb3_cfg_entry_point")
-    return finalize_export_args(parser, argv, agent_library="sb3")
-
-
-def _load_runtime_dependencies() -> None:
-    """Import runtime dependencies after Isaac Sim has been launched."""
-    global _RUNTIME_IMPORTS_LOADED
-    global CHECKPOINT_SELECTORS, ManagerBasedRLEnv, PPO, RecurrentPPO, annotate, gym, leapp
-    global ensure_env_spec_id, get_checkpoint_path, get_pretrained_checkpoint_backend_names
-    global get_published_pretrained_checkpoint
-    global load_from_pkl, load_from_zip_file, patch_env_for_export, resolve_checkpoint_selector, retrieve_file_path
-    global state_dict_from_sequence, state_sequence_from_registered, torch
-
-    if _RUNTIME_IMPORTS_LOADED:
-        return
-
-    try:
-        import leapp as leapp_module
-    except ImportError as e:
-        raise ImportError("LEAPP package is required for policy export. Install with: pip install leapp") from e
-    annotate_module = getattr(leapp_module, "annotate")
-
-    import gymnasium as gym_module
-    import torch as torch_module
-    from stable_baselines3 import PPO as PPOCls
-    from stable_baselines3.common.save_util import load_from_pkl as load_from_pkl_fn
-    from stable_baselines3.common.save_util import load_from_zip_file as load_from_zip_file_fn
-
-    try:
-        from sb3_contrib import RecurrentPPO as RecurrentPPOCls
-    except ImportError:
-        RecurrentPPOCls = None
-
-    from isaaclab.envs import ManagerBasedRLEnv as ManagerBasedRLEnvCls
-    from isaaclab.utils.assets import retrieve_file_path as retrieve_file_path_fn
-    from isaaclab.utils.leapp import patch_env_for_export as patch_env_for_export_fn
-    from isaaclab.utils.leapp.utils import ensure_env_spec_id as ensure_env_spec_id_fn
-
-    from isaaclab_rl.entrypoints.common import (
-        CHECKPOINT_SELECTORS as CHECKPOINT_SELECTORS_VALUE,
-    )
-    from isaaclab_rl.entrypoints.common import (
-        resolve_checkpoint_selector as resolve_checkpoint_selector_fn,
-    )
-    from isaaclab_rl.utils.pretrained_checkpoint import (
-        get_pretrained_checkpoint_backend_names as get_pretrained_checkpoint_backend_names_fn,
-    )
-    from isaaclab_rl.utils.pretrained_checkpoint import (
-        get_published_pretrained_checkpoint as get_published_pretrained_checkpoint_fn,
-    )
-
-    __import__("isaaclab_tasks")
-    from isaaclab_tasks.utils import get_checkpoint_path as get_checkpoint_path_fn
-
-    leapp_scripts_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-    if leapp_scripts_dir not in sys.path:
-        sys.path.insert(0, leapp_scripts_dir)
-    from export_utils import (  # isort: skip
-        state_dict_from_sequence as state_dict_from_sequence_fn,
-        state_sequence_from_registered as state_sequence_from_registered_fn,
-    )
-
-    torch = torch_module
-    leapp = leapp_module
-    annotate = annotate_module
-    gym = gym_module
-    PPO = PPOCls
-    RecurrentPPO = RecurrentPPOCls
-    ManagerBasedRLEnv = ManagerBasedRLEnvCls
-    retrieve_file_path = retrieve_file_path_fn
-    patch_env_for_export = patch_env_for_export_fn
-    ensure_env_spec_id = ensure_env_spec_id_fn
-    get_pretrained_checkpoint_backend_names = get_pretrained_checkpoint_backend_names_fn
-    get_published_pretrained_checkpoint = get_published_pretrained_checkpoint_fn
-    get_checkpoint_path = get_checkpoint_path_fn
-    resolve_checkpoint_selector = resolve_checkpoint_selector_fn
-    load_from_pkl = load_from_pkl_fn
-    load_from_zip_file = load_from_zip_file_fn
-    CHECKPOINT_SELECTORS = CHECKPOINT_SELECTORS_VALUE
-    state_dict_from_sequence = state_dict_from_sequence_fn
-    state_sequence_from_registered = state_sequence_from_registered_fn
-    _RUNTIME_IMPORTS_LOADED = True
+    return finalize_export_args(parser, argv)
 
 
 def _vec_normalize_path(checkpoint_path: str) -> Path:
@@ -138,6 +71,7 @@ def _vec_normalize_path(checkpoint_path: str) -> Path:
 
 def _normalize_tensor(value, running_stats, vec_normalize):
     """Normalize one observation tensor with saved SB3 running statistics."""
+
     mean = torch.as_tensor(running_stats.mean, device=value.device, dtype=value.dtype)
     variance = torch.as_tensor(running_stats.var, device=value.device, dtype=value.dtype)
     normalized = (value - mean) / torch.sqrt(variance + vec_normalize.epsilon)
@@ -164,6 +98,7 @@ def is_sb3_recurrent_policy(policy) -> bool:
 
 def initialize_sb3_recurrent_state(policy, num_envs: int):
     """Create the actor LSTM hidden and cell state expected by an SB3 recurrent policy."""
+
     shape = policy.lstm_hidden_state_shape
     state_shape = (shape[0], num_envs, shape[2])
     zeros = torch.zeros(state_shape, device=policy.device, dtype=torch.float32)
@@ -172,6 +107,7 @@ def initialize_sb3_recurrent_state(policy, num_envs: int):
 
 def _policy_actions(policy, obs, recurrent_state=None):
     """Run deterministic SB3 policy inference without crossing a NumPy boundary."""
+
     policy.set_training_mode(False)
     if recurrent_state is None:
         if hasattr(policy, "_predict"):
@@ -193,6 +129,7 @@ def _policy_actions(policy, obs, recurrent_state=None):
 
 def _scale_or_clip_actions(policy, actions):
     """Match the Box-action post-processing performed by :meth:`BasePolicy.predict`."""
+
     action_space = policy.action_space
     if not hasattr(action_space, "low") or not hasattr(action_space, "high"):
         return actions
@@ -205,6 +142,7 @@ def _scale_or_clip_actions(policy, actions):
 
 def _load_agent(checkpoint_path: str, device: str):
     """Load PPO or RecurrentPPO according to the policy class stored in the checkpoint."""
+
     try:
         checkpoint_data, _, _ = load_from_zip_file(checkpoint_path, device=device)
     except ModuleNotFoundError as e:
@@ -229,6 +167,7 @@ def _load_agent(checkpoint_path: str, device: str):
 
 def _resolve_checkpoint(args_cli: argparse.Namespace, task_name: str, env_cfg) -> str | None:
     """Resolve the SB3 checkpoint selected by the export arguments."""
+
     if args_cli.checkpoint == "pretrained":
         backend_names = get_pretrained_checkpoint_backend_names(env_cfg)
         return get_published_pretrained_checkpoint("sb3", task_name, *backend_names)
@@ -262,7 +201,9 @@ def export_sb3_agent(
     simulation_app=None,
 ) -> bool:
     """Export a Stable-Baselines3 policy."""
-    _load_runtime_dependencies()
+    # Concrete environment classes load simulation modules, so import them
+    # only after launch_simulation has initialized the selected backend.
+    from isaaclab.envs import ManagerBasedRLEnv
 
     task_name = args_cli.task.split(":")[-1]
     checkpoint_task_name = task_name.replace("-Play", "")
@@ -363,7 +304,11 @@ def export_sb3_agent(
         leapp.stop()
         leapp_started = False
         validate = args_cli.validation_steps > 0
-        leapp.compile_graph(visualize=not args_cli.disable_graph_visualization, validate=validate)
+        leapp.compile_graph(
+            visualize=not args_cli.disable_graph_visualization,
+            validate=validate,
+            graph_configs=create_graph_configs(env_cfg),
+        )
     finally:
         torch.distributions.Distribution.set_default_validate_args(previous_validate_args)
         if leapp_started:
@@ -377,17 +322,6 @@ def export_sb3_agent(
 
 def run_export_with_hydra(args_cli: argparse.Namespace, hydra_args: list[str]) -> bool:
     """Resolve Hydra task configuration and export one SB3 policy."""
-    leapp_scripts_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-    if leapp_scripts_dir not in sys.path:
-        sys.path.insert(0, leapp_scripts_dir)
-    from export_utils import disable_torchscript_for_export
-
-    # Must run before the imports below pull in the task modules.
-    disable_torchscript_for_export()
-
-    from isaaclab.app import launch_simulation
-
-    from isaaclab_tasks.utils.hydra import hydra_task_config
 
     original_argv = sys.argv
     sys.argv = [sys.argv[0]] + hydra_args
@@ -412,5 +346,10 @@ def main_cli(argv: list[str] | None = None) -> bool:
     return run_export_with_hydra(args_cli, hydra_args)
 
 
+def run(argv: list[str] | None = None) -> int:
+    """Run the export backend and return a process exit code."""
+    return 0 if main_cli(argv) else 1
+
+
 if __name__ == "__main__":
-    main_cli()
+    raise SystemExit(run())
diff --git a/scripts/reinforcement_learning/leapp/skrl/export.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/export_skrl.py
similarity index 57%
rename from scripts/reinforcement_learning/leapp/skrl/export.py
rename to source/isaaclab_rl/isaaclab_rl/entrypoints/backends/export_skrl.py
index 8b0f632e3d4d..f3492a6cd129 100644
--- a/scripts/reinforcement_learning/leapp/skrl/export.py
+++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/export_skrl.py
@@ -5,6 +5,8 @@
 
 """Script to export a checkpoint if an RL agent from skrl."""
 
+# ruff: noqa: E402, I001
+
 from __future__ import annotations
 
 import argparse
@@ -13,146 +15,52 @@
 import sys
 import time
 
+import torch
+
+# LEAPP traces Isaac Lab's Python tensor operations, so disable TorchScript before
+# importing task or environment modules that compile decorated helpers.
+torch.jit._state.disable()
+
+import gymnasium as gym
+import leapp
+from leapp import annotate
+from packaging import version
+import skrl
+from skrl.utils.runner.torch import Runner
+
+from isaaclab.app import launch_simulation
+from isaaclab.utils.assets import retrieve_file_path
+from isaaclab.utils.leapp import patch_env_for_export
+from isaaclab.utils.leapp.utils import ensure_env_spec_id
+from isaaclab.utils.seed import configure_seed
+
+from isaaclab_rl.entrypoints.backends.export_common import (
+    add_common_export_args,
+    create_graph_configs,
+    finalize_export_args,
+    get_checkpoint_path,
+    is_two_tensor_lstm_state,
+    state_dict_from_sequence,
+    state_sequence_from_registered,
+)
+from isaaclab_rl.skrl import SkrlVecEnvWrapper, resolve_skrl_algorithm
+from isaaclab_rl.utils.pretrained_checkpoint import (
+    get_pretrained_checkpoint_backend_names,
+    get_published_pretrained_checkpoint,
+)
+
+from isaaclab_tasks.utils.hydra import hydra_task_config
+
 SKRL_VERSION = "2.1.0"
-_RUNTIME_IMPORTS_LOADED = False
-
-torch = None
-leapp = None
-annotate = None
-gym = None
-skrl = None
-version = None
-Runner = None
-DirectMARLEnvCfg = None
-ManagerBasedRLEnv = None
-SkrlVecEnvWrapper = None
-configure_seed = None
-multi_agent_to_single_agent = None
-retrieve_file_path = None
-patch_env_for_export = None
-ensure_env_spec_id = None
-get_pretrained_checkpoint_backend_names = None
-get_published_pretrained_checkpoint = None
-get_checkpoint_path = None
-hydra_task_config = None
-is_two_tensor_lstm_state = None
-state_dict_from_sequence = None
-state_sequence_from_registered = None
 
 
 def parse_export_args(argv: list[str] | None = None) -> tuple[argparse.Namespace, list[str]]:
     """Parse export arguments and return remaining Hydra overrides."""
-    _leapp_scripts_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-    if _leapp_scripts_dir not in sys.path:
-        sys.path.insert(0, _leapp_scripts_dir)
-    from export_utils import add_common_export_args, finalize_export_args
-
     parser = argparse.ArgumentParser(description="Export an RL agent with skrl.")
     add_common_export_args(parser, agent_default="skrl_cfg_entry_point")
     return finalize_export_args(parser, argv)
 
 
-def _algorithm_from_agent_entry_point(agent_cfg_entry_point: str) -> str:
-    """Derive the skrl algorithm tag used in training run directory names.
-
-    Isaac Lab stores PPO under ``skrl_cfg_entry_point`` and other algorithms under
-    ``skrl_<algorithm>_cfg_entry_point``. Training run directories are named with the
-    algorithm tag (e.g. ``*_ppo_torch``), so export needs that tag when auto-finding
-    checkpoints.
-    """
-    prefix = agent_cfg_entry_point.split("_cfg")[0]
-    if prefix == "skrl":
-        return "ppo"
-    if prefix.startswith("skrl_"):
-        return prefix[len("skrl_") :].lower()
-    return prefix.lower()
-
-
-def _load_runtime_dependencies() -> None:
-    """Import runtime dependencies after Isaac Sim has been launched."""
-    global _RUNTIME_IMPORTS_LOADED
-    global DirectMARLEnvCfg, ManagerBasedRLEnv, Runner, SkrlVecEnvWrapper, annotate, get_checkpoint_path, gym, leapp
-    global ensure_env_spec_id, get_pretrained_checkpoint_backend_names, get_published_pretrained_checkpoint
-    global hydra_task_config, multi_agent_to_single_agent
-    global patch_env_for_export, retrieve_file_path, skrl, torch, version
-    global configure_seed, is_two_tensor_lstm_state, state_dict_from_sequence, state_sequence_from_registered
-
-    if _RUNTIME_IMPORTS_LOADED:
-        return
-
-    try:
-        import leapp as leapp_module
-    except ImportError as e:
-        raise ImportError("LEAPP package is required for policy export. Install with: pip install leapp") from e
-    annotate_module = getattr(leapp_module, "annotate")
-
-    import gymnasium as gym_module
-    import skrl as skrl_module
-    import torch as torch_module
-    from packaging import version as version_module
-    from skrl.utils.runner.torch import Runner as RunnerCls
-
-    from isaaclab.envs import DirectMARLEnvCfg as DirectMARLEnvCfgCls
-    from isaaclab.envs import ManagerBasedRLEnv as ManagerBasedRLEnvCls
-    from isaaclab.envs import multi_agent_to_single_agent as multi_agent_to_single_agent_fn
-    from isaaclab.utils.assets import retrieve_file_path as retrieve_file_path_fn
-    from isaaclab.utils.leapp import patch_env_for_export as patch_env_for_export_fn
-    from isaaclab.utils.leapp.utils import ensure_env_spec_id as ensure_env_spec_id_fn
-    from isaaclab.utils.seed import configure_seed as configure_seed_fn
-
-    _leapp_scripts_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-    if _leapp_scripts_dir not in sys.path:
-        sys.path.insert(0, _leapp_scripts_dir)
-    from export_utils import (  # isort: skip
-        is_two_tensor_lstm_state as is_two_tensor_lstm_state_fn,
-        state_dict_from_sequence as state_dict_from_sequence_fn,
-        state_sequence_from_registered as state_sequence_from_registered_fn,
-    )
-
-    from isaaclab_rl.skrl import SkrlVecEnvWrapper as SkrlVecEnvWrapperCls
-    from isaaclab_rl.utils.pretrained_checkpoint import (
-        get_pretrained_checkpoint_backend_names as get_pretrained_checkpoint_backend_names_fn,
-    )
-    from isaaclab_rl.utils.pretrained_checkpoint import (
-        get_published_pretrained_checkpoint as get_published_pretrained_checkpoint_fn,
-    )
-
-    __import__("isaaclab_tasks")
-    from isaaclab_tasks.utils import get_checkpoint_path as get_checkpoint_path_fn
-    from isaaclab_tasks.utils.hydra import hydra_task_config as hydra_task_config_fn
-
-    if version_module.parse(skrl_module.__version__) < version_module.parse(SKRL_VERSION):
-        skrl_module.logger.error(
-            f"Unsupported skrl version: {skrl_module.__version__}. "
-            f"Install supported version using 'pip install skrl>={SKRL_VERSION}'"
-        )
-        raise RuntimeError(f"Unsupported skrl version: {skrl_module.__version__}")
-
-    torch = torch_module
-    leapp = leapp_module
-    annotate = annotate_module
-    gym = gym_module
-    skrl = skrl_module
-    version = version_module
-    Runner = RunnerCls
-    DirectMARLEnvCfg = DirectMARLEnvCfgCls
-    ManagerBasedRLEnv = ManagerBasedRLEnvCls
-    SkrlVecEnvWrapper = SkrlVecEnvWrapperCls
-    configure_seed = configure_seed_fn
-    multi_agent_to_single_agent = multi_agent_to_single_agent_fn
-    retrieve_file_path = retrieve_file_path_fn
-    patch_env_for_export = patch_env_for_export_fn
-    ensure_env_spec_id = ensure_env_spec_id_fn
-    get_pretrained_checkpoint_backend_names = get_pretrained_checkpoint_backend_names_fn
-    get_published_pretrained_checkpoint = get_published_pretrained_checkpoint_fn
-    get_checkpoint_path = get_checkpoint_path_fn
-    hydra_task_config = hydra_task_config_fn
-    is_two_tensor_lstm_state = is_two_tensor_lstm_state_fn
-    state_dict_from_sequence = state_dict_from_sequence_fn
-    state_sequence_from_registered = state_sequence_from_registered_fn
-    _RUNTIME_IMPORTS_LOADED = True
-
-
 def is_skrl_lstm_policy(agent) -> bool:
     """Return whether the skrl agent exposes supported actor-side LSTM feedback state."""
     states = getattr(agent, "_rnn_initial_states", {}).get("policy", [])
@@ -191,11 +99,20 @@ def export_skrl_agent(
     simulation_app=None,
 ) -> bool:
     """Export a skrl agent."""
-    _load_runtime_dependencies()
+    # Concrete environment classes load simulation modules, so import them
+    # only after launch_simulation has initialized the selected backend.
+    from isaaclab.envs import DirectMARLEnvCfg, ManagerBasedRLEnv, multi_agent_to_single_agent
+
+    if version.parse(skrl.__version__) < version.parse(SKRL_VERSION):
+        skrl.logger.error(
+            f"Unsupported skrl version: {skrl.__version__}. "
+            f"Install supported version using 'pip install skrl>={SKRL_VERSION}'"
+        )
+        raise RuntimeError(f"Unsupported skrl version: {skrl.__version__}")
 
     task_name = args_cli.task.split(":")[-1]
     checkpoint_task_name = task_name.replace("-Play", "")
-    algorithm = _algorithm_from_agent_entry_point(args_cli.agent)
+    algorithm = resolve_skrl_algorithm(experiment_cfg)
 
     env_cfg.scene.num_envs = 1
     cli_device = getattr(args_cli, "device", None)
@@ -298,7 +215,11 @@ def export_skrl_agent(
         leapp.stop()
         leapp_started = False
         validate = args_cli.validation_steps > 0
-        leapp.compile_graph(visualize=not args_cli.disable_graph_visualization, validate=validate)
+        leapp.compile_graph(
+            visualize=not args_cli.disable_graph_visualization,
+            validate=validate,
+            graph_configs=create_graph_configs(env_cfg),
+        )
     finally:
         if leapp_started:
             with contextlib.suppress(Exception):
@@ -311,17 +232,6 @@ def export_skrl_agent(
 
 def run_export_with_hydra(args_cli: argparse.Namespace, hydra_args: list[str]) -> bool:
     """Resolve Hydra task configuration and export one skrl policy."""
-    _leapp_scripts_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-    if _leapp_scripts_dir not in sys.path:
-        sys.path.insert(0, _leapp_scripts_dir)
-    from export_utils import disable_torchscript_for_export
-
-    # Must run before the imports below pull in the task modules.
-    disable_torchscript_for_export()
-
-    from isaaclab.app import launch_simulation
-
-    from isaaclab_tasks.utils.hydra import hydra_task_config
 
     agent_cfg_entry_point = args_cli.agent
     original_argv = sys.argv
@@ -349,5 +259,10 @@ def main_cli(argv: list[str] | None = None) -> bool:
     return run_export_with_hydra(args_cli, hydra_args)
 
 
+def run(argv: list[str] | None = None) -> int:
+    """Run the export backend and return a process exit code."""
+    return 0 if main_cli(argv) else 1
+
+
 if __name__ == "__main__":
-    main_cli()
+    raise SystemExit(run())
diff --git a/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/play_rl_games.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/play_rl_games.py
index a9cca1cff94e..60ddac78b536 100644
--- a/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/play_rl_games.py
+++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/play_rl_games.py
@@ -87,7 +87,7 @@
 )
 add_launcher_args(parser)
 add_frontend_args(parser)
-args_cli, hydra_args = setup_preset_cli(parser, agent_library="rl_games")
+args_cli, hydra_args = setup_preset_cli(parser)
 args_cli.task = resolve_play_task_name(args_cli.task)
 
 if args_cli.video:
@@ -99,6 +99,12 @@
 def main():
     """Play with RL-Games agent."""
     env_cfg, agent_cfg = resolve_task_config(args_cli.task, args_cli.agent, play_mode=not args_cli.train_env_cfg)
+    if not isinstance(agent_cfg, dict) or not isinstance(agent_cfg.get("params"), dict):
+        raise SystemExit(
+            f"Invalid RL-Games agent configuration from --agent {args_cli.agent}: expected a dictionary with"
+            f" a 'params' dictionary, got {type(agent_cfg).__name__}. Select an RL-Games configuration with"
+            " --agent rl_games_cfg_entry_point, or use --rl_library rsl_rl for RSL-RL runner configurations."
+        )
     pre_launch_video_config(env_cfg, args_cli=args_cli)
     with startup_screen(args_cli, num_stages=3) as screen:
         show_run_summary(screen, args_cli, env_cfg, library="rl_games", action="play")
diff --git a/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/play_rsl_rl.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/play_rsl_rl.py
index 43bc29399b78..5624c3740834 100644
--- a/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/play_rsl_rl.py
+++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/play_rsl_rl.py
@@ -93,7 +93,7 @@
 cli_args.add_rsl_rl_args(parser)
 add_launcher_args(parser)
 add_frontend_args(parser)
-args_cli, remaining_args = setup_preset_cli(parser, agent_library="rsl_rl")
+args_cli, remaining_args = setup_preset_cli(parser)
 args_cli.task = resolve_play_task_name(args_cli.task)
 
 if args_cli.video:
diff --git a/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/play_sb3.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/play_sb3.py
index 7474e94b5822..01c92c109114 100644
--- a/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/play_sb3.py
+++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/play_sb3.py
@@ -90,7 +90,7 @@
 )
 add_launcher_args(parser)
 add_frontend_args(parser)
-args_cli, hydra_args = setup_preset_cli(parser, agent_library="sb3")
+args_cli, hydra_args = setup_preset_cli(parser)
 args_cli.task = resolve_play_task_name(args_cli.task)
 
 if args_cli.video:
diff --git a/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/play_skrl.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/play_skrl.py
index 14be1888e0a7..812ebb10ab3e 100644
--- a/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/play_skrl.py
+++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/play_skrl.py
@@ -38,6 +38,7 @@
     show_run_summary,
     startup_screen,
 )
+from isaaclab_rl.skrl import resolve_skrl_agent_cfg_entry_point, resolve_skrl_algorithm
 from isaaclab_rl.utils.pretrained_checkpoint import (
     get_pretrained_checkpoint_backend_names,
     get_published_pretrained_checkpoint,
@@ -80,10 +81,7 @@
     "--agent",
     type=str,
     default=None,
-    help=(
-        "Name of the RL agent configuration entry point. Defaults to None, in which case the argument "
-        "--algorithm is used to determine the default agent configuration entry point."
-    ),
+    help="Agent configuration entry point (default: the task's canonical SKRL configuration).",
 )
 parser.add_argument("--checkpoint", type=str, default=None, help="Checkpoint path, latest/best, or pretrained.")
 parser.add_argument("--seed", type=int, default=None, help="Seed used for the environment")
@@ -97,9 +95,9 @@
 parser.add_argument(
     "--algorithm",
     type=str,
-    default="PPO",
+    default=None,
     choices=["AMP", "PPO", "IPPO", "MAPPO"],
-    help="The RL algorithm used for training the skrl agent.",
+    help="Optional algorithm selector; with --agent, the resolved agent.class must match.",
 )
 parser.add_argument("--real-time", action="store_true", default=False, help="Run in real-time, if possible.")
 parser.add_argument(
@@ -110,7 +108,7 @@
 )
 add_launcher_args(parser)
 add_frontend_args(parser)
-args_cli, hydra_args = setup_preset_cli(parser, agent_library="skrl")
+args_cli, hydra_args = setup_preset_cli(parser)
 args_cli.task = resolve_play_task_name(args_cli.task)
 
 if args_cli.video:
@@ -126,12 +124,7 @@
     )
     exit()
 
-if args_cli.agent is None:
-    algorithm = args_cli.algorithm.lower()
-    agent_cfg_entry_point = "skrl_cfg_entry_point" if algorithm in ["ppo"] else f"skrl_{algorithm}_cfg_entry_point"
-else:
-    agent_cfg_entry_point = args_cli.agent
-    algorithm = agent_cfg_entry_point.split("_cfg")[0].split("skrl_")[-1].lower()
+agent_cfg_entry_point = resolve_skrl_agent_cfg_entry_point(args_cli.agent, args_cli.algorithm)
 
 
 def main():
@@ -150,6 +143,7 @@ def _main():
     env_cfg, experiment_cfg = resolve_task_config(
         args_cli.task, agent_cfg_entry_point, play_mode=not args_cli.train_env_cfg
     )
+    algorithm = resolve_skrl_algorithm(experiment_cfg, args_cli.algorithm)
     pre_launch_video_config(env_cfg, args_cli=args_cli)
     with startup_screen(args_cli, num_stages=3) as screen:
         show_run_summary(screen, args_cli, env_cfg, library="skrl", action="play")
diff --git a/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/train_rl_games.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/train_rl_games.py
index b2aaaa7c2683..868f718a6930 100644
--- a/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/train_rl_games.py
+++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/train_rl_games.py
@@ -72,7 +72,7 @@ def _parse_args(argv: list[str]) -> argparse.Namespace:
         help="if toggled, this experiment will be tracked with Weights and Biases",
     )
     add_launcher_args(parser)
-    args_cli, hydra_args = setup_preset_cli(parser, argv, agent_library="rl_games")
+    args_cli, hydra_args = setup_preset_cli(parser, argv)
     enable_cameras_for_video(args_cli)
     set_hydra_args(hydra_args)
     return args_cli
diff --git a/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/train_rsl_rl.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/train_rsl_rl.py
index 639c08fb876b..a51f36abefc3 100644
--- a/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/train_rsl_rl.py
+++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/train_rsl_rl.py
@@ -98,7 +98,7 @@ def _parse_args(argv: list[str]) -> argparse.Namespace:
         external_callback_function = string_to_callable(registration_args.external_callback, separator=".")
         remaining_args_env_registration = external_callback_function()
 
-    args_cli, remaining_args = setup_preset_cli(parser, argv, agent_library="rsl_rl")
+    args_cli, remaining_args = setup_preset_cli(parser, argv)
     enable_cameras_for_video(args_cli)
 
     set_hydra_args(list_intersection(remaining_args, remaining_args_env_registration))
diff --git a/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/train_sb3.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/train_sb3.py
index 29510778d41e..d5a039f00628 100644
--- a/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/train_sb3.py
+++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/train_sb3.py
@@ -78,7 +78,7 @@ def _parse_args(argv: list[str]) -> argparse.Namespace:
         help="Use a slower SB3 wrapper but keep all the extra training info.",
     )
     add_launcher_args(parser)
-    args_cli, hydra_args = setup_preset_cli(parser, argv, agent_library="sb3")
+    args_cli, hydra_args = setup_preset_cli(parser, argv)
     enable_cameras_for_video(args_cli)
     set_hydra_args(hydra_args)
     return args_cli
diff --git a/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/train_skrl.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/train_skrl.py
index c13646d8cb04..a03e185a52f2 100644
--- a/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/train_skrl.py
+++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/backends/train_skrl.py
@@ -58,10 +58,7 @@ def _parse_args(argv: list[str]) -> argparse.Namespace:
     add_common_train_args(
         parser,
         agent_default=None,
-        agent_help=(
-            "Name of the RL agent configuration entry point. Defaults to None, in which case the argument "
-            "--algorithm is used to determine the default agent configuration entry point."
-        ),
+        agent_help="Agent configuration entry point (default: the task's canonical SKRL configuration).",
     )
     parser.add_argument("--checkpoint", type=str, default=None, help="Checkpoint path, or latest/best.")
     parser.add_argument(
@@ -74,28 +71,17 @@ def _parse_args(argv: list[str]) -> argparse.Namespace:
     parser.add_argument(
         "--algorithm",
         type=str,
-        default="PPO",
+        default=None,
         choices=["AMP", "PPO", "IPPO", "MAPPO"],
-        help="The RL algorithm used for training the skrl agent.",
+        help="Optional algorithm selector; with --agent, the resolved agent.class must match.",
     )
     add_launcher_args(parser)
-    args_cli, hydra_args = setup_preset_cli(parser, argv, agent_library="skrl")
+    args_cli, hydra_args = setup_preset_cli(parser, argv)
     enable_cameras_for_video(args_cli)
     set_hydra_args(hydra_args)
     return args_cli
 
 
-def _resolve_agent_entry_point(args_cli: argparse.Namespace) -> tuple[str, str]:
-    """Resolve the skrl agent entry point and algorithm from CLI arguments."""
-    if args_cli.agent is None:
-        algorithm = args_cli.algorithm.lower()
-        agent_cfg_entry_point = "skrl_cfg_entry_point" if algorithm in ["ppo"] else f"skrl_{algorithm}_cfg_entry_point"
-    else:
-        agent_cfg_entry_point = args_cli.agent
-        algorithm = agent_cfg_entry_point.split("_cfg")[0].split("skrl_")[-1].lower()
-    return agent_cfg_entry_point, algorithm
-
-
 def _get_distributed_rank(args_cli: argparse.Namespace) -> int:
     """Return the global distributed rank for the selected skrl ML framework."""
     if args_cli.ml_framework.startswith("jax"):
@@ -124,7 +110,7 @@ def _run(args_cli: argparse.Namespace) -> None:
     from isaaclab.utils.assets import retrieve_file_path
     from isaaclab.utils.seed import configure_seed
 
-    from isaaclab_rl.skrl import SkrlVecEnvWrapper
+    from isaaclab_rl.skrl import SkrlVecEnvWrapper, resolve_skrl_agent_cfg_entry_point, resolve_skrl_algorithm
 
     from isaaclab_tasks.utils import resolve_task_config
 
@@ -135,9 +121,10 @@ def _run(args_cli: argparse.Namespace) -> None:
         )
         raise SystemExit(1)
 
-    agent_cfg_entry_point, algorithm = _resolve_agent_entry_point(args_cli)
+    agent_cfg_entry_point = resolve_skrl_agent_cfg_entry_point(args_cli.agent, args_cli.algorithm)
     with startup_screen(args_cli, num_stages=3) as screen:
         env_cfg, agent_cfg = resolve_task_config(args_cli.task, agent_cfg_entry_point)
+        algorithm = resolve_skrl_algorithm(agent_cfg, args_cli.algorithm)
         pre_launch_video_config(env_cfg, args_cli=args_cli)
         show_run_summary(screen, args_cli, env_cfg, library="skrl", action="train")
         screen.stage("Launching simulation")
diff --git a/source/isaaclab_rl/isaaclab_rl/entrypoints/dispatch.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/dispatch.py
index 1a7a827c7ac6..762b91dd99e1 100644
--- a/source/isaaclab_rl/isaaclab_rl/entrypoints/dispatch.py
+++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/dispatch.py
@@ -19,6 +19,12 @@
     from .simple_agents import PolicyName
 
 _BACKEND_MODULES = {
+    "export": {
+        "rl_games": "isaaclab_rl.entrypoints.backends.export_rl_games",
+        "rsl_rl": "isaaclab_rl.entrypoints.backends.export_rsl_rl",
+        "sb3": "isaaclab_rl.entrypoints.backends.export_sb3",
+        "skrl": "isaaclab_rl.entrypoints.backends.export_skrl",
+    },
     "train": {
         "rl_games": "isaaclab_rl.entrypoints.backends.train_rl_games",
         "rlinf": "isaaclab_rl.entrypoints.backends.train_rlinf",
@@ -46,6 +52,17 @@ def run_play_cli(argv: list[str] | None = None) -> int:
     return run_cli("play", argv)
 
 
+def run_export_cli(argv: list[str] | None = None) -> int:
+    """Dispatch unified LEAPP export command-line arguments to a backend."""
+    # imported locally so that importing train and play entrypoints stays lightweight
+    import torch
+
+    # Task registration imports decorated Isaac Lab math helpers, so disable
+    # TorchScript before resolving a task's default export backend.
+    torch.jit._state.disable()
+    return run_cli("export", argv)
+
+
 def run_zero_agent_cli(argv: list[str] | None = None) -> int:
     """Dispatch command-line arguments to the zero-action agent."""
     return _run_simple_agent_cli("zero", argv)
@@ -88,7 +105,7 @@ def run_cli(action: str, argv: list[str] | None = None) -> int:
     """Dispatch a unified RL command to its selected backend.
 
     Args:
-        action: Workflow to execute, either ``"train"`` or ``"play"``.
+        action: Workflow to execute, one of ``"train"``, ``"play"``, or ``"export"``.
         argv: Command-line arguments excluding the executable name.
 
     Returns:
@@ -116,8 +133,8 @@ def run_cli(action: str, argv: list[str] | None = None) -> int:
             return 0
         print(f"\n{action}: error: the following argument is required: --rl_library", file=sys.stderr)
         return 2
-    _run_backend(backends[selected.rl_library], backend_argv, run_as_script=action == "play")
-    return 0
+    status = _run_backend(backends[selected.rl_library], backend_argv, run_as_script=action == "play")
+    return status if status is not None else 0
 
 
 def _resolve_default_library(argv: list[str], backends: dict[str, str]) -> str | None:
@@ -145,19 +162,18 @@ def _print_selector_help(action: str, backends: list[str]) -> None:
     parser.print_help()
 
 
-def _run_backend(module_name: str, argv: list[str], *, run_as_script: bool) -> None:
+def _run_backend(module_name: str, argv: list[str], *, run_as_script: bool) -> int | None:
     """Run a backend module while isolating its command-line arguments."""
     if not run_as_script:
         module = importlib.import_module(module_name)
         runner = getattr(module, "run", None)
         if not callable(runner):
-            raise TypeError(f"Training backend {module_name!r} does not define run(argv).")
+            raise TypeError(f"Backend module {module_name!r} does not define run(argv).")
         original_argv = sys.argv
         try:
-            runner(argv)
+            return runner(argv)
         finally:
             sys.argv = original_argv
-        return
     original_argv = sys.argv
     try:
         sys.argv = [module_name] + argv
diff --git a/source/isaaclab_rl/isaaclab_rl/entrypoints/simple_agents.py b/source/isaaclab_rl/isaaclab_rl/entrypoints/simple_agents.py
index 0f1ab877b42a..67576dd9f75b 100644
--- a/source/isaaclab_rl/isaaclab_rl/entrypoints/simple_agents.py
+++ b/source/isaaclab_rl/isaaclab_rl/entrypoints/simple_agents.py
@@ -67,7 +67,10 @@ def run(argv: list[str] | None = None, *, policy: PolicyName) -> None:
     # override with CLI arguments and reject unsupported configurations before
     # launching Kit or initializing a native physics backend.
     env_cfg.scene.num_envs = args_cli.num_envs if args_cli.num_envs is not None else env_cfg.scene.num_envs
-    env_cfg.sim.device = args_cli.device if args_cli.device is not None else env_cfg.sim.device
+    if args_cli.device is not None:
+        env_cfg.sim.device = args_cli.device
+    # Pass the resolved task device through to AppLauncher.
+    args_cli.device = env_cfg.sim.device
     if args_cli.disable_fabric:
         env_cfg.sim.use_fabric = False
     try:
@@ -249,8 +252,8 @@ def _parse_args(argv: list[str] | None, policy: PolicyName) -> argparse.Namespac
     )
     # append AppLauncher cli args
     add_launcher_args(parser)
-    # Keep checkpoint-free agents on the kitless default path.
-    parser.set_defaults(visualizer=["newton_gl"])
+    # Let task configs select the simulation device and keep checkpoint-free agents on the kitless default path.
+    parser.set_defaults(device=None, visualizer=["newton_gl"])
     args_cli, hydra_args = setup_preset_cli(parser, argv)
     sys.argv = [sys.argv[0]] + hydra_args
     return args_cli
diff --git a/source/isaaclab_rl/isaaclab_rl/rl_games/pbt/pbt_cfg.py b/source/isaaclab_rl/isaaclab_rl/rl_games/pbt/pbt_cfg.py
index 3b0aac88e506..2fdf88badb61 100644
--- a/source/isaaclab_rl/isaaclab_rl/rl_games/pbt/pbt_cfg.py
+++ b/source/isaaclab_rl/isaaclab_rl/rl_games/pbt/pbt_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_rl/isaaclab_rl/rl_games/rl_games.py b/source/isaaclab_rl/isaaclab_rl/rl_games/rl_games.py
index ccc16d29abaf..60c14fb23f14 100644
--- a/source/isaaclab_rl/isaaclab_rl/rl_games/rl_games.py
+++ b/source/isaaclab_rl/isaaclab_rl/rl_games/rl_games.py
@@ -138,7 +138,7 @@ def __init__(
             raise ValueError(
                 "The environment must be inherited from ManagerBasedRLEnv / DirectRLEnv / DirectRLEnvWarp /"
                 " ManagerBasedRLEnvWarp. Environment type:"
-                f" {type(env)}"
+                f" {type(env.unwrapped)}"
             )
         # initialize the wrapper
         self.env = env
diff --git a/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py b/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py
index 07b10d507c55..f94e94112901 100644
--- a/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py
+++ b/source/isaaclab_rl/isaaclab_rl/rsl_rl/distillation_cfg.py
@@ -8,7 +8,7 @@
 from dataclasses import MISSING
 from typing import Literal
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .rl_cfg import RslRlBaseRunnerCfg, RslRlMLPModelCfg
 
diff --git a/source/isaaclab_rl/isaaclab_rl/rsl_rl/rl_cfg.py b/source/isaaclab_rl/isaaclab_rl/rsl_rl/rl_cfg.py
index f5b25fb1b779..02272f4741a1 100644
--- a/source/isaaclab_rl/isaaclab_rl/rsl_rl/rl_cfg.py
+++ b/source/isaaclab_rl/isaaclab_rl/rsl_rl/rl_cfg.py
@@ -8,7 +8,7 @@
 from dataclasses import MISSING
 from typing import Literal
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .rnd_cfg import RslRlRndCfg
 from .symmetry_cfg import RslRlSymmetryCfg
diff --git a/source/isaaclab_rl/isaaclab_rl/rsl_rl/rnd_cfg.py b/source/isaaclab_rl/isaaclab_rl/rsl_rl/rnd_cfg.py
index b5fbef590964..ed8f41e8d55a 100644
--- a/source/isaaclab_rl/isaaclab_rl/rsl_rl/rnd_cfg.py
+++ b/source/isaaclab_rl/isaaclab_rl/rsl_rl/rnd_cfg.py
@@ -5,7 +5,7 @@
 
 from dataclasses import MISSING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_rl/isaaclab_rl/rsl_rl/symmetry_cfg.py b/source/isaaclab_rl/isaaclab_rl/rsl_rl/symmetry_cfg.py
index 12466272edd5..535308c2c348 100644
--- a/source/isaaclab_rl/isaaclab_rl/rsl_rl/symmetry_cfg.py
+++ b/source/isaaclab_rl/isaaclab_rl/rsl_rl/symmetry_cfg.py
@@ -5,7 +5,7 @@
 
 from dataclasses import MISSING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_rl/isaaclab_rl/rsl_rl/utils.py b/source/isaaclab_rl/isaaclab_rl/rsl_rl/utils.py
index 3d97765a667a..b3708dd1cc12 100644
--- a/source/isaaclab_rl/isaaclab_rl/rsl_rl/utils.py
+++ b/source/isaaclab_rl/isaaclab_rl/rsl_rl/utils.py
@@ -71,7 +71,8 @@ def handle_deprecated_rsl_rl_cfg(agent_cfg: RslRlBaseRunnerCfg, installed_versio
         if _has_non_missing_attr(agent_cfg, "policy"):
             print(
                 "[WARNING]: The `policy` configuration is deprecated for rsl-rl >= 4.0.0. Please use, e.g., `actor` and"
-                " `critic` model configurations instead."
+                " `critic` model configurations instead. Older rsl-rl configurations will not be supported"
+                " starting with Isaac Lab 3.1. Please migrate your configuration."
             )
 
             # handle deprecated obs_normalization argument
@@ -211,7 +212,8 @@ def _has_non_missing_attr(obj, attr_name: str) -> bool:
 def _handle_empirical_normalization(policy_cfg, agent_cfg):
     print(
         "[WARNING]: The `empirical_normalization` parameter is deprecated. Please set `actor_obs_normalization` and"
-        " `critic_obs_normalization` as part of the `policy` configuration instead."
+        " `critic_obs_normalization` as part of the `policy` configuration instead. Older rsl-rl configurations"
+        " will not be supported starting with Isaac Lab 3.1. Please migrate your configuration."
     )
     if _is_missing(policy_cfg.actor_obs_normalization):
         policy_cfg.actor_obs_normalization = agent_cfg.empirical_normalization
@@ -246,7 +248,8 @@ def _update_distribution_cfg(model_cfg, rsl_rl_mlp_model_cfg_cls):
         print(
             "[WARNING]: The `distribution_cfg` configuration is now used to specify the output distribution for"
             " stochastic policies. Consider updating the configuration to use `distribution_cfg` instead of"
-            " `stochastic`, `init_noise_std`, `noise_std_type`, and `state_dependent_std` parameters."
+            " `stochastic`, `init_noise_std`, `noise_std_type`, and `state_dependent_std` parameters. Older rsl-rl"
+            " configurations will not be supported starting with Isaac Lab 3.1. Please migrate your configuration."
         )
         if model_cfg.state_dependent_std is False:  # gaussian distribution
             model_cfg.distribution_cfg = rsl_rl_mlp_model_cfg_cls.GaussianDistributionCfg(
diff --git a/source/isaaclab_rl/isaaclab_rl/rsl_rl/vecenv_wrapper.py b/source/isaaclab_rl/isaaclab_rl/rsl_rl/vecenv_wrapper.py
index 88c8a7ddfcee..4c9df80c615c 100644
--- a/source/isaaclab_rl/isaaclab_rl/rsl_rl/vecenv_wrapper.py
+++ b/source/isaaclab_rl/isaaclab_rl/rsl_rl/vecenv_wrapper.py
@@ -70,7 +70,7 @@ def __init__(self, env: ManagerBasedRLEnv | DirectRLEnv, clip_actions: float | N
             raise ValueError(
                 "The environment must be inherited from ManagerBasedRLEnv / DirectRLEnv / DirectRLEnvWarp /"
                 " ManagerBasedRLEnvWarp. Environment type:"
-                f" {type(env)}"
+                f" {type(env.unwrapped)}"
             )
 
         # initialize the wrapper
diff --git a/source/isaaclab_rl/isaaclab_rl/sb3.py b/source/isaaclab_rl/isaaclab_rl/sb3.py
index 92a4d2ed6023..2d031f086a7c 100644
--- a/source/isaaclab_rl/isaaclab_rl/sb3.py
+++ b/source/isaaclab_rl/isaaclab_rl/sb3.py
@@ -170,7 +170,7 @@ def __init__(self, env: ManagerBasedRLEnv | DirectRLEnv, fast_variant: bool = Tr
             raise ValueError(
                 "The environment must be inherited from ManagerBasedRLEnv / DirectRLEnv / DirectRLEnvWarp /"
                 " ManagerBasedRLEnvWarp. Environment type:"
-                f" {type(env)}"
+                f" {type(env.unwrapped)}"
             )
         # initialize the wrapper
         self.env = env
diff --git a/source/isaaclab_rl/isaaclab_rl/skrl.py b/source/isaaclab_rl/isaaclab_rl/skrl.py
index 300d924be7d4..a35d92ccba72 100644
--- a/source/isaaclab_rl/isaaclab_rl/skrl.py
+++ b/source/isaaclab_rl/isaaclab_rl/skrl.py
@@ -27,6 +27,7 @@
 # needed to import for type hinting: Agent | list[Agent]
 from __future__ import annotations
 
+from collections.abc import Mapping
 from typing import TYPE_CHECKING, Literal
 
 if TYPE_CHECKING:
@@ -36,6 +37,31 @@
         ManagerBasedRLEnv,
     )
 
+
+def resolve_skrl_agent_cfg_entry_point(agent: str | None, algorithm: str | None) -> str:
+    """Return the explicit agent recipe, an algorithm recipe, or the canonical recipe."""
+    if agent is not None:
+        return agent
+    if algorithm is None or algorithm.lower() == "ppo":
+        return "skrl_cfg_entry_point"
+    return f"skrl_{algorithm.lower()}_cfg_entry_point"
+
+
+def resolve_skrl_algorithm(agent_cfg: Mapping[str, object], requested_algorithm: str | None = None) -> str:
+    """Return ``agent.class``, rejecting malformed configs and explicit-selector mismatches."""
+    agent = agent_cfg.get("agent")
+    agent_class = agent.get("class") if isinstance(agent, Mapping) else None
+    if not isinstance(agent_class, str) or not agent_class.strip():
+        raise ValueError("The resolved SKRL configuration must define a non-empty 'agent.class' string.")
+
+    algorithm = agent_class.lower()
+    if requested_algorithm is not None and requested_algorithm.lower() != algorithm:
+        raise ValueError(
+            f"Requested SKRL algorithm {requested_algorithm!r} does not match the resolved agent.class {agent_class!r}."
+        )
+    return algorithm
+
+
 """
 Vectorized environment wrapper.
 """
@@ -85,7 +111,7 @@ def SkrlVecEnvWrapper(
     if not isinstance(env.unwrapped, allowed_types):
         raise ValueError(
             "The environment must be inherited from ManagerBasedRLEnv, DirectRLEnv, DirectMARLEnv,"
-            f" DirectRLEnvWarp or ManagerBasedRLEnvWarp. Environment type: {type(env)}"
+            f" DirectRLEnvWarp or ManagerBasedRLEnvWarp. Environment type: {type(env.unwrapped)}"
         )
 
     # import statements according to the ML framework
diff --git a/source/isaaclab_rl/isaaclab_rl/utils/pretrained_checkpoint.py b/source/isaaclab_rl/isaaclab_rl/utils/pretrained_checkpoint.py
index becbc0e6feee..d64c31ff9f80 100644
--- a/source/isaaclab_rl/isaaclab_rl/utils/pretrained_checkpoint.py
+++ b/source/isaaclab_rl/isaaclab_rl/utils/pretrained_checkpoint.py
@@ -12,6 +12,8 @@
 import json
 import os
 import posixpath
+import sys
+from collections.abc import Sequence
 
 from isaaclab.envs import DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg
 from isaaclab.physics import PhysicsCfg
@@ -73,11 +75,13 @@ def get_pretrained_checkpoint_filename(
     task_name: str,
     physics_backend: str | None = None,
     render_backend: str | None = None,
+    *,
+    preset_names: Sequence[str] = (),
 ) -> str:
     """Return the published checkpoint filename.
 
     Backend-aware checkpoints use
-    ``<task_name>_<physics_backend>_<render_backend>_<rl_library><extension>``.
+    ``<task_name>[_<preset_names>]_<physics_backend>_<render_backend>_<rl_library><extension>``.
     Omitting both backend names returns the legacy workflow-specific filename.
 
     Args:
@@ -86,6 +90,7 @@ def get_pretrained_checkpoint_filename(
         physics_backend: Physics backend name, such as ``"physx"``,
             ``"newtonmjwarp"``, or ``"newtonmjwarpvbdproxy"`` for a coupled solver.
         render_backend: Render backend name, such as ``"rtx"``, ``"newton"``, or ``"none"``.
+        preset_names: Non-default domain presets that affect policy compatibility.
 
     Returns:
         The checkpoint filename.
@@ -95,7 +100,10 @@ def get_pretrained_checkpoint_filename(
     """
     if workflow not in WORKFLOW_PRETRAINED_CHECKPOINT_EXTENSIONS:
         raise ValueError(f"Unsupported workflow: {workflow!r}")
+    preset_names = _normalize_pretrained_checkpoint_preset_names(preset_names)
     if physics_backend is None and render_backend is None:
+        if preset_names:
+            raise ValueError("preset_names require backend-aware checkpoint naming")
         return WORKFLOW_PRETRAINED_CHECKPOINT_FILENAMES[workflow]
     if physics_backend is None or render_backend is None:
         raise ValueError("physics_backend and render_backend must be provided together")
@@ -103,12 +111,60 @@ def get_pretrained_checkpoint_filename(
         raise ValueError(f"Unsupported physics backend: {physics_backend!r}")
     if render_backend not in {"newton", "none", "rtx"}:
         raise ValueError(f"Unsupported render backend: {render_backend!r}")
+    preset_suffix = "" if not preset_names else f"_{'_'.join(preset_names)}"
     return (
-        f"{task_name}_{physics_backend}_{render_backend}_{workflow}"
+        f"{task_name}{preset_suffix}_{physics_backend}_{render_backend}_{workflow}"
         f"{WORKFLOW_PRETRAINED_CHECKPOINT_EXTENSIONS[workflow]}"
     )
 
 
+def get_pretrained_checkpoint_preset_names(task_name: str, overrides: Sequence[str] | None = None) -> tuple[str, ...]:
+    """Return non-default domain presets selected for a checkpoint.
+
+    Preset aliases whose value is the preset's ``default`` are omitted so existing
+    unsuffixed checkpoints remain compatible. Typed physics and renderer selectors
+    are also omitted because they already have dedicated checkpoint fields.
+
+    Args:
+        task_name: Registered task name.
+        overrides: Hydra-style overrides. Defaults to :data:`sys.argv`.
+
+    Returns:
+        Selected non-default domain preset names in canonical order.
+    """
+    from isaaclab_tasks.utils.hydra import collect_presets
+    from isaaclab_tasks.utils.preset_target import PresetTarget
+
+    selected_names = []
+    for override in sys.argv[1:] if overrides is None else overrides:
+        if "=" not in override:
+            continue
+        key, value = override.split("=", 1)
+        if key.lstrip("-") == PresetTarget.DOMAIN.value:
+            selected_names.extend(name.strip() for name in value.split(",") if name.strip())
+
+    if not selected_names:
+        return ()
+
+    preset_fields = collect_presets(load_cfg_from_registry(task_name, "env_cfg_entry_point"))
+    typed_targets = tuple(target for target in PresetTarget if target.base_classes)
+    typed_names = {
+        name
+        for fields in preset_fields.values()
+        for name, value in fields.items()
+        if any(target.matches(value) for target in typed_targets)
+    }
+    non_default_domain_names = {
+        name
+        for fields in preset_fields.values()
+        for name, value in fields.items()
+        if name != "default" and name not in typed_names and not _preset_value_matches_default(value, fields)
+    }
+    return _normalize_pretrained_checkpoint_preset_names(
+        name for name in selected_names if name in non_default_domain_names
+    )
+
+
 def get_pretrained_checkpoint_backend_names(
     env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg,
 ) -> tuple[str, str]:
@@ -145,9 +201,13 @@ def get_log_root_path(
     task_name: str,
     physics_backend: str | None = None,
     render_backend: str | None = None,
+    *,
+    preset_names: Sequence[str] = (),
 ) -> str:
     """Return the absolute log root for a workflow, task, and backend combination."""
-    experiment_name = _get_pretrained_checkpoint_stem(workflow, task_name, physics_backend, render_backend)
+    experiment_name = _get_pretrained_checkpoint_stem(
+        workflow, task_name, physics_backend, render_backend, preset_names=preset_names
+    )
     return os.path.abspath(os.path.join("logs", workflow, experiment_name))
 
 
@@ -156,9 +216,11 @@ def get_latest_job_run_path(
     task_name: str,
     physics_backend: str | None = None,
     render_backend: str | None = None,
+    *,
+    preset_names: Sequence[str] = (),
 ) -> str | None:
     """Return the local log path of the most recent matching run."""
-    log_root_path = get_log_root_path(workflow, task_name, physics_backend, render_backend)
+    log_root_path = get_log_root_path(workflow, task_name, physics_backend, render_backend, preset_names=preset_names)
     return _get_latest_file_or_directory(log_root_path)
 
 
@@ -167,13 +229,17 @@ def get_pretrained_checkpoint_path(
     task_name: str,
     physics_backend: str | None = None,
     render_backend: str | None = None,
+    *,
+    preset_names: Sequence[str] = (),
 ) -> str | None:
     """Return the trained checkpoint path from the latest local run."""
-    path = get_latest_job_run_path(workflow, task_name, physics_backend, render_backend)
+    path = get_latest_job_run_path(workflow, task_name, physics_backend, render_backend, preset_names=preset_names)
     if not path:
         return None
 
-    checkpoint_stem = _get_pretrained_checkpoint_stem(workflow, task_name, physics_backend, render_backend)
+    checkpoint_stem = _get_pretrained_checkpoint_stem(
+        workflow, task_name, physics_backend, render_backend, preset_names=preset_names
+    )
     if workflow == "rl_games":
         preferred_path = os.path.join(path, "nn", f"{checkpoint_stem}.pth")
         if os.path.isfile(preferred_path):
@@ -197,9 +263,13 @@ def get_pretrained_checkpoint_publish_path(
     task_name: str,
     physics_backend: str | None = None,
     render_backend: str | None = None,
+    *,
+    preset_names: Sequence[str] = (),
 ) -> str:
     """Return the path where a checkpoint is published."""
-    filename = get_pretrained_checkpoint_filename(workflow, task_name, physics_backend, render_backend)
+    filename = get_pretrained_checkpoint_filename(
+        workflow, task_name, physics_backend, render_backend, preset_names=preset_names
+    )
     if physics_backend is None:
         return posixpath.join(PRETRAINED_CHECKPOINT_PATH, workflow, task_name, filename)
     return posixpath.join(PRETRAINED_CHECKPOINT_PATH, workflow, filename)
@@ -210,9 +280,13 @@ def get_published_pretrained_checkpoint_path(
     task_name: str,
     physics_backend: str | None = None,
     render_backend: str | None = None,
+    *,
+    preset_names: Sequence[str] = (),
 ) -> str:
     """Return the path from which a published checkpoint is fetched."""
-    filename = get_pretrained_checkpoint_filename(workflow, task_name, physics_backend, render_backend)
+    filename = get_pretrained_checkpoint_filename(
+        workflow, task_name, physics_backend, render_backend, preset_names=preset_names
+    )
     path_parts = [ISAACLAB_NUCLEUS_DIR, "PretrainedCheckpoints", workflow]
     if physics_backend is None:
         path_parts.append(task_name)
@@ -224,6 +298,8 @@ def get_published_pretrained_checkpoint(
     task_name: str,
     physics_backend: str | None = None,
     render_backend: str | None = None,
+    *,
+    preset_names: Sequence[str] | None = None,
 ) -> str | None:
     """Gets the path for the pre-trained checkpoint.
 
@@ -237,6 +313,9 @@ def get_published_pretrained_checkpoint(
             to use the legacy checkpoint layout.
         render_backend: Render backend name. Omit with :paramref:`physics_backend`
             to use the legacy checkpoint layout.
+        preset_names: Non-default domain presets that affect policy compatibility.
+            For backend-aware checkpoints, defaults to resolving ``presets=`` selectors
+            from :data:`sys.argv`. Legacy checkpoints do not use preset-qualified names.
 
     Returns:
         The path, or None when the asset server does not report a checkpoint for this task
@@ -250,8 +329,16 @@ def get_published_pretrained_checkpoint(
             instance because the local cache directory is not writable. The originating
             error is chained as the cause.
     """
-    filename = get_pretrained_checkpoint_filename(workflow, task_name, physics_backend, render_backend)
-    ov_path = get_published_pretrained_checkpoint_path(workflow, task_name, physics_backend, render_backend)
+    if preset_names is None and physics_backend is not None and render_backend is not None:
+        preset_names = get_pretrained_checkpoint_preset_names(task_name)
+    elif preset_names is None:
+        preset_names = ()
+    filename = get_pretrained_checkpoint_filename(
+        workflow, task_name, physics_backend, render_backend, preset_names=preset_names
+    )
+    ov_path = get_published_pretrained_checkpoint_path(
+        workflow, task_name, physics_backend, render_backend, preset_names=preset_names
+    )
     download_dir = os.path.join(".pretrained_checkpoints", workflow)
     if physics_backend is None:
         download_dir = os.path.join(download_dir, task_name)
@@ -300,9 +387,13 @@ def has_pretrained_checkpoint_job_run(
     task_name: str,
     physics_backend: str | None = None,
     render_backend: str | None = None,
+    *,
+    preset_names: Sequence[str] = (),
 ) -> bool:
     """Return whether an experiment exists for the workflow, task, and backends."""
-    return os.path.exists(get_log_root_path(workflow, task_name, physics_backend, render_backend))
+    return os.path.exists(
+        get_log_root_path(workflow, task_name, physics_backend, render_backend, preset_names=preset_names)
+    )
 
 
 def has_pretrained_checkpoint_job_finished(
@@ -310,9 +401,13 @@ def has_pretrained_checkpoint_job_finished(
     task_name: str,
     physics_backend: str | None = None,
     render_backend: str | None = None,
+    *,
+    preset_names: Sequence[str] = (),
 ) -> bool:
     """Return whether an experiment has a checkpoint result."""
-    local_path = get_pretrained_checkpoint_path(workflow, task_name, physics_backend, render_backend)
+    local_path = get_pretrained_checkpoint_path(
+        workflow, task_name, physics_backend, render_backend, preset_names=preset_names
+    )
     return local_path is not None and os.path.exists(local_path)
 
 
@@ -321,9 +416,11 @@ def get_pretrained_checkpoint_review_path(
     task_name: str,
     physics_backend: str | None = None,
     render_backend: str | None = None,
+    *,
+    preset_names: Sequence[str] = (),
 ) -> str | None:
     """Return the review JSON path for a workflow, task, and backends."""
-    run_path = get_latest_job_run_path(workflow, task_name, physics_backend, render_backend)
+    run_path = get_latest_job_run_path(workflow, task_name, physics_backend, render_backend, preset_names=preset_names)
     if not run_path:
         return None
     return os.path.join(run_path, "pretrained_checkpoint_review.json")
@@ -334,9 +431,13 @@ def get_pretrained_checkpoint_review(
     task_name: str,
     physics_backend: str | None = None,
     render_backend: str | None = None,
+    *,
+    preset_names: Sequence[str] = (),
 ) -> dict | None:
     """Return the review JSON data for a workflow, task, and backends."""
-    review_path = get_pretrained_checkpoint_review_path(workflow, task_name, physics_backend, render_backend)
+    review_path = get_pretrained_checkpoint_review_path(
+        workflow, task_name, physics_backend, render_backend, preset_names=preset_names
+    )
     if not review_path:
         return None
 
@@ -422,14 +523,36 @@ def _get_pretrained_checkpoint_stem(
     task_name: str,
     physics_backend: str | None,
     render_backend: str | None,
+    *,
+    preset_names: Sequence[str] = (),
 ) -> str:
     """Return the checkpoint filename without its workflow extension."""
     if physics_backend is None and render_backend is None:
         return task_name
-    filename = get_pretrained_checkpoint_filename(workflow, task_name, physics_backend, render_backend)
+    filename = get_pretrained_checkpoint_filename(
+        workflow, task_name, physics_backend, render_backend, preset_names=preset_names
+    )
     return filename.removesuffix(WORKFLOW_PRETRAINED_CHECKPOINT_EXTENSIONS[workflow])
 
 
+def _normalize_pretrained_checkpoint_preset_names(preset_names: Sequence[str]) -> tuple[str, ...]:
+    """Return unique, validated checkpoint preset names in canonical order."""
+    normalized = tuple(sorted(set(preset_names)))
+    invalid = [name for name in normalized if not name or not name.replace("_", "").isalnum()]
+    if invalid:
+        raise ValueError(f"Invalid checkpoint preset names: {invalid}")
+    return normalized
+
+
+def _preset_value_matches_default(value, fields: dict) -> bool:
+    """Return whether a preset value is structurally equivalent to its default."""
+    default = fields.get("default")
+    try:
+        return bool(value == default)
+    except (RuntimeError, TypeError, ValueError):
+        return value is default
+
+
 def _get_latest_file_or_directory(path: str, pattern: str = "*") -> str | None:
     """Returns the path to the most recently modified file or directory at a path matching an optional pattern"""
     g = glob.glob(f"{path}/{pattern}")
diff --git a/source/isaaclab_rl/pyproject.toml b/source/isaaclab_rl/pyproject.toml
index 6333748542a0..8f551e2fed69 100644
--- a/source/isaaclab_rl/pyproject.toml
+++ b/source/isaaclab_rl/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab_rl"
-version = "0.17.0"
+version = "0.17.5"
 description = "Extension containing reinforcement learning related utilities."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]
diff --git a/source/isaaclab_rl/test/export/test_leapp_export_flow.py b/source/isaaclab_rl/test/export/test_leapp_export_flow.py
index e21fb5c475f5..13eefb8b1aaf 100644
--- a/source/isaaclab_rl/test/export/test_leapp_export_flow.py
+++ b/source/isaaclab_rl/test/export/test_leapp_export_flow.py
@@ -23,7 +23,6 @@
 from leapp_initialized_checkpoints import discover_backend_tasks, resolved_path_file, task_checkpoint_dir
 
 _REPO_ROOT = Path(__file__).resolve().parents[4]
-_LEAPP_ROOT = _REPO_ROOT / "scripts" / "reinforcement_learning" / "leapp"
 _CHECKPOINT_SCRIPT = Path(__file__).resolve().parent / "leapp_initialized_checkpoints.py"
 _SUBPROCESS_TIMEOUT = 600
 _CHECKPOINT_TIMEOUT = 1200
@@ -40,7 +39,6 @@ class ExportFlowBackend:
     """Configuration for one RL-library LEAPP export flow."""
 
     rl_library: str
-    export_script: Path
     tasks: tuple[str, ...]
 
     @property
@@ -58,7 +56,6 @@ def agent_cfg_entry_points(self) -> tuple[str, ...]:
 _EXPORT_BACKENDS = (
     ExportFlowBackend(
         rl_library="rsl_rl",
-        export_script=_LEAPP_ROOT / "rsl_rl" / "export.py",
         tasks=(
             # joint-effort locomotion, no commands
             "Isaac-Cartpole",
@@ -91,17 +88,14 @@ def agent_cfg_entry_points(self) -> tuple[str, ...]:
     ),
     ExportFlowBackend(
         rl_library="rl_games",
-        export_script=_LEAPP_ROOT / "rl_games" / "export.py",
         tasks=("Isaac-Cartpole",),
     ),
     ExportFlowBackend(
         rl_library="skrl",
-        export_script=_LEAPP_ROOT / "skrl" / "export.py",
         tasks=("Isaac-Cartpole",),
     ),
     ExportFlowBackend(
         rl_library="sb3",
-        export_script=_LEAPP_ROOT / "sb3" / "export.py",
         tasks=("Isaac-Cartpole",),
     ),
 )
@@ -225,10 +219,11 @@ def _run_export(
     export_root: Path,
     preset: str | None = None,
 ) -> None:
-    """Run the backend export.py CLI against *checkpoint_path*."""
+    """Run the installed backend exporter against *checkpoint_path*."""
     command = [
         sys.executable,
-        str(backend.export_script),
+        "-m",
+        f"isaaclab_rl.entrypoints.backends.export_{backend.rl_library}",
         "--task",
         task_name,
         "--checkpoint",
@@ -242,7 +237,7 @@ def _run_export(
     preset = _preset_for_task(task_name) if preset is None else preset
     if preset is not None:
         command.append(f"presets={preset}")
-    _run_checked(command, label=f"export.py for {backend.rl_library}/{task_name}")
+    _run_checked(command, label=f"export for {backend.rl_library}/{task_name}")
 
 
 def _assert_leapp_artifacts(export_root: Path, task_name: str) -> None:
diff --git a/source/isaaclab_rl/test/export/test_leapp_proxy.py b/source/isaaclab_rl/test/export/test_leapp_proxy.py
index b6acbc1d66fb..f2f9f4dfdc36 100644
--- a/source/isaaclab_rl/test/export/test_leapp_proxy.py
+++ b/source/isaaclab_rl/test/export/test_leapp_proxy.py
@@ -131,3 +131,54 @@ def test_projected_gravity_observation_exports_root_quat_w_input(monkeypatch: py
     assert semantics.name == "robot_root_quat_w"
     assert semantics.kind == InputKindEnum.BODY_ROTATION
     assert semantics.extra == {"isaaclab_connection": "state:robot:root_quat_w"}
+
+
+def test_named_last_action_observations_use_independent_feedback_states(monkeypatch: pytest.MonkeyPatch):
+    """Test named action terms are registered and updated as independent feedback states."""
+    full_action = torch.arange(12, dtype=torch.float32).reshape(2, 6)
+    terms = {
+        "arm": SimpleNamespace(raw_actions=full_action[:, :2]),
+        "hand": SimpleNamespace(raw_actions=full_action[:, 2:]),
+    }
+    action_manager = SimpleNamespace(
+        action=full_action,
+        _action=full_action,
+        get_term=terms.__getitem__,
+        process_action=lambda action: None,
+        apply_action=lambda: None,
+    )
+    env = SimpleNamespace(action_manager=action_manager)
+    state_payloads = {}
+    state_updates = []
+
+    def _record_state_tensors(task_name, tensors):
+        assert task_name == "multi-term-task"
+        state_payloads.update(tensors)
+        return next(iter(tensors.values()))
+
+    def _record_update_state(task_name, tensors):
+        assert task_name == "multi-term-task"
+        state_updates.append(tensors)
+        return tuple(tensors.values())
+
+    monkeypatch.setattr(leapp_utils.annotate, "state_tensors", _record_state_tensors)
+    monkeypatch.setattr(leapp_utils.annotate, "update_state", _record_update_state)
+    monkeypatch.setattr(leapp_utils.annotate, "output_tensors", lambda *args, **kwargs: None)
+    patcher = ExportPatcher(export_method="onnx-dynamo")
+    patcher.task_name = "multi-term-task"
+    monkeypatch.setattr(patcher, "_collect_action_outputs", lambda action_manager: [])
+    monkeypatch.setattr(patcher, "_collect_processed_action_fallbacks", lambda action_manager: [])
+    monkeypatch.setattr(patcher, "_collect_action_static_outputs", lambda action_manager, fallback_terms: [])
+    wrapped = patcher._wrap_last_action(mdp.last_action)
+
+    assert torch.equal(wrapped(env, "arm"), full_action[:, :2])
+    assert torch.equal(wrapped(env, "hand"), full_action[:, 2:])
+    patcher._patch_action_manager_methods(action_manager)
+    patcher._pending_action_output_export = True
+    action_manager.apply_action()
+
+    assert set(state_payloads) == {"last_action_arm", "last_action_hand"}
+    assert len(state_updates) == 1
+    assert set(state_updates[0]) == set(state_payloads)
+    assert torch.equal(state_updates[0]["last_action_arm"], state_payloads["last_action_arm"])
+    assert torch.equal(state_updates[0]["last_action_hand"], state_payloads["last_action_hand"])
diff --git a/source/isaaclab_rl/test/export/test_leapp_recurrent_state.py b/source/isaaclab_rl/test/export/test_leapp_recurrent_state.py
index 38908a2c4277..2120f5767030 100644
--- a/source/isaaclab_rl/test/export/test_leapp_recurrent_state.py
+++ b/source/isaaclab_rl/test/export/test_leapp_recurrent_state.py
@@ -7,12 +7,8 @@
 
 from __future__ import annotations
 
-import contextlib
-import importlib.util
-import sys
+import importlib
 import types
-from collections.abc import Iterator
-from pathlib import Path
 from types import ModuleType
 
 import numpy as np
@@ -20,105 +16,58 @@
 
 torch = pytest.importorskip("torch")
 
-_LEAPP_ROOT = Path(__file__).resolve().parents[4] / "scripts" / "reinforcement_learning" / "leapp"
-_EXPORT_UTILS_SCRIPT = _LEAPP_ROOT / "export_utils.py"
-_EXPORT_UTILS_MODULE_NAME = "_isaaclab_leapp_export_utils"
-
-
-@contextlib.contextmanager
-def _stub_isaaclab_cli_imports(*, fold_preset_tokens: bool = False) -> Iterator[None]:
-    """Stub Isaac Lab CLI imports so export scripts can be loaded without Kit."""
-    original_modules = {
-        name: sys.modules.get(name) for name in ("isaaclab", "isaaclab.app", "isaaclab_tasks", "isaaclab_tasks.utils")
-    }
-    isaaclab_module = types.ModuleType("isaaclab")
-    isaaclab_app_module = types.ModuleType("isaaclab.app")
-    isaaclab_tasks_module = types.ModuleType("isaaclab_tasks")
-    isaaclab_tasks_utils_module = types.ModuleType("isaaclab_tasks.utils")
-
-    class _AppLauncher:
-        @staticmethod
-        def add_app_launcher_args(parser):
-            return None
-
-    setattr(isaaclab_app_module, "AppLauncher", _AppLauncher)
-    if fold_preset_tokens:
-        setattr(isaaclab_tasks_utils_module, "fold_preset_tokens", lambda args: args)
-    setattr(
-        isaaclab_tasks_utils_module,
-        "setup_preset_cli",
-        lambda parser, argv=None, **kwargs: parser.parse_known_args(argv),
-    )
-    sys.modules["isaaclab"] = isaaclab_module
-    sys.modules["isaaclab.app"] = isaaclab_app_module
-    sys.modules["isaaclab_tasks"] = isaaclab_tasks_module
-    sys.modules["isaaclab_tasks.utils"] = isaaclab_tasks_utils_module
-    try:
-        yield
-    finally:
-        for name, original_module in original_modules.items():
-            if original_module is None:
-                sys.modules.pop(name, None)
-            else:
-                sys.modules[name] = original_module
-
-
-def _load_export_utils_module() -> ModuleType:
-    """Load shared LEAPP export helpers from the scripts tree."""
-    sys.modules.pop(_EXPORT_UTILS_MODULE_NAME, None)
-    spec = importlib.util.spec_from_file_location(_EXPORT_UTILS_MODULE_NAME, _EXPORT_UTILS_SCRIPT)
-    if spec is None or spec.loader is None:
-        raise ImportError(f"Could not create module spec for {_EXPORT_UTILS_SCRIPT}")
-
-    module = importlib.util.module_from_spec(spec)
-    sys.modules[_EXPORT_UTILS_MODULE_NAME] = module
-    spec.loader.exec_module(module)
-    return module
+
+def _load_export_common_module() -> ModuleType:
+    """Load shared LEAPP export helpers from the installed package."""
+    return importlib.import_module("isaaclab_rl.entrypoints.backends.export_common")
 
 
 def _load_backend_export_module(backend: str) -> ModuleType:
-    """Load a backend export script without importing Isaac Sim runtime modules."""
-    export_script = _LEAPP_ROOT / backend / "export.py"
-    module_name = f"_isaaclab_{backend}_leapp_export"
-    sys.modules.pop(module_name, None)
-    spec = importlib.util.spec_from_file_location(module_name, export_script)
-    if spec is None or spec.loader is None:
-        raise ImportError(f"Could not create module spec for {export_script}")
-
-    module = importlib.util.module_from_spec(spec)
-    with _stub_isaaclab_cli_imports(fold_preset_tokens=backend == "rsl_rl"):
-        sys.modules[module_name] = module
-        spec.loader.exec_module(module)
-
-    if backend in ("rl_games", "skrl"):
-        setattr(module, "is_two_tensor_lstm_state", _load_export_utils_module().is_two_tensor_lstm_state)
-    elif backend == "rsl_rl":
-        setattr(module, "torch", torch)
-    return module
+    """Load an exporter when its optional backend package is installed."""
+    pytest.importorskip(backend)
+    return importlib.import_module(f"isaaclab_rl.entrypoints.backends.export_{backend}")
 
 
 class TestSharedRecurrentState:
     """Tests for recurrent-state helpers shared by the export backends."""
 
+    def test_checkpoint_path_naturally_sorts_numbered_files(self, tmp_path):
+        """Select the latest numbered checkpoint without importing the task package."""
+        export_common = _load_export_common_module()
+        checkpoint_dir = tmp_path / "run" / "checkpoints"
+        checkpoint_dir.mkdir(parents=True)
+        (checkpoint_dir / "model_9.pt").touch()
+        expected = checkpoint_dir / "model_10.pt"
+        expected.touch()
+
+        resolved = export_common.get_checkpoint_path(
+            str(tmp_path),
+            run_dir="run",
+            checkpoint=r"model_.*\.pt",
+            other_dirs=["checkpoints"],
+        )
+
+        assert resolved == str(expected)
+
     def test_lstm_state_detection_requires_two_tensors(self):
         """Check that only two-tensor recurrent state is treated as LSTM feedback."""
-        export_utils = _load_export_utils_module()
+        export_common = _load_export_common_module()
         h = torch.zeros(1, 1, 4)
         c = torch.zeros(1, 1, 4)
 
-        assert export_utils.is_two_tensor_lstm_state([h, c])
-        assert export_utils.is_two_tensor_lstm_state((h, c))
-        assert not export_utils.is_two_tensor_lstm_state([h])
-        assert not export_utils.is_two_tensor_lstm_state([h, c, c])
-        assert not export_utils.is_two_tensor_lstm_state([h, object()])
+        assert export_common.is_two_tensor_lstm_state([h, c])
+        assert export_common.is_two_tensor_lstm_state((h, c))
+        assert not export_common.is_two_tensor_lstm_state([h])
+        assert not export_common.is_two_tensor_lstm_state([h, c, c])
+        assert not export_common.is_two_tensor_lstm_state([h, object()])
 
     def test_state_sequence_round_trip_from_dict(self):
         """Check named LEAPP state maps back to framework state order."""
-        export_utils = _load_export_utils_module()
+        export_common = _load_export_common_module()
         states = [torch.zeros(1, 1, 4), torch.ones(1, 1, 4)]
-        state_dict = export_utils.state_dict_from_sequence(states)
+        state_dict = export_common.state_dict_from_sequence(states)
 
-        restored = export_utils.state_sequence_from_registered(state_dict, list(state_dict.keys()), states)
+        restored = export_common.state_sequence_from_registered(state_dict, list(state_dict.keys()), states)
 
         assert list(state_dict.keys()) == ["actor_state_0", "actor_state_1"]
         assert restored == states
diff --git a/source/isaaclab_rl/test/export/test_pretrained_checkpoint_lookup.py b/source/isaaclab_rl/test/export/test_pretrained_checkpoint_lookup.py
index ce55e4c5660b..05cb6e80d40a 100644
--- a/source/isaaclab_rl/test/export/test_pretrained_checkpoint_lookup.py
+++ b/source/isaaclab_rl/test/export/test_pretrained_checkpoint_lookup.py
@@ -10,14 +10,13 @@
 
 import pytest
 
-_REPO_ROOT = Path(__file__).resolve().parents[4]
-_LEAPP_ROOT = _REPO_ROOT / "scripts" / "reinforcement_learning" / "leapp"
+_EXPORT_ROOT = Path(__file__).resolve().parents[2] / "isaaclab_rl" / "entrypoints" / "backends"
 
 
 @pytest.mark.parametrize("rl_library", ["rl_games", "rsl_rl", "sb3", "skrl"])
 def test_exporter_resolves_pretrained_checkpoint_for_active_backends(rl_library: str):
     """Each exporter must request the checkpoint matching its resolved environment backends."""
-    export_path = _LEAPP_ROOT / rl_library / "export.py"
+    export_path = _EXPORT_ROOT / f"export_{rl_library}.py"
     tree = ast.parse(export_path.read_text(encoding="utf-8"), filename=str(export_path))
 
     backend_assignments = [
diff --git a/source/isaaclab_rl/test/export/test_rsl_rl_direct_export_flow.py b/source/isaaclab_rl/test/export/test_rsl_rl_direct_export_flow.py
index 98e1cb30c58a..fe9b86fb34cf 100644
--- a/source/isaaclab_rl/test/export/test_rsl_rl_direct_export_flow.py
+++ b/source/isaaclab_rl/test/export/test_rsl_rl_direct_export_flow.py
@@ -11,7 +11,6 @@
 import importlib
 import importlib.util
 import os
-import runpy
 import shutil
 import subprocess
 import sys
@@ -24,7 +23,6 @@
 
 _THIS_FILE = Path(__file__).resolve()
 _REPO_ROOT = str(_THIS_FILE.parents[4])
-_EXPORT_SCRIPT = os.path.join(_REPO_ROOT, "scripts", "reinforcement_learning", "leapp", "rsl_rl", "export.py")
 _THIS_SCRIPT = str(_THIS_FILE)
 _TASK_NAME = "IsaacContrib-Velocity-Flat-AnymalC-Direct"
 _PACKAGE_NAME = "_isaaclab_test_tutorial_anymal_c"
@@ -114,17 +112,15 @@ def _reregister_task(task_name: str) -> None:
 
 
 def _run_export_subprocess_entrypoint() -> None:
-    """Run export.py after re-registering the direct task in-process."""
+    """Run the installed exporter after re-registering the direct task in-process."""
     parser = argparse.ArgumentParser(add_help=False)
     parser.add_argument("--task", required=True)
     args, remaining_args = parser.parse_known_args()
 
     _reregister_task(args.task)
-    export_script_dir = os.path.dirname(_EXPORT_SCRIPT)
-    sys.argv = [_EXPORT_SCRIPT, "--task", args.task, *remaining_args]
-    if export_script_dir not in sys.path:
-        sys.path.insert(0, export_script_dir)
-    runpy.run_path(_EXPORT_SCRIPT, run_name="__main__")
+    from isaaclab_rl.entrypoints.backends.export_rsl_rl import run
+
+    raise SystemExit(run(["--task", args.task, *remaining_args]))
 
 
 def _build_failure_context(result: subprocess.CompletedProcess[str], artifact_dir: str) -> str:
diff --git a/source/isaaclab_rl/test/export/test_rsl_rl_export_flow.py b/source/isaaclab_rl/test/export/test_rsl_rl_export_flow.py
index 6025b89d677f..1634c6b76a57 100644
--- a/source/isaaclab_rl/test/export/test_rsl_rl_export_flow.py
+++ b/source/isaaclab_rl/test/export/test_rsl_rl_export_flow.py
@@ -11,12 +11,10 @@
 """
 
 import contextlib
-import importlib.util
 import os
 import shutil
 import subprocess
 import sys
-import types
 from pathlib import Path
 
 import pytest
@@ -25,8 +23,6 @@
 
 # Root of the repository (three levels up from this file).
 _REPO_ROOT = Path(__file__).resolve().parents[4]
-_EXPORT_SCRIPT = _REPO_ROOT / "scripts" / "reinforcement_learning" / "leapp" / "rsl_rl" / "export.py"
-_EXPORT_MODULE_NAME = "_isaaclab_rsl_rl_leapp_export"
 _THIS_SCRIPT = Path(__file__).resolve()
 _EXPORT_BATCH_SIZE = 8
 _EXPORT_BATCH_TIMEOUT = 600
@@ -128,47 +124,9 @@ def _fail_on_process_error(result: subprocess.CompletedProcess[str], task_names:
 
 
 def _load_export_module():
-    """Load the LEAPP RSL-RL export script as an importable module."""
-    module = sys.modules.get(_EXPORT_MODULE_NAME)
-    if module is not None and hasattr(module, "ensure_actor_hidden_state_initialized"):
-        return module
-
-    sys.modules.pop(_EXPORT_MODULE_NAME, None)
-    spec = importlib.util.spec_from_file_location(_EXPORT_MODULE_NAME, _EXPORT_SCRIPT)
-    if spec is None or spec.loader is None:
-        raise ImportError(f"Could not create module spec for {_EXPORT_SCRIPT}")
-
-    module = importlib.util.module_from_spec(spec)
-    sys.modules[_EXPORT_MODULE_NAME] = module
-    original_modules = {
-        name: sys.modules.get(name) for name in ("isaaclab", "isaaclab.app", "isaaclab_tasks", "isaaclab_tasks.utils")
-    }
-    isaaclab_module = types.ModuleType("isaaclab")
-    isaaclab_app_module = types.ModuleType("isaaclab.app")
-    isaaclab_tasks_module = types.ModuleType("isaaclab_tasks")
-    isaaclab_tasks_utils_module = types.ModuleType("isaaclab_tasks.utils")
-
-    class _AppLauncher:
-        @staticmethod
-        def add_app_launcher_args(parser):
-            return None
-
-    setattr(isaaclab_app_module, "AppLauncher", _AppLauncher)
-    setattr(isaaclab_tasks_utils_module, "fold_preset_tokens", lambda args: args)
-    setattr(isaaclab_tasks_utils_module, "setup_preset_cli", lambda parser, argv=None: parser.parse_known_args(argv))
-    sys.modules["isaaclab"] = isaaclab_module
-    sys.modules["isaaclab.app"] = isaaclab_app_module
-    sys.modules["isaaclab_tasks"] = isaaclab_tasks_module
-    sys.modules["isaaclab_tasks.utils"] = isaaclab_tasks_utils_module
-    try:
-        spec.loader.exec_module(module)
-    finally:
-        for name, original_module in original_modules.items():
-            if original_module is None:
-                sys.modules.pop(name, None)
-            else:
-                sys.modules[name] = original_module
-    setattr(module, "torch", torch)
+    """Load the installed LEAPP RSL-RL exporter."""
+    from isaaclab_rl.entrypoints.backends import export_rsl_rl as module
+
     return module
 
 
diff --git a/source/isaaclab_rl/test/export/test_sb3_leapp_export.py b/source/isaaclab_rl/test/export/test_sb3_leapp_export.py
index 5db0a837406d..c27a931a9ed3 100644
--- a/source/isaaclab_rl/test/export/test_sb3_leapp_export.py
+++ b/source/isaaclab_rl/test/export/test_sb3_leapp_export.py
@@ -5,8 +5,7 @@
 
 """Unit tests for SB3-specific LEAPP export helpers."""
 
-import importlib.util
-import sys
+import importlib
 import types
 from pathlib import Path
 
@@ -15,60 +14,34 @@
 import pytest
 
 torch = pytest.importorskip("torch")
-stable_baselines3 = pytest.importorskip("stable_baselines3")
+pytest.importorskip("stable_baselines3")
 sb3_contrib = pytest.importorskip("sb3_contrib")
 
-_REPO_ROOT = Path(__file__).resolve().parents[4]
-_EXPORT_SCRIPT = _REPO_ROOT / "scripts" / "reinforcement_learning" / "leapp" / "sb3" / "export.py"
-_EXPORT_MODULE_NAME = "_isaaclab_sb3_leapp_export"
-
 
 def _load_export_module():
-    """Load SB3 export.py without importing Isaac Sim runtime modules."""
-    sys.modules.pop(_EXPORT_MODULE_NAME, None)
-    spec = importlib.util.spec_from_file_location(_EXPORT_MODULE_NAME, _EXPORT_SCRIPT)
-    module = importlib.util.module_from_spec(spec)
-    sys.modules[_EXPORT_MODULE_NAME] = module
-    spec.loader.exec_module(module)
-    module.torch = torch
+    """Load the installed SB3 exporter."""
+    from isaaclab_rl.entrypoints.backends import export_sb3 as module
+
     return module
 
 
-def test_sb3_export_args_use_common_defaults():
+def test_sb3_export_args_use_common_defaults(monkeypatch):
     """Use the shared export flags and omit training-only arguments."""
     export_module = _load_export_module()
-
-    original_modules = {
-        name: sys.modules.get(name) for name in ("isaaclab", "isaaclab.app", "isaaclab_tasks", "isaaclab_tasks.utils")
-    }
-    isaaclab_module = types.ModuleType("isaaclab")
-    isaaclab_app_module = types.ModuleType("isaaclab.app")
-    isaaclab_tasks_module = types.ModuleType("isaaclab_tasks")
-    isaaclab_tasks_utils_module = types.ModuleType("isaaclab_tasks.utils")
+    export_common = importlib.import_module("isaaclab_rl.entrypoints.backends.export_common")
 
     class _AppLauncher:
         @staticmethod
         def add_app_launcher_args(parser):
             return None
 
-    setattr(isaaclab_app_module, "AppLauncher", _AppLauncher)
-    setattr(
-        isaaclab_tasks_utils_module,
+    monkeypatch.setattr(export_common, "AppLauncher", _AppLauncher)
+    monkeypatch.setattr(
+        export_common,
         "setup_preset_cli",
         lambda parser, argv=None, **kwargs: parser.parse_known_args(argv),
     )
-    sys.modules["isaaclab"] = isaaclab_module
-    sys.modules["isaaclab.app"] = isaaclab_app_module
-    sys.modules["isaaclab_tasks"] = isaaclab_tasks_module
-    sys.modules["isaaclab_tasks.utils"] = isaaclab_tasks_utils_module
-    try:
-        args, _ = export_module.parse_export_args(["--task", "Isaac-Cartpole"])
-    finally:
-        for name, original_module in original_modules.items():
-            if original_module is None:
-                sys.modules.pop(name, None)
-            else:
-                sys.modules[name] = original_module
+    args, _ = export_module.parse_export_args(["--task", "Isaac-Cartpole"])
 
     assert args.agent == "sb3_cfg_entry_point"
     assert args.headless
@@ -158,7 +131,6 @@ def test_sb3_recurrent_policy_state_round_trip():
 def test_sb3_checkpoint_loader_selects_recurrent_ppo(tmp_path):
     """Select RecurrentPPO from the policy class serialized in the checkpoint."""
     export_module = _load_export_module()
-    from stable_baselines3.common.save_util import load_from_zip_file
 
     agent = sb3_contrib.RecurrentPPO(
         "MlpLstmPolicy",
@@ -171,9 +143,6 @@ def test_sb3_checkpoint_loader_selects_recurrent_ppo(tmp_path):
     agent.save(checkpoint_path)
     agent.env.close()
 
-    export_module.PPO = stable_baselines3.PPO
-    export_module.RecurrentPPO = sb3_contrib.RecurrentPPO
-    export_module.load_from_zip_file = load_from_zip_file
     loaded_agent = export_module._load_agent(str(checkpoint_path), device="cpu")
 
     assert isinstance(loaded_agent, sb3_contrib.RecurrentPPO)
diff --git a/source/isaaclab_rl/test/test_entrypoints.py b/source/isaaclab_rl/test/test_entrypoints.py
index c821acf61093..a860fbafd854 100644
--- a/source/isaaclab_rl/test/test_entrypoints.py
+++ b/source/isaaclab_rl/test/test_entrypoints.py
@@ -12,6 +12,7 @@
 import subprocess
 import sys
 import types
+from pathlib import Path
 from types import SimpleNamespace
 
 import gymnasium as gym
@@ -30,6 +31,10 @@
         ("import isaaclab_rl", ["isaaclab_rl.entrypoints", "torch"]),
         ("import isaaclab_rl.entrypoints", ["isaaclab_rl.entrypoints.multigpu", "torch"]),
         ("import isaaclab_rl.entrypoints.backends", ["torch"]),
+        (
+            "import isaaclab_rl.entrypoints.backends.export_rsl_rl",
+            ["torch", "leapp", "rsl_rl", "isaaclab.envs", "isaaclab_tasks"],
+        ),
         ("import isaaclab_rl.rl_games", ["isaaclab_rl.rl_games.rl_games", "rl_games", "torch"]),
         ("import isaaclab_rl.rl_games.pbt", ["isaaclab_rl.rl_games.pbt.pbt", "rl_games", "torch"]),
         ("import isaaclab_rl.rsl_rl", ["isaaclab_rl.rsl_rl.vecenv_wrapper", "rsl_rl", "torch"]),
@@ -234,9 +239,89 @@ def test_simple_agents_default_to_newton_visualizer(
 
     args = _simple_agents._parse_args([], policy)
 
+    assert args.device is None
     assert args.visualizer == ["newton_gl"]
 
 
+@pytest.mark.parametrize("policy", ["zero", "random"])
+def test_simple_agents_accept_explicit_device(
+    policy: _simple_agents.PolicyName,
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    """Checkpoint-free agents should retain an explicit CLI device."""
+    monkeypatch.setattr(sys, "argv", ["pytest"])
+
+    args = _simple_agents._parse_args(["--device", "cuda:1"], policy)
+
+    assert args.device == "cuda:1"
+
+
+def test_simple_agents_preserve_task_device_default(monkeypatch: pytest.MonkeyPatch) -> None:
+    """Checkpoint-free agents should not replace a task-required device with the CLI default."""
+
+    class _ExpectedStop(Exception):
+        pass
+
+    class _Cfg:
+        scene = SimpleNamespace(num_envs=1)
+        sim = SimpleNamespace(device="cpu", use_fabric=True)
+
+        def validate(self) -> None:
+            pass
+
+    args = SimpleNamespace(
+        num_envs=None,
+        device=None,
+        disable_fabric=False,
+        task="Cpu-Task",
+    )
+
+    def launch_simulation(cfg, launcher_args):
+        assert cfg.sim.device == "cpu"
+        assert launcher_args.device == "cpu"
+        raise _ExpectedStop
+
+    monkeypatch.setattr(_simple_agents, "_parse_args", lambda argv, policy: args)
+    monkeypatch.setattr(_simple_agents, "resolve_task_config", lambda task, agent: (_Cfg(), None))
+    monkeypatch.setattr(_simple_agents, "launch_simulation", launch_simulation)
+
+    with pytest.raises(_ExpectedStop):
+        _simple_agents.run([], policy="zero")
+
+
+def test_simple_agents_apply_explicit_device_override(monkeypatch: pytest.MonkeyPatch) -> None:
+    """Checkpoint-free agents should continue to honor an explicit CLI device."""
+
+    class _ExpectedStop(Exception):
+        pass
+
+    class _Cfg:
+        scene = SimpleNamespace(num_envs=1)
+        sim = SimpleNamespace(device="cpu", use_fabric=True)
+
+        def validate(self) -> None:
+            pass
+
+    args = SimpleNamespace(
+        num_envs=None,
+        device="cuda:1",
+        disable_fabric=False,
+        task="Cpu-Task",
+    )
+
+    def launch_simulation(cfg, launcher_args):
+        assert cfg.sim.device == "cuda:1"
+        assert launcher_args.device == "cuda:1"
+        raise _ExpectedStop
+
+    monkeypatch.setattr(_simple_agents, "_parse_args", lambda argv, policy: args)
+    monkeypatch.setattr(_simple_agents, "resolve_task_config", lambda task, agent: (_Cfg(), None))
+    monkeypatch.setattr(_simple_agents, "launch_simulation", launch_simulation)
+
+    with pytest.raises(_ExpectedStop):
+        _simple_agents.run([], policy="random")
+
+
 def test_zero_agent_rejects_invalid_config_before_launch(monkeypatch: pytest.MonkeyPatch) -> None:
     """Unsupported task presets fail cleanly before a simulator backend is initialized."""
 
@@ -389,6 +474,24 @@ def _fake_run_backend(module_name: str, argv: list[str], *, run_as_script: bool)
     }
 
 
+def test_export_dispatches_selected_backend(monkeypatch) -> None:
+    """The unified export dispatcher forwards backend arguments and its status."""
+    received: dict[str, object] = {}
+
+    def _fake_run_backend(module_name: str, argv: list[str], *, run_as_script: bool) -> int:
+        received.update(module_name=module_name, argv=argv, run_as_script=run_as_script)
+        return 1
+
+    monkeypatch.setattr(dispatch, "_run_backend", _fake_run_backend)
+
+    assert dispatch.run_export_cli(["--rl_library", "rsl_rl", "--task", "Isaac-Cartpole"]) == 1
+    assert received == {
+        "module_name": "isaaclab_rl.entrypoints.backends.export_rsl_rl",
+        "argv": ["--task", "Isaac-Cartpole"],
+        "run_as_script": False,
+    }
+
+
 def test_dispatch_uses_task_registered_default_backend(monkeypatch) -> None:
     """A task registry default selects the backend when the CLI omits it."""
     task_name = "Isaac-DefaultAgentDispatchTest"
@@ -571,12 +674,70 @@ def fail_after_mutation(_args_cli) -> None:
     assert not hasattr(skrl.config.jax, "backend")
 
 
+def test_skrl_agent_config_selection_is_explicit() -> None:
+    """SKRL uses the canonical task config unless the user explicitly selects another source."""
+    from isaaclab_rl.skrl import resolve_skrl_agent_cfg_entry_point as resolve
+
+    assert resolve(None, None) == resolve(None, "PPO") == "skrl_cfg_entry_point"
+    assert resolve(None, "AMP") == "skrl_amp_cfg_entry_point"
+    assert resolve("skrl_custom_cfg_entry_point", None) == "skrl_custom_cfg_entry_point"
+
+
+def test_skrl_algorithm_comes_from_resolved_config() -> None:
+    """The resolved agent class, rather than the registry-key spelling, owns algorithm identity."""
+    from isaaclab_rl.skrl import resolve_skrl_algorithm
+
+    assert resolve_skrl_algorithm({"agent": {"class": "AMP"}}) == "amp"
+    assert resolve_skrl_algorithm({"agent": {"class": "PPO"}}, "PPO") == "ppo"
+    with pytest.raises(ValueError, match="does not match the resolved agent.class"):
+        resolve_skrl_algorithm({"agent": {"class": "AMP"}}, "PPO")
+    with pytest.raises(ValueError, match="must define a non-empty 'agent.class'"):
+        resolve_skrl_algorithm({})
+
+
+def test_skrl_training_parser_leaves_algorithm_implicit(monkeypatch) -> None:
+    """The canonical task config decides the algorithm when the CLI omits both selectors."""
+    from isaaclab_rl.entrypoints.backends import train_skrl
+
+    monkeypatch.setattr(sys, "argv", ["train_skrl.py"])
+    args = train_skrl._parse_args(["--task", "Isaac-Cartpole"])
+
+    assert args.agent is None
+    assert args.algorithm is None
+
+
+@pytest.mark.parametrize("motion", ["Dance", "Run", "Walk"])
+def test_humanoid_amp_tasks_register_canonical_skrl_config(motion) -> None:
+    """SKRL-only AMP tasks work through the same canonical entry point as other tasks."""
+    import isaaclab_tasks  # noqa: F401
+    from isaaclab_tasks.utils import load_cfg_from_registry
+
+    spec = gym.spec(f"IsaacContrib-Humanoid-AMP-{motion}-Direct")
+
+    assert spec.kwargs["default_agent"] == "skrl"
+    assert spec.kwargs["skrl_cfg_entry_point"] == spec.kwargs["skrl_amp_cfg_entry_point"]
+    assert load_cfg_from_registry(spec.id, "skrl_cfg_entry_point")["agent"]["class"] == "AMP"
+
+
+def test_skrl_entrypoints_do_not_infer_algorithm_from_registry_key() -> None:
+    """Registry-key spelling is a config-source concern, never an algorithm identity."""
+    root = Path(__file__).parents[3]
+    paths = list(root.glob("source/isaaclab*/**/*skrl.py"))
+    for path in paths:
+        source = path.read_text()
+
+        assert 'split("_cfg")' not in source, path
+        assert 'agent_library="skrl"' not in source, path
+
+
 def test_skrl_play_main_restores_jax_backend(monkeypatch) -> None:
     """Direct SKRL play calls remove the JAX backend setting they created."""
     pytest.importorskip("skrl")
     monkeypatch.setattr(sys, "argv", ["play_skrl.py"])
     namespace = runpy.run_module("isaaclab_rl.entrypoints.backends.play_skrl", run_name="test_play_skrl")
     skrl = namespace["skrl"]
+    assert namespace["args_cli"].algorithm is None
+    assert namespace["agent_cfg_entry_point"] == "skrl_cfg_entry_point"
     namespace["args_cli"].ml_framework = "jax"
     monkeypatch.delattr(skrl.config.jax, "backend", raising=False)
 
diff --git a/source/isaaclab_rl/test/test_pretrained_checkpoint.py b/source/isaaclab_rl/test/test_pretrained_checkpoint.py
index 32ff4148d951..4983795dd8da 100644
--- a/source/isaaclab_rl/test/test_pretrained_checkpoint.py
+++ b/source/isaaclab_rl/test/test_pretrained_checkpoint.py
@@ -15,7 +15,7 @@
 
 from isaaclab.renderers import RendererCfg
 from isaaclab.sim import SimulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.utils import pretrained_checkpoint
 
@@ -47,9 +47,33 @@ def test_get_pretrained_checkpoint_filename_includes_backends():
     assert filename == "Isaac-Cartpole_newtonmjwarp_rtx_rsl_rl.pt"
 
 
-def test_get_pretrained_checkpoint_filename_preserves_legacy_layout():
+@pytest.mark.parametrize(
+    ("overrides", "expected"),
+    [
+        (("presets=depth",), ("depth",)),
+        (("presets=rgb",), ()),
+        (("physics=newton_mjwarp", "renderer=newton_renderer"), ()),
+    ],
+)
+def test_get_pretrained_checkpoint_preset_names_uses_non_default_domain_presets(overrides, expected):
+    """Test that default aliases and typed backends do not duplicate checkpoint identity fields."""
+    preset_names = pretrained_checkpoint.get_pretrained_checkpoint_preset_names(
+        "Isaac-Cartpole-Camera-Direct", overrides
+    )
+
+    assert preset_names == expected
+
+
+def test_get_pretrained_checkpoint_filename_preserves_legacy_layout(monkeypatch: pytest.MonkeyPatch, tmp_path: Path):
     """Test that callers omitting both backends retain the legacy filename."""
+    monkeypatch.chdir(tmp_path)
+    monkeypatch.setattr("sys.argv", ["play.py", "presets=depth"])
+    cached_path = Path(".pretrained_checkpoints/rl_games/Isaac-Cartpole/checkpoint.pth")
+    cached_path.parent.mkdir(parents=True)
+    cached_path.touch()
+
     assert pretrained_checkpoint.get_pretrained_checkpoint_filename("rl_games", "Isaac-Cartpole") == "checkpoint.pth"
+    assert pretrained_checkpoint.get_published_pretrained_checkpoint("rl_games", "Isaac-Cartpole") == str(cached_path)
 
 
 def test_get_log_root_path_preserves_legacy_task_name(monkeypatch: pytest.MonkeyPatch, tmp_path: Path):
@@ -149,6 +173,7 @@ def test_get_published_pretrained_checkpoint_downloads_to_flat_cache(
     """Test that backend-aware downloads use the workflow cache directory."""
     monkeypatch.chdir(tmp_path)
     monkeypatch.setattr(pretrained_checkpoint, "ISAACLAB_NUCLEUS_DIR", "omniverse://IsaacLab")
+    monkeypatch.setattr("sys.argv", ["play.py", "presets=depth"])
     retrieved = {}
 
     def _retrieve_file_path(remote_path: str, download_dir: str) -> str:
@@ -162,16 +187,17 @@ def _retrieve_file_path(remote_path: str, download_dir: str) -> str:
     monkeypatch.setattr(pretrained_checkpoint, "retrieve_file_path", _retrieve_file_path)
 
     path = pretrained_checkpoint.get_published_pretrained_checkpoint(
-        "rsl_rl",
-        "Isaac-Cartpole",
-        "physx",
-        "none",
+        "rl_games",
+        "Isaac-Cartpole-Camera-Direct",
+        "newtonmjwarp",
+        "newton",
     )
 
-    expected_download_dir = str(Path(".pretrained_checkpoints") / "rsl_rl")
-    assert path == str(Path(expected_download_dir) / "Isaac-Cartpole_physx_none_rsl_rl.pt")
+    expected_download_dir = str(Path(".pretrained_checkpoints") / "rl_games")
+    filename = "Isaac-Cartpole-Camera-Direct_depth_newtonmjwarp_newton_rl_games.pth"
+    assert path == str(Path(expected_download_dir) / filename)
     assert retrieved == {
-        "remote_path": "omniverse://IsaacLab/PretrainedCheckpoints/rsl_rl/Isaac-Cartpole_physx_none_rsl_rl.pt",
+        "remote_path": f"omniverse://IsaacLab/PretrainedCheckpoints/rl_games/{filename}",
         "download_dir": expected_download_dir,
     }
 
diff --git a/source/isaaclab_rl/test/test_rsl_rl_cfg_deprecation.py b/source/isaaclab_rl/test/test_rsl_rl_cfg_deprecation.py
index b8a952313aae..1afa6ffcdebe 100644
--- a/source/isaaclab_rl/test/test_rsl_rl_cfg_deprecation.py
+++ b/source/isaaclab_rl/test/test_rsl_rl_cfg_deprecation.py
@@ -270,6 +270,11 @@ def test_clears_policy_after_inference(self):
         handle_deprecated_rsl_rl_cfg(cfg, "4.0.0")
         assert _is_missing(cfg.policy)
 
+    def test_policy_deprecation_warns_about_isaac_lab_3_1(self, capsys):
+        cfg = _on_policy_runner(policy=_ppo_mlp_policy(), algorithm=_ppo_algo())
+        handle_deprecated_rsl_rl_cfg(cfg, "4.0.0")
+        assert "will not be supported starting with Isaac Lab 3.1" in capsys.readouterr().out
+
     def test_skips_existing_actor(self):
         actor = _mlp_model()
         actor.hidden_dims = [999]
@@ -423,6 +428,11 @@ def test_removes_deprecated_params(self):
         assert not hasattr(cfg.actor, "noise_std_type")
         assert not hasattr(cfg.actor, "state_dependent_std")
 
+    def test_distribution_deprecation_warns_about_isaac_lab_3_1(self, capsys):
+        cfg = _on_policy_runner(algorithm=_ppo_algo(), actor=_mlp_model())
+        handle_deprecated_rsl_rl_cfg(cfg, "5.0.0")
+        assert "will not be supported starting with Isaac Lab 3.1" in capsys.readouterr().out
+
     def test_migrates_rnn_models(self):
         a = _rnn_model()
         a.state_dependent_std = True
diff --git a/source/isaaclab_rl/test/test_rsl_rl_wrapper_observations.py b/source/isaaclab_rl/test/test_rsl_rl_wrapper_observations.py
index dba6b064047c..e7f22af2384a 100644
--- a/source/isaaclab_rl/test/test_rsl_rl_wrapper_observations.py
+++ b/source/isaaclab_rl/test/test_rsl_rl_wrapper_observations.py
@@ -12,6 +12,7 @@
 
 import inspect
 
+import pytest
 import torch
 from tensordict import TensorDict
 
@@ -28,6 +29,15 @@ def __init__(self):
         self.obs_buf = {"policy": torch.tensor([[1.0, 2.0], [3.0, 4.0]])}
 
 
+class _UnsupportedEnv:
+    pass
+
+
+class _OuterEnv:
+    def __init__(self):
+        self.unwrapped = _UnsupportedEnv()
+
+
 def _make_wrapper(env: _FakeEnv, num_envs: int = 2) -> RslRlVecEnvWrapper:
     """Build a wrapper without ``__init__``, which requires a real environment and a live sim."""
     wrapper = object.__new__(RslRlVecEnvWrapper)
@@ -74,3 +84,12 @@ def test_direct_rl_env_stores_the_observation_buffer():
     """The environment side of the contract: reset and step both publish ``obs_buf``."""
     assert "self.obs_buf" in inspect.getsource(DirectRLEnv.reset)
     assert "self.obs_buf" in inspect.getsource(DirectRLEnv.step)
+
+
+def test_invalid_environment_error_reports_unwrapped_type():
+    """The validation error should identify the object that failed the type check."""
+    with pytest.raises(ValueError) as exc_info:
+        RslRlVecEnvWrapper(_OuterEnv())
+
+    assert "_UnsupportedEnv" in str(exc_info.value)
+    assert "_OuterEnv" not in str(exc_info.value)
diff --git a/source/isaaclab_rl/test/test_template_generator.py b/source/isaaclab_rl/test/test_template_generator.py
index 65bc3d786ae1..d6b8525bec17 100644
--- a/source/isaaclab_rl/test/test_template_generator.py
+++ b/source/isaaclab_rl/test/test_template_generator.py
@@ -7,15 +7,20 @@
 
 import ast
 import importlib.util
+import json
 import pkgutil
 import subprocess
 import sys
 import textwrap
+import types
 from pathlib import Path
 
 import gymnasium as gym
 import pytest
 import tomllib
+import torch
+
+from isaaclab.utils import editor as editor_utils
 
 ROOT_DIR = Path(__file__).resolve().parents[3]
 TEMPLATE_TOOL_DIR = ROOT_DIR / "tools" / "template"
@@ -184,10 +189,7 @@ def test_generator_registers_single_agent_rl_config_entry_points_for_all_librari
         env_filename = "env" if external else f"{task_folder}_env"
         env_cfg_filename = "env_cfg" if external else f"{task_folder}_env_cfg"
 
-        if workflow_name == "direct":
-            assert spec.entry_point == f"{module_name}.{env_filename}:{task_class}Env"
-        else:
-            assert spec.entry_point == "isaaclab.envs:ManagerBasedRLEnv"
+        assert spec.entry_point == f"{module_name}.{env_filename}:{task_class}Env"
 
         assert spec.kwargs["env_cfg_entry_point"] == f"{module_name}.{env_cfg_filename}:{task_class}EnvCfg"
         assert spec.kwargs["rl_games_cfg_entry_point"] == f"{agents_module}:rl_games_ppo_cfg.yaml"
@@ -201,12 +203,69 @@ def test_generator_registers_single_agent_rl_config_entry_points_for_all_librari
         assert spec.kwargs["sb3_cfg_entry_point"] == f"{agents_module}:sb3_ppo_cfg.yaml"
         assert "skrl_ppo_cfg_entry_point" not in spec.kwargs
 
+        if workflow_name == "manager-based":
+            env_source = (task_dir / f"{env_filename}.py").read_text()
+            env_cfg_source = (task_dir / f"{env_cfg_filename}.py").read_text()
+            assert "self.amp_observation_space = spaces.Box" in env_source
+            assert "def collect_reference_motions(" in env_source
+            assert "compute_final_obs = True" in env_cfg_source
+
         _unregister(task_id)
 
 
+def test_generated_manager_amp_environment_preserves_terminal_observations():
+    """AMP transitions must end with the terminal observation before same-step autoreset."""
+    env_source = generator.jinja_env.get_template("tasks/manager-based_single-agent/env").render(
+        task={"classname": "Test", "env_cfg_filename": "test_env_cfg"}
+    )
+    module = ast.parse(env_source)
+    env_class_node = next(node for node in module.body if isinstance(node, ast.ClassDef))
+
+    class FakeManagerBasedRLEnv:
+        def step(self, action):
+            return self.step_return
+
+    namespace = {
+        "ManagerBasedRLEnv": FakeManagerBasedRLEnv,
+        "torch": torch,
+    }
+    future_import = next(
+        node for node in module.body if isinstance(node, ast.ImportFrom) and node.module == "__future__"
+    )
+    exec(
+        compile(ast.Module(body=[future_import, env_class_node], type_ignores=[]), "<generated-env>", "exec"),
+        namespace,
+    )
+    env_class = namespace["TestEnv"]
+    env = object.__new__(env_class)
+    env.cfg = types.SimpleNamespace(num_amp_observations=2)
+    env.num_envs = 2
+    env.amp_observation_size = 4
+    env.amp_observation_buffer = torch.tensor([[[1.0, 10.0], [0.0, 9.0]], [[2.0, 20.0], [0.0, 19.0]]])
+    observations = {"policy": torch.tensor([[100.0, 1000.0], [4.0, 40.0]])}
+    extras = {"final_obs": {"policy": torch.tensor([[3.0, 30.0], [4.0, 40.0]])}}
+    env.step_return = (
+        observations,
+        torch.zeros(2),
+        torch.tensor([True, False]),
+        torch.tensor([False, False]),
+        extras,
+    )
+
+    _, _, _, _, returned_extras = env.step(torch.zeros((2, 1)))
+
+    torch.testing.assert_close(
+        returned_extras["amp_obs"], torch.tensor([[3.0, 30.0, 1.0, 10.0], [4.0, 40.0, 2.0, 20.0]])
+    )
+    torch.testing.assert_close(
+        env.amp_observation_buffer,
+        torch.tensor([[[100.0, 1000.0], [100.0, 1000.0]], [[4.0, 40.0], [2.0, 20.0]]]),
+    )
+
+
 @pytest.mark.parametrize("external", [False, True])
 def test_generator_registers_multi_agent_skrl_config_entry_points(tmp_path, monkeypatch, external):
-    """Generate a multi-agent task and verify skrl IPPO/MAPPO registry keys."""
+    """Mixed projects must register only the SKRL algorithms valid for each workflow."""
     project_name = f"template_multi_{'external' if external else 'internal'}"
     root_dir = tmp_path / ("external_root" if external else "internal_tasks")
     monkeypatch.setattr(generator, "_setup_git_repo", lambda project_dir: None)
@@ -216,14 +275,33 @@ def test_generator_registers_multi_agent_skrl_config_entry_points(tmp_path, monk
     specification = {
         "external": external,
         "name": project_name,
-        "workflows": [{"name": "direct", "type": "multi-agent"}],
-        "rl_libraries": _MULTI_AGENT_RL_LIBRARIES,
+        "workflows": [
+            {"name": "direct", "type": "single-agent"},
+            {"name": "direct", "type": "multi-agent"},
+        ],
+        "rl_libraries": [{"name": "skrl", "algorithms": ["amp", "ppo", "ippo", "mappo"]}],
     }
     if external:
         specification["path"] = str(root_dir)
 
     generate(specification)
 
+    single_task_id = _task_id(project_name, "direct", "single-agent", external)
+    single_task_dir = _task_dir(root_dir, project_name, "direct", "single-agent", external)
+    _unregister(single_task_id)
+    _load_registration_module(single_task_dir, f"_template_test_{project_name}_single")
+    single_spec = gym.spec(single_task_id)
+    assert single_spec.kwargs["default_agent"] == "skrl"
+    assert single_spec.kwargs["skrl_cfg_entry_point"].endswith(":skrl_ppo_cfg.yaml")
+    assert single_spec.kwargs["skrl_amp_cfg_entry_point"].endswith(":skrl_amp_cfg.yaml")
+    assert "skrl_ippo_cfg_entry_point" not in single_spec.kwargs
+    assert "skrl_mappo_cfg_entry_point" not in single_spec.kwargs
+    assert {path.name for path in (single_task_dir / "agents").glob("skrl_*_cfg.yaml")} == {
+        "skrl_amp_cfg.yaml",
+        "skrl_ppo_cfg.yaml",
+    }
+    _unregister(single_task_id)
+
     task_id = _task_id(project_name, "direct", "multi-agent", external)
     task_dir = _task_dir(root_dir, project_name, "direct", "multi-agent", external)
     module_name = f"_template_test_{project_name}_direct"
@@ -239,13 +317,68 @@ def test_generator_registers_multi_agent_skrl_config_entry_points(tmp_path, monk
 
     assert spec.entry_point == f"{module_name}.{env_filename}:{task_class}Env"
     assert spec.kwargs["env_cfg_entry_point"] == f"{module_name}.{env_cfg_filename}:{task_class}EnvCfg"
+    assert spec.kwargs["default_agent"] == "skrl"
     assert spec.kwargs["skrl_ippo_cfg_entry_point"] == f"{agents_module}:skrl_ippo_cfg.yaml"
     assert spec.kwargs["skrl_mappo_cfg_entry_point"] == f"{agents_module}:skrl_mappo_cfg.yaml"
-    assert "skrl_cfg_entry_point" not in spec.kwargs
+    assert spec.kwargs["skrl_cfg_entry_point"] == spec.kwargs["skrl_mappo_cfg_entry_point"]
+    assert "skrl_amp_cfg_entry_point" not in spec.kwargs
+    assert {path.name for path in (task_dir / "agents").glob("skrl_*_cfg.yaml")} == {
+        "skrl_ippo_cfg.yaml",
+        "skrl_mappo_cfg.yaml",
+    }
 
     _unregister(task_id)
 
 
+@pytest.mark.parametrize(
+    ("library", "requested_algorithm", "algorithm", "workflow_type"),
+    [
+        ("skrl", "AMP", "amp", "single-agent"),
+        ("rsl_rl", "distillation", "distillation", "single-agent"),
+        ("skrl", "ippo", "ippo", "multi-agent"),
+    ],
+)
+def test_generator_registers_sole_non_ppo_algorithm_as_canonical(
+    tmp_path, monkeypatch, library, requested_algorithm, algorithm, workflow_type
+):
+    """A generated task must remain runnable without an explicit algorithm selector."""
+    project_name = f"template_canonical_{algorithm}"
+    root_dir = tmp_path / "internal_tasks"
+    monkeypatch.setattr(generator, "TASKS_DIR", str(root_dir))
+    generate(
+        {
+            "external": False,
+            "name": project_name,
+            "workflows": [{"name": "direct", "type": workflow_type}],
+            "rl_libraries": [{"name": library, "algorithms": [requested_algorithm]}],
+        }
+    )
+
+    task_id = _task_id(project_name, "direct", workflow_type, external=False)
+    task_dir = _task_dir(root_dir, project_name, "direct", workflow_type, external=False)
+    _unregister(task_id)
+    _load_registration_module(task_dir, f"_template_test_{project_name}")
+    kwargs = gym.spec(task_id).kwargs
+    assert kwargs["default_agent"] == library
+    assert kwargs[f"{library}_cfg_entry_point"] == kwargs[f"{library}_{algorithm}_cfg_entry_point"]
+    _unregister(task_id)
+
+
+@pytest.mark.parametrize("algorithm", ["bogus", "ippo"])
+def test_generator_rejects_algorithms_unsupported_by_selected_workflows(tmp_path, monkeypatch, algorithm):
+    """Unknown and cross-workflow algorithms must not silently produce an agentless task."""
+    monkeypatch.setattr(generator, "TASKS_DIR", str(tmp_path))
+    with pytest.raises(ValueError, match="not supported by the selected workflows"):
+        generate(
+            {
+                "external": False,
+                "name": "template_invalid_algorithm",
+                "workflows": [{"name": "direct", "type": "single-agent"}],
+                "rl_libraries": [{"name": "skrl", "algorithms": [algorithm]}],
+            }
+        )
+
+
 def test_external_launch_configs_pass_skrl_algorithm_for_every_generated_skrl_agent(tmp_path, monkeypatch):
     """Verify generated VS Code launch configs select the matching skrl algorithm."""
     project_name = "template_launch_external"
@@ -302,11 +435,84 @@ def test_external_project_uses_src_layout_and_installed_isaaclab_commands(tmp_pa
         "build-backend": "uv_build",
     }
     assert package["project"]["dependencies"] == ["isaaclab[rsl-rl,skrl]"]
+    assert package["tool"]["pyright"] == {
+        "include": ["src", "scripts", "tests"],
+        "exclude": ["**/__pycache__", "**/logs", ".git", ".venv", ".vscode"],
+        "typeCheckingMode": "basic",
+    }
     assert package["project"]["entry-points"]["isaaclab.tasks"] == {project_name: f"{project_name}.tasks"}
     assert package["tool"]["uv"]["build-backend"]["module-name"] == project_name
     assert (project_dir / "src" / project_name / "__init__.py").is_file()
     assert not (project_dir / "source").exists()
     assert {path.name for path in (project_dir / "scripts").iterdir()} == {"list_envs.py"}
+    assert "pyrightconfig.json" in (project_dir / ".gitignore").read_text()
+    assert (
+        "python.analysis.extraPaths" not in (project_dir / ".vscode" / "tools" / "settings.template.json").read_text()
+    )
+    assert not (project_dir / ".vscode" / "tools" / "setup_vscode.py").exists()
+    assert "uv run isaaclab --editor" in (project_dir / ".vscode" / "tasks.json").read_text()
+
+
+def test_editor_setup_combines_simulator_local_and_installed_paths(tmp_path, monkeypatch):
+    """The generated Pyright child config must preserve project policy and cover every installation mode."""
+    project_dir = tmp_path / "project"
+    (project_dir / "source" / "local_package").mkdir(parents=True)
+    (project_dir / "src" / "generated_project").mkdir(parents=True)
+    (project_dir / "pyproject.toml").write_text('[tool.pyright]\ntypeCheckingMode = "basic"\n')
+    isaacsim_dir = tmp_path / "isaacsim"
+    (isaacsim_dir / ".vscode").mkdir(parents=True)
+    (isaacsim_dir / ".vscode" / "settings.json").write_text(
+        '{"python.analysis.extraPaths": ["exts/isaacsim.core.api", "extscache/omni.kit.foo"]}'
+    )
+    installed_root = tmp_path / "editable" / "isaaclab"
+    installed_root.mkdir(parents=True)
+
+    monkeypatch.setattr(editor_utils, "find_isaaclab_package_paths", lambda: [installed_root])
+
+    extra_paths = editor_utils.build_extra_paths(project_dir, isaacsim_dir)
+    editor_utils.write_pyright_config(project_dir, extra_paths)
+    config = json.loads((project_dir / "pyrightconfig.json").read_text())
+
+    assert config["extends"] == "./pyproject.toml"
+    assert config["extraPaths"] == [
+        (isaacsim_dir / "exts" / "isaacsim.core.api").as_posix(),
+        (isaacsim_dir / "extscache" / "omni.kit.foo").as_posix(),
+        "source/local_package",
+        "src",
+        installed_root.as_posix(),
+    ]
+
+
+def test_editor_setup_uses_workspace_templates(tmp_path, monkeypatch):
+    """Editor setup must generate workspace files without a project-local Python wrapper."""
+    project_dir = tmp_path / "project"
+    tools_dir = project_dir / ".vscode" / "tools"
+    tools_dir.mkdir(parents=True)
+    (tools_dir / "settings.template.json").write_text('{"python.defaultInterpreterPath": ""}\n')
+    (tools_dir / "launch.template.json").write_text('{"version": "0.2.0", "configurations": []}\n')
+    isaacsim_dir = tmp_path / "isaacsim"
+    (isaacsim_dir / ".vscode").mkdir(parents=True)
+    (isaacsim_dir / ".vscode" / "settings.json").write_text('{"python.analysis.extraPaths": []}')
+    monkeypatch.setattr(editor_utils, "find_isaaclab_package_paths", lambda: [])
+
+    editor_utils.setup_editor(project_dir, isaac_path=str(isaacsim_dir))
+
+    settings = (project_dir / ".vscode" / "settings.json").read_text()
+    assert "automatically generated by `isaaclab --editor`" in settings
+    assert Path(sys.executable).as_posix() in settings
+    assert (project_dir / ".vscode" / "launch.json").is_file()
+    assert not (tools_dir / "setup_vscode.py").exists()
+    assert json.loads((project_dir / "pyrightconfig.json").read_text()) == {"extraPaths": []}
+
+
+@pytest.mark.parametrize("path_exists", [False, True])
+def test_editor_setup_rejects_invalid_explicit_isaac_sim_path(tmp_path, path_exists):
+    """An invalid user-selected installation must not silently select a different Isaac Sim."""
+    invalid_path = tmp_path / "invalid"
+    if path_exists:
+        invalid_path.mkdir()
+    with pytest.raises(ValueError, match="Not an Isaac Sim directory"):
+        editor_utils.resolve_isaacsim_dir(tmp_path, str(invalid_path))
 
 
 def _all_libraries() -> list[dict]:
@@ -376,8 +582,8 @@ def test_generated_env_modules_have_no_forbidden_top_level_imports(tmp_path, mon
         )
 
 
-def test_each_requested_agent_cfg_file_is_generated(tmp_path, monkeypatch):
-    """Every requested (RL library, algorithm) agent config is generated; a missing template raises, not skips."""
+def test_only_workflow_compatible_agent_cfg_files_are_generated(tmp_path, monkeypatch):
+    """Each task owns exactly the requested agent configs compatible with its workflow."""
     project_name = "template_agents"
     root_dir = tmp_path / "external_root"
     monkeypatch.setattr(generator, "_setup_git_repo", lambda project_dir: None)
@@ -402,11 +608,12 @@ def test_each_requested_agent_cfg_file_is_generated(tmp_path, monkeypatch):
     for workflow in workflows:
         libraries = multi_libraries if workflow["type"] == "multi-agent" else single_libraries
         agents_dir = _task_dir(root_dir, project_name, workflow["name"], workflow["type"], external=True) / "agents"
+        expected_files = set()
         for library, algorithms in libraries.items():
             for algorithm in algorithms:
                 extension = ".py" if library == "rsl_rl" else ".yaml"
-                cfg_file = agents_dir / f"{library}_{algorithm}_cfg{extension}"
-                assert cfg_file.exists(), f"missing generated agent config: {cfg_file}"
+                expected_files.add(f"{library}_{algorithm}_cfg{extension}")
+        assert {path.name for path in agents_dir.glob("*_cfg.*")} == expected_files
 
 
 @pytest.mark.parametrize("external", [True, False])
@@ -647,6 +854,7 @@ def test_generated_external_project_registers_tasks_on_tasks_import(tmp_path, mo
             _task_id(project_name, "direct", "multi-agent", external=True),
         }
     )
+    multi_task = _task_id(project_name, "direct", "multi-agent", external=True)
     program = textwrap.dedent(
         f"""
         import sys
@@ -654,10 +862,12 @@ def test_generated_external_project_registers_tasks_on_tasks_import(tmp_path, mo
         sys.path.insert(0, {str(source_dir)!r})
         import {project_name}.tasks  # noqa: F401  (registration runs through the task entry point)
         import gymnasium as gym
+        from isaaclab_tasks.utils import load_cfg_from_registry
 
         want = {expected!r}
         missing = [task_id for task_id in want if task_id not in gym.registry]
         assert not missing, f"not registered on import: {{missing}}"
+        assert load_cfg_from_registry({multi_task!r}, "skrl_cfg_entry_point")["agent"]["class"] == "MAPPO"
         print("OK")
         """
     )
diff --git a/source/isaaclab_tasks/changelog.d/hehu-digit-newton-velocity-tasks.rst b/source/isaaclab_tasks/changelog.d/hehu-digit-newton-velocity-tasks.rst
new file mode 100644
index 000000000000..db6ccfdd69ae
--- /dev/null
+++ b/source/isaaclab_tasks/changelog.d/hehu-digit-newton-velocity-tasks.rst
@@ -0,0 +1,17 @@
+Added
+^^^^^
+
+* Added a ``newton_mjwarp`` branch to ``DigitPhysicsCfg``, so the Digit velocity tasks run on the
+  Newton backend with ``presets=newton_mjwarp``. Gated on that preset: ``self_collision_enabled``
+  (the asset authors ``enabledSelfCollisions=False`` and ``DIGIT_V4_CFG`` sets no
+  ``articulation_props``, so Newton filters all 253 intra-articulation shape pairs). An armature
+  floor for the ten joints below MJWarp's observed stability threshold (expressed as a second
+  actuator group) and ``entropy_coef = 0.005`` apply on **both** backends, consistent with #7607's
+  direction of not special-casing PhysX for values that do not hurt it there.
+
+Fixed
+^^^^^
+
+* Fixed 32 ``CollisionAPI`` prims on Digit's RealSense camera decoration meshes -- glass, USB-C and
+  case halves -- becoming collision shapes. This applies on **both** backends, so the PhysX contact
+  behaviour of the Digit tasks changes: those 32 shapes no longer collide.
diff --git a/source/isaaclab_tasks/changelog.d/maximiliank-franka-soft-newton-physics.rst b/source/isaaclab_tasks/changelog.d/maximiliank-franka-soft-newton-physics.rst
new file mode 100644
index 000000000000..d85defd670c2
--- /dev/null
+++ b/source/isaaclab_tasks/changelog.d/maximiliank-franka-soft-newton-physics.rst
@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed Franka deformable lift tasks to select the Menagerie robot's MuJoCo physics payload under
+  Newton while retaining its PhysX payload for PhysX presets.
diff --git a/source/isaaclab_tasks/docs/CHANGELOG.rst b/source/isaaclab_tasks/docs/CHANGELOG.rst
index 6e225a219503..709ba6a6896d 100644
--- a/source/isaaclab_tasks/docs/CHANGELOG.rst
+++ b/source/isaaclab_tasks/docs/CHANGELOG.rst
@@ -1,6 +1,144 @@
 Changelog
 ---------
 
+20.3.0 (2026-09-12)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added the ``Isaac-RenderBenchmark-Franka-Cabinet`` direct task, an animated Franka-and-cabinet scene with no
+  policy or reward used to compare rendering backends under ``scripts/benchmarks/benchmark_renderer.py``.
+
+Changed
+^^^^^^^
+
+* Moved benchmark-only tasks into a new ``isaaclab_tasks.benchmark`` package so they are no longer mixed in with
+  the trainable ``core`` and ``contrib`` task families. The ``IsaacContrib-Reorient-Cube-Shadow-Camera-Benchmark-Direct``
+  task id is unchanged, but its configuration moved from
+  ``isaaclab_tasks.contrib.reorient.config.shadow_hand.shadow_hand_camera_benchmark_env_cfg`` to
+  ``isaaclab_tasks.benchmark.shadow_hand_camera.shadow_hand_camera_benchmark_env_cfg``. Code that imports the
+  configuration class directly must update the import path; code that resolves the task through ``gym.make`` or
+  ``load_cfg_from_registry`` needs no change.
+
+
+20.2.0 (2026-09-11)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added task-owned loading of published Shadow Hand camera feature-extractor checkpoints during playback.
+
+Fixed
+^^^^^
+
+* Restored Newton-backed visualizers for Agibot place tasks after the robot asset's reversed joint ordering was
+  corrected. Newton physics remains unsupported because of an incompatible generated collision mesh.
+* Used the legacy instanceable Franka asset for PhysX Reach tasks to preserve link collisions without
+  de-instancing or large-environment performance regressions.
+
+
+20.1.3 (2026-09-10)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed environment-coupled agent variants to participate directly in the shared preset resolution pass through
+  each library's canonical ``<library>_cfg_entry_point``. Commands selecting Cartpole camera features or showcase
+  observation/action spaces now need only ``presets=<name>`` and no preset-specific ``--agent`` value.
+* Removed the default XR camera PiP from the G1 locomanipulation task. Neither the locomanipulation
+  nor fixed-base G1 task creates a PiP panel by default, preventing the articulated head camera from
+  capturing the panel and producing a recursive view. The locomanipulation task retains its recorded
+  robot camera.
+
+Deprecated
+^^^^^^^^^^
+
+* Deprecated the ``diffik_abs`` preset on ``Isaac-Reach-Franka-OSC``. The OSC action term replaces the
+  arm-controller presets, so on this task the preset only zeroed the action-magnitude reward weight, which
+  removed the sole regularizer on the raw pose targets. The preset now resolves as a no-op and emits a
+  :class:`FutureWarning`; it will be removed in a future release. Migration: drop ``presets=diffik_abs``
+  from ``Isaac-Reach-Franka-OSC`` commands.
+
+Removed
+^^^^^^^
+
+* Removed registry-side agent/preset compatibility metadata and agent auto-selection. Removed ``agent_library`` from
+  :func:`~isaaclab_tasks.utils.setup_preset_cli`; agent configuration families should declare matching root-level
+  :class:`~isaaclab_tasks.utils.PresetCfg` alternatives instead.
+
+Fixed
+^^^^^
+
+* Added an early validation error when Agibot place tasks use Newton-backed visualizers, whose shadow-model importer
+  does not support the reversed gripper joints in the robot USD. Use ``--visualizer kit`` with Isaac Sim PhysX, or
+  ``--visualizer none`` for headless execution.
+* Reduced the default Agibot place environment count from 4096 to one and enabled physics replication to prevent
+  interactive tools from exhausting host memory. Use ``--num_envs`` to configure a larger batch when needed.
+* Fixed unexpected Franka Reach motion before teleoperation input by configuring backend-native gravity control
+  for the differential and Newton IK presets.
+* Fixed Franka Reach links intersecting the table on PhysX by enabling the Menagerie asset's convex link colliders.
+* Fixed ``Isaac-Reach-Franka-OSC`` dropping the Franka Menagerie solver joint velocity limit. The effort
+  actuator copied the deprecated ``velocity_limit_sim`` alias instead of ``joint_velocity_limit``, so the
+  arm ran without a velocity clamp and could reach joint speeds that destabilize the simulation.
+* Fixed ``Isaac-Reach-Franka-OSC`` inheriting the controller-keyed teleop device presets of ``Isaac-Reach-Franka``;
+  the OSC task now always uses the default (empty) teleop device set.
+* Added task-specific installation guidance when loading a task configuration failed because a Pink IK dependency
+  was missing, including the standard Windows installation's missing Pinocchio dependency.
+
+
+20.1.2 (2026-09-09)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Reduced direct locomotion step and reset overhead by staging actions once per environment step,
+  avoiding duplicate articulation resets, redundant state copies, and separate joint-state writes.
+* Added preset-specific RSL-RL checkpoint discovery for the ResNet18 and Theia-Tiny Cartpole camera policies.
+* Fixed the SO-101 joint-teleop cube-stack task often failing to auto-reset after a completed
+  stack. The success termination accepted the gripper as open only within 0.2 rad of
+  ``SO101_GRIPPER_OPEN``, which is the top 0.2 rad of the jaw's 1.92 rad range, so a leader arm
+  whose calibrated full-open reading fell short never triggered success. The tolerance is now
+  0.5 rad, which still requires more opening than releasing a cube needs.
+* Defaulted the SO-101 cube-stacking tasks to the PhysX backend, so the gripper no longer
+  penetrates the cubes and grasps hold. ``IsaacContrib-Stack-Cube-SO101-v0``,
+  ``IsaacContrib-Stack-Cube-SO101-IK-Abs-v0``, and
+  ``IsaacContrib-Stack-Cube-SO101-Joint-Teleop-v0`` previously resolved to Newton MJWarp, whose
+  gripper contact response is still being tuned for this robot. Pass ``physics=newton_mjwarp``
+  to select the previous backend.
+
+
+20.1.1 (2026-09-08)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Unified rough-velocity task inputs across physics backends by removing MJWarp-only actuator armatures,
+  using 5,000 G1 training iterations for every backend, and representing shared base-COM randomization as a
+  plain event. Downstream configurations that require the former backend-specific behavior should set it
+  explicitly.
+
+Fixed
+^^^^^
+
+* Fixed preset-based ``--agent`` auto-selection being skipped for every entrypoint that registers
+  ``--agent`` with a non-``None`` default (``rsl_rl``, ``rl_games`` and ``sb3``). The selection guard
+  could not tell a default-supplied value from a user-typed one, so ``presets=resnet18`` and
+  ``presets=theia_tiny`` on ``Isaac-Cartpole-Camera`` kept the raw-camera entry point and the runner
+  failed to construct. An explicitly typed ``--agent`` still wins over auto-selection.
+* Fixed surface-gripper stack and place observations returning a quadratic environment batch due to unintended
+  broadcasting.
+* Fixed native keyboard, gamepad, and SpaceMouse teleoperation for ``Isaac-Reach-Franka`` with the
+  ``diffik`` and ``newton_ik`` presets by disabling the unsupported gripper command.
+* Fixed surface-gripper stack tasks to select CPU simulation by default and reject unsupported GPU overrides before
+  simulator initialization. Task-defined simulation devices are now preserved by :func:`parse_env_cfg` when no
+  explicit device override is provided.
+
+
 20.1.0 (2026-09-06)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/__init__.py
index 02cb223e544c..19ec4b1f023f 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/__init__.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/__init__.py
@@ -10,6 +10,9 @@
 - ``core``: Core task families maintained as part of Isaac Lab.
 - ``contrib``: Contributed task families. These may depend on ``core`` tasks, but
   ``core`` tasks never depend on ``contrib`` tasks.
+- ``benchmark``: Benchmark-only task families used to measure simulation and rendering
+  throughput. These may depend on ``core`` and ``contrib`` tasks, but neither depends
+  on ``benchmark`` tasks.
 - ``utils``: These include utility functions for the tasks.
 
 """
diff --git a/source/isaaclab_tasks/isaaclab_tasks/benchmark/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/benchmark/__init__.py
new file mode 100644
index 000000000000..4bf835f15131
--- /dev/null
+++ b/source/isaaclab_tasks/isaaclab_tasks/benchmark/__init__.py
@@ -0,0 +1,10 @@
+# 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
+
+"""Benchmark-only task families.
+
+These tasks exist to measure simulation and rendering throughput rather than to train
+policies. They may depend on ``core`` and ``contrib`` tasks, but neither depends on them.
+"""
diff --git a/source/isaaclab_tasks/isaaclab_tasks/benchmark/render_benchmark/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/benchmark/render_benchmark/__init__.py
new file mode 100644
index 000000000000..7ab3de636b7a
--- /dev/null
+++ b/source/isaaclab_tasks/isaaclab_tasks/benchmark/render_benchmark/__init__.py
@@ -0,0 +1,15 @@
+# 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
+
+"""Render-only benchmark scene for OVRTX / Newton-Warp comparison."""
+
+import gymnasium as gym
+
+gym.register(
+    id="Isaac-RenderBenchmark-Franka-Cabinet",
+    entry_point=f"{__name__}.render_benchmark_env:RenderBenchmarkEnv",
+    disable_env_checker=True,
+    kwargs={"env_cfg_entry_point": f"{__name__}.render_benchmark_env_cfg:RenderBenchmarkFrankaCabinetEnvCfg"},
+)
diff --git a/source/isaaclab_tasks/isaaclab_tasks/benchmark/render_benchmark/render_benchmark_env.py b/source/isaaclab_tasks/isaaclab_tasks/benchmark/render_benchmark/render_benchmark_env.py
new file mode 100644
index 000000000000..4c71338e4f81
--- /dev/null
+++ b/source/isaaclab_tasks/isaaclab_tasks/benchmark/render_benchmark/render_benchmark_env.py
@@ -0,0 +1,190 @@
+# 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
+
+"""Direct environment for render-only benchmarking."""
+
+from __future__ import annotations
+
+import math
+from typing import TYPE_CHECKING
+
+import torch
+
+import isaaclab.sim as sim_utils
+from isaaclab import cloner
+from isaaclab.assets import Articulation, RigidObject, RigidObjectCfg
+from isaaclab.envs import DirectRLEnv
+from isaaclab.sensors import Camera, save_images_to_file
+
+if TYPE_CHECKING:
+    from .render_benchmark_env_cfg import RenderBenchmarkFrankaCabinetEnvCfg
+
+
+class RenderBenchmarkEnv(DirectRLEnv):
+    """Environment that animates its articulations so a renderer can be profiled on them.
+
+    Every articulation in :attr:`RenderBenchmarkFrankaCabinetEnvCfg.articulations` is driven by a
+    sinusoid around its default joint positions. Actions are ignored and rewards are zero: the
+    only output that matters is the camera image, and the only cost that matters is the time
+    spent producing it.
+    """
+
+    cfg: RenderBenchmarkFrankaCabinetEnvCfg
+
+    # --- scene construction --------------------------------------------------
+
+    def _setup_scene(self):
+        # Per-(env, joint) sinusoid phases [rad] and the elapsed animation time [s]. The phases
+        # are filled on the first step; see :meth:`_sample_animation_phases`.
+        self._anim_phases: dict[str, torch.Tensor] | None = None
+        self._anim_time: float = 0.0
+
+        self._articulations: dict[str, Articulation] = {
+            name: Articulation(articulation_cfg) for name, articulation_cfg in self.cfg.articulations.items()
+        }
+        self._tiled_camera = Camera(self.cfg.tiled_camera)
+        self._ground = RigidObject(self._ground_cfg())
+        self._spawn_lights()
+
+        # Assets must exist before planning: the plan keys its rows off the cfgs they queued.
+        src, dest = "/World/envs/env_0", "/World/envs/env_{}"
+        pos = cloner.grid_transforms(self.scene.num_envs, self.scene.cfg.env_spacing)[0]
+        plan = cloner.clone_plan_from_env_0(src, dest, self.scene.num_envs, pos)
+        cloner.replicate(plan)
+
+        # PhysX replication requires explicit collision filtering between environments.
+        if "physx" in self.scene.physics_backend:
+            self.scene.filter_collisions(global_prim_paths=[])
+
+        for name, articulation in self._articulations.items():
+            self.scene.articulations[name] = articulation
+        self.scene.rigid_objects["ground"] = self._ground
+        self.scene.sensors["tiled_camera"] = self._tiled_camera
+
+    def _ground_cfg(self) -> RigidObjectCfg:
+        """Build the per-environment ground cuboid.
+
+        A flat cuboid routed through :class:`~isaaclab.assets.RigidObject` keeps the comparison
+        apples-to-apples: a USD ground plane is invisible to Warp's renderer, which only knows
+        about simulation meshes, so the two renderers would otherwise disagree on primary-ray
+        misses and shadow-ray counts.
+
+        The tile is clamped to the env spacing so neighboring clones tile edge-to-edge instead of
+        overlapping. An oversized tile would leave every environment's camera looking at several
+        redundant, coplanar ground meshes -- extra geometry that neither backend needs to resolve
+        in the real scene, and whose BVH/intersection cost grows with the environment count.
+        """
+        spacing = self.scene.cfg.env_spacing
+        size_x = min(self.cfg.ground_size[0], spacing)
+        size_y = min(self.cfg.ground_size[1], spacing)
+        thickness = self.cfg.ground_thickness
+        return RigidObjectCfg(
+            prim_path="{ENV_REGEX_NS}/Ground",
+            spawn=sim_utils.CuboidCfg(
+                size=(size_x, size_y, thickness),
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=self.cfg.ground_color, metallic=0.0),
+                rigid_props=sim_utils.RigidBodyPropertiesCfg(disable_gravity=True, kinematic_enabled=True),
+                mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
+                collision_props=sim_utils.CollisionPropertiesCfg(),
+            ),
+            init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, self.cfg.ground_top_z - thickness / 2.0)),
+        )
+
+    def _spawn_lights(self) -> None:
+        """Spawn the ambient dome light and, when configured, the directional light above it."""
+        dome_cfg = sim_utils.DomeLightCfg(intensity=self.cfg.dome_light_intensity, color=(0.75, 0.75, 0.75))
+        dome_cfg.func("/World/Light", dome_cfg)
+        if self.cfg.light_cfg is not None:
+            self.cfg.light_cfg.func(
+                "/World/LightDirectional",
+                self.cfg.light_cfg,
+                orientation=self.cfg.light_orientation,
+            )
+
+    # --- joint animation -----------------------------------------------------
+
+    def _pre_physics_step(self, actions: torch.Tensor) -> None:
+        if self.cfg.joint_animation_amplitude <= 0.0:
+            return
+        if self._anim_phases is None:
+            self._anim_phases = self._sample_animation_phases()
+        self._animate_joints()
+
+    def _apply_action(self) -> None:
+        pass
+
+    def _sample_animation_phases(self) -> dict[str, torch.Tensor]:
+        """Derive a phase offset [rad] for every (env, joint) pair, keyed by articulation name.
+
+        The phases come from a deterministic hash of the indices rather than the torch RNG so a
+        given frame holds the same pose in every run. The default RNG state varies between
+        processes, which would leave an OVRTX run and a Warp run rendering different poses at the
+        same frame even though the solver itself is deterministic, making their timings
+        incomparable. Multiplying by two coprime primes spreads the phases pseudo-uniformly.
+
+        Deferred to the first step because it reads articulation data, which the simulation only
+        populates after :meth:`_setup_scene` returns.
+        """
+        phases = {}
+        for name, articulation in self._articulations.items():
+            default_pos = articulation.data.default_joint_pos.torch
+            num_envs, num_joints = default_pos.shape
+            env_idx = torch.arange(num_envs, device=self.device, dtype=default_pos.dtype).unsqueeze(1)
+            joint_idx = torch.arange(num_joints, device=self.device, dtype=default_pos.dtype).unsqueeze(0)
+            phases[name] = ((env_idx * 7919.0 + joint_idx * 6553.0) % 10007.0) * (2.0 * math.pi / 10007.0)
+        return phases
+
+    def _animate_joints(self) -> None:
+        """Advance the animation clock and drive every joint to its sinusoidal target."""
+        self._anim_time += self.cfg.sim.dt * self.cfg.decimation
+        omega = 2.0 * math.pi * self.cfg.joint_animation_freq_hz
+        for name, articulation in self._articulations.items():
+            default_pos = articulation.data.default_joint_pos.torch
+            offset = self.cfg.joint_animation_amplitude * torch.sin(omega * self._anim_time + self._anim_phases[name])
+            soft_limits = articulation.data.soft_joint_pos_limits.torch
+            target = torch.clamp(default_pos + offset, soft_limits[..., 0], soft_limits[..., 1])
+            articulation.actuators.target_command.set_position_index(value=target)
+
+    # --- DirectRLEnv plumbing ------------------------------------------------
+
+    def _get_observations(self) -> dict:
+        # Sensor buffers update lazily, so reading the camera's data is what drives the render.
+        # This access is the work the benchmark measures: keep it unconditional even when no
+        # image is written, or the profile records a scene that was never rendered.
+        output = self._tiled_camera.data.output
+        if self.cfg.write_image_to_file:
+            self._write_camera_image(output)
+        return {"policy": torch.zeros((self.num_envs, 1), device=self.device)}
+
+    def _write_camera_image(self, output: dict) -> None:
+        """Dump the current camera frame to a PNG.
+
+        Purely a debugging aid, so any failure is reported and swallowed rather than allowed to
+        abort a benchmark run.
+
+        Args:
+            output: Rendered outputs from the tiled camera, keyed by data type.
+        """
+        data_type = self.cfg.tiled_camera.data_types[0]
+        if not isinstance(output, dict) or data_type not in output:
+            return
+        try:
+            image = output[data_type]
+            if not torch.is_tensor(image):
+                image = torch.from_dlpack(image)
+            image = image.float()
+            # Renderers hand back either 0-255 or already-normalized data.
+            if image.max() > 1.5:
+                image = image / 255.0
+            save_images_to_file(image[:, ..., :3], f"render_benchmark_{data_type}.{self.common_step_counter:06d}.png")
+        except Exception as error:
+            print(f"[render_benchmark] write_image_to_file failed: {error}")
+
+    def _get_rewards(self) -> torch.Tensor:
+        return torch.zeros(self.num_envs, device=self.device)
+
+    def _get_dones(self):
+        time_out = self.episode_length_buf >= self.max_episode_length - 1
+        return torch.zeros_like(time_out), time_out
diff --git a/source/isaaclab_tasks/isaaclab_tasks/benchmark/render_benchmark/render_benchmark_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/benchmark/render_benchmark/render_benchmark_env_cfg.py
new file mode 100644
index 000000000000..d5459c316dd8
--- /dev/null
+++ b/source/isaaclab_tasks/isaaclab_tasks/benchmark/render_benchmark/render_benchmark_env_cfg.py
@@ -0,0 +1,213 @@
+# 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
+
+from __future__ import annotations
+
+import os
+
+from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
+from isaaclab_newton.renderers import NewtonWarpRendererCfg
+from isaaclab_physx.physics import PhysxCfg
+
+import isaaclab.sim as sim_utils
+from isaaclab.actuators import ImplicitActuatorCfg
+from isaaclab.assets import ArticulationCfg
+from isaaclab.envs import DirectRLEnvCfg
+from isaaclab.physics import PhysxAutoCfg
+from isaaclab.scene import InteractiveSceneCfg
+from isaaclab.sensors import CameraCfg
+from isaaclab.sim import SimulationCfg
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
+from isaaclab.utils.configclass import configclass
+
+from isaaclab_tasks.utils import PresetCfg
+from isaaclab_tasks.utils.presets import MultiBackendRendererCfg
+
+from isaaclab_assets.robots.franka import FRANKA_PANDA_HIGH_PD_CFG
+
+
+@configclass
+class RenderBenchmarkPhysicsCfg(PresetCfg):
+    """Physics backend presets.
+
+    Pick via ``presets=newton_mjwarp`` (default) or ``presets=physx``, which resolves to the
+    concrete PhysX backend at launch. Use ``presets=isaacsim_physx`` to pin Isaac Sim PhysX.
+    The BVH constructors are read from the environment so ``benchmark_renderer.py`` can sweep
+    them without a separate preset per combination.
+    """
+
+    newton_mjwarp: NewtonCfg = NewtonCfg(
+        solver_cfg=MJWarpSolverCfg(solver="newton", integrator="implicitfast", njmax=200, nconmax=70),
+        num_substeps=2,
+        bvh_constructor_geometry=os.getenv("NEWTON_BVH_GEOMETRY", "cubql"),
+        bvh_constructor_gaussian=os.getenv("NEWTON_BVH_GAUSSIAN", "cubql"),
+        bvh_constructor_scene=os.getenv("NEWTON_BVH_SCENE", "sah"),
+        use_cuda_graph=os.getenv("NEWTON_USE_CUDA_GRAPH", "0") == "1",
+    )
+    isaacsim_physx: PhysxCfg = PhysxCfg()
+    physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
+    default = newton_mjwarp
+
+
+@configclass
+class RenderBenchmarkTiledCameraCfg(PresetCfg):
+    """Render-target presets — pick via ``presets=rgb`` (default), ``presets=depth``, and so on."""
+
+    @configclass
+    class BaseRenderBenchmarkCameraCfg(CameraCfg):
+        """Front view of the workspace, pitch-only (no yaw, no roll).
+
+        The camera sits on the drawer-facing ``+X`` side of the cabinet, elevated and pitched
+        ~34.5 deg down so the workspace reads as a slight bird's-eye. ``rot`` is ``(qx, qy, qz, qw)``
+        in ``convention="world"`` (``+X`` camera-forward): with ``qw=0`` and only ``qx``/``qz`` set it
+        is a 180 deg rotation about the ``(-X, 0, +Z)`` axis, aiming the camera at ``(0.4, 0, 0.4)``.
+        """
+
+        prim_path: str = "{ENV_REGEX_NS}/Camera"
+        offset: CameraCfg.OffsetCfg = CameraCfg.OffsetCfg(
+            pos=(2.0, 0.0, 1.5), rot=(-0.296, 0.0, 0.955, 0.0), convention="world"
+        )
+        data_types: list[str] = []
+        spawn: sim_utils.PinholeCameraCfg = sim_utils.PinholeCameraCfg(
+            focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.05, 50.0)
+        )
+        width: int = int(os.getenv("BENCHMARK_RENDER_RESOLUTION", "256"))
+        height: int = int(os.getenv("BENCHMARK_RENDER_RESOLUTION", "256"))
+        renderer_cfg: MultiBackendRendererCfg = MultiBackendRendererCfg(
+            newton_renderer=NewtonWarpRendererCfg(enable_shadows=True),
+        )
+
+    default = BaseRenderBenchmarkCameraCfg(data_types=["rgb"])
+    rgb = default
+    albedo = BaseRenderBenchmarkCameraCfg(data_types=["albedo"])
+    depth = BaseRenderBenchmarkCameraCfg(data_types=["depth"])
+    simple_shading_constant_diffuse = BaseRenderBenchmarkCameraCfg(data_types=["simple_shading_constant_diffuse"])
+    simple_shading_diffuse_mdl = BaseRenderBenchmarkCameraCfg(data_types=["simple_shading_diffuse_mdl"])
+    simple_shading_full_mdl = BaseRenderBenchmarkCameraCfg(data_types=["simple_shading_full_mdl"])
+
+
+@configclass
+class RenderBenchmarkFrankaCabinetEnvCfg(DirectRLEnvCfg):
+    """Franka Panda and Sektion cabinet, animated for renderer benchmarking.
+
+    The cabinet contributes four articulated joints (two drawers, two doors) on top of the
+    Franka's seven, and a sinusoidal animation drives all of them so every rendered frame has
+    moving articulated geometry rather than a static scene. There is no policy: actions are
+    ignored, rewards are zero, and the episode only ends on time-out.
+
+    A mirrored layout of the canonical ``Isaac-Franka-Cabinet-Direct-v0`` task, which places the
+    Franka at the origin facing its default ``+X``: here the Franka sits at ``(1.0, 0, 0)`` rotated
+    180 deg about Z (facing ``-X``, toward the cabinet), and the cabinet sits at the origin in its
+    default USD orientation.
+    """
+
+    decimation: int = 2
+    episode_length_s: float = 60.0
+
+    action_space: int = 1
+    observation_space: int = 1
+    state_space: int = 0
+
+    sim: SimulationCfg = SimulationCfg(dt=1.0 / 120.0, render_interval=2, physics=RenderBenchmarkPhysicsCfg())
+
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=4, env_spacing=3.0, replicate_physics=True)
+
+    tiled_camera: RenderBenchmarkTiledCameraCfg = RenderBenchmarkTiledCameraCfg()
+
+    articulations: dict[str, ArticulationCfg] = {
+        # High-PD variant so the joints track the sinusoidal targets smoothly.
+        "robot": FRANKA_PANDA_HIGH_PD_CFG.replace(
+            prim_path="{ENV_REGEX_NS}/Robot",
+            init_state=FRANKA_PANDA_HIGH_PD_CFG.init_state.replace(
+                pos=(1.0, 0.0, 0.0),
+                rot=(0.0, 0.0, 1.0, 0.0),  # 180 deg about Z, xyzw
+            ),
+        ),
+        # Loaded as an ArticulationCfg rather than a static USD reference so its four joints
+        # animate and it clones to every env through the standard Isaac Lab path.
+        "cabinet": ArticulationCfg(
+            prim_path="{ENV_REGEX_NS}/Cabinet",
+            spawn=sim_utils.UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Sektion_Cabinet/sektion_cabinet_instanceable.usd",
+                activate_contact_sensors=False,
+            ),
+            init_state=ArticulationCfg.InitialStateCfg(
+                pos=(0.0, 0.0, 0.4),
+                rot=(0.0, 0.0, 0.0, 1.0),  # identity: cabinet's default USD orientation
+                joint_pos={
+                    "door_left_joint": 0.0,
+                    "door_right_joint": 0.0,
+                    "drawer_bottom_joint": 0.0,
+                    "drawer_top_joint": 0.0,
+                },
+            ),
+            actuators={
+                "drawers": ImplicitActuatorCfg(
+                    joint_names_expr=["drawer_top_joint", "drawer_bottom_joint"],
+                    joint_effort_limit=87.0,
+                    stiffness=10.0,
+                    damping=1.0,
+                ),
+                "doors": ImplicitActuatorCfg(
+                    joint_names_expr=["door_left_joint", "door_right_joint"],
+                    joint_effort_limit=87.0,
+                    stiffness=10.0,
+                    damping=2.5,
+                ),
+            },
+        ),
+    }
+    """Articulations spawned into every environment, keyed by scene name."""
+
+    ground_top_z: float = 0.0
+    """Height of the ground's top surface [m]."""
+
+    ground_size: tuple[float, float] = (50.0, 50.0)
+    """Requested extent of the per-environment ground cuboid in XY [m].
+
+    Clamped to :attr:`scene.env_spacing` when the cuboid is built, so neighboring environments'
+    ground tiles meet at the boundary instead of overlapping.
+    """
+
+    ground_thickness: float = 0.1
+    """Thickness of the ground cuboid along Z [m]."""
+
+    ground_color: tuple[float, float, float] = (0.5, 0.5, 0.5)
+    """Diffuse color of the ground, as linear RGB in ``[0, 1]``."""
+
+    dome_light_intensity: float = 2000.0
+    """Intensity of the ambient dome light.
+
+    Newton's renderer has no tone mapping or ambient defaults of its own, so without this
+    unlit surfaces render pure black.
+    """
+
+    light_cfg: sim_utils.LightCfg | None = sim_utils.DistantLightCfg(
+        intensity=200.0,
+        exposure=0.0,
+        angle=0.0,
+        color=(1.0, 1.0, 1.0),
+        normalize=True,
+    )
+    """Directional light spawned on top of the ambient dome light, or ``None`` for dome only."""
+
+    light_orientation: tuple[float, float, float, float] = (0.3251, 0.3251, 0.0, 0.8881)
+    """Orientation of :attr:`light_cfg` as ``(qx, qy, qz, qw)``.
+
+    Rotates a USD ``DistantLight``'s default ``-Z`` onto ``(-0.57735, 0.57735, -0.57735)``, the
+    direction Warp's renderer hard-codes, so both renderers light the scene identically.
+    """
+
+    joint_animation_amplitude: float = 0.4
+    """Peak sinusoidal offset from each joint's default position [m or rad, depending on joint type].
+
+    Values at or below zero disable the animation, leaving a static scene.
+    """
+
+    joint_animation_freq_hz: float = 0.35
+    """Frequency of the joint animation [Hz]."""
+
+    write_image_to_file: bool = os.getenv("BENCHMARK_SAVE_IMAGE", "0") == "1"
+    """Whether to dump each rendered frame to a PNG, for eyeballing renderer output."""
diff --git a/source/isaaclab_tasks/isaaclab_tasks/benchmark/shadow_hand_camera/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/benchmark/shadow_hand_camera/__init__.py
new file mode 100644
index 000000000000..0c377d8ded6d
--- /dev/null
+++ b/source/isaaclab_tasks/isaaclab_tasks/benchmark/shadow_hand_camera/__init__.py
@@ -0,0 +1,21 @@
+# 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
+
+"""Rendering-throughput benchmark variant of the Shadow Hand camera task."""
+
+import gymnasium as gym
+
+from isaaclab_tasks.core.reorient.config.shadow_hand import agents as core_agents
+
+gym.register(
+    id="IsaacContrib-Reorient-Cube-Shadow-Camera-Benchmark-Direct",
+    entry_point="isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_direct_camera_env:ShadowHandCameraEnv",
+    disable_env_checker=True,
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.shadow_hand_camera_benchmark_env_cfg:ShadowHandCameraBenchmarkEnvCfg",
+        "rsl_rl_cfg_entry_point": f"{core_agents.__name__}.rsl_rl_ppo_cfg:ShadowHandCameraFFPPORunnerCfg",
+        "rl_games_cfg_entry_point": f"{core_agents.__name__}:rl_games_ppo_camera_cfg.yaml",
+    },
+)
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/shadow_hand_camera_benchmark_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/benchmark/shadow_hand_camera/shadow_hand_camera_benchmark_env_cfg.py
similarity index 96%
rename from source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/shadow_hand_camera_benchmark_env_cfg.py
rename to source/isaaclab_tasks/isaaclab_tasks/benchmark/shadow_hand_camera/shadow_hand_camera_benchmark_env_cfg.py
index 4b879f6d52cd..6f8a53101239 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/shadow_hand_camera_benchmark_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/benchmark/shadow_hand_camera/shadow_hand_camera_benchmark_env_cfg.py
@@ -5,7 +5,7 @@
 
 """Rendering-throughput benchmark variant of the Shadow Hand camera task."""
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.reorient.config.shadow_hand.feature_extractor import FeatureExtractorCfg
 from isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_direct_camera_env_cfg import ShadowHandCameraEnvCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/anymal_c_direct/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/anymal_c_direct/agents/rsl_rl_ppo_cfg.py
index 9b9cbced3d8f..55b34655b639 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/anymal_c_direct/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/anymal_c_direct/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/anymal_c_direct/anymal_c_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/anymal_c_direct/anymal_c_env_cfg.py
index fc55a9fc653a..a87acbda8675 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/anymal_c_direct/anymal_c_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/anymal_c_direct/anymal_c_env_cfg.py
@@ -15,7 +15,7 @@
 from isaaclab.sensors import ContactSensorCfg, RayCasterCfg, patterns
 from isaaclab.sim import SimulationCfg
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 ##
 # Pre-defined configs
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/assemble_trocar/config/camera_config.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/assemble_trocar/config/camera_config.py
index 0c7e5d0a113e..9e3d990e60e7 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/assemble_trocar/config/camera_config.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/assemble_trocar/config/camera_config.py
@@ -12,7 +12,7 @@
 
 import isaaclab.sim as sim_utils
 from isaaclab.sensors import CameraCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/assemble_trocar/config/robot_config.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/assemble_trocar/config/robot_config.py
index aa211067d10a..77beda3851a4 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/assemble_trocar/config/robot_config.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/assemble_trocar/config/robot_config.py
@@ -16,7 +16,7 @@
 import math
 
 from isaaclab.assets import ArticulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_assets.robots.unitree import G129_CFG_WITH_DEX3_BASE_FIX
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/assemble_trocar/g129_dex3_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/assemble_trocar/g129_dex3_env_cfg.py
index d4542f658e9f..d91024689b4d 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/assemble_trocar/g129_dex3_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/assemble_trocar/g129_dex3_env_cfg.py
@@ -16,7 +16,7 @@
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 from isaaclab_tasks.contrib.assemble_trocar import mdp
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/automate/assembly_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/automate/assembly_env_cfg.py
index 2483e5adc6fb..ebe0b1e657c8 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/automate/assembly_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/automate/assembly_env_cfg.py
@@ -12,7 +12,7 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .assembly_tasks_cfg import ASSET_DIR, Insertion
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/automate/assembly_tasks_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/automate/assembly_tasks_cfg.py
index 888bb3814e7e..ae93094e5bf4 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/automate/assembly_tasks_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/automate/assembly_tasks_cfg.py
@@ -5,8 +5,8 @@
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import ArticulationCfg, RigidObjectCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 ASSET_DIR = f"{ISAACLAB_NUCLEUS_DIR}/AutoMate"
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/automate/disassembly_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/automate/disassembly_env_cfg.py
index 999859ec35bf..1411ae93936f 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/automate/disassembly_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/automate/disassembly_env_cfg.py
@@ -13,7 +13,7 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .disassembly_tasks_cfg import ASSET_DIR, Extraction
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/automate/disassembly_tasks_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/automate/disassembly_tasks_cfg.py
index 74b9c174c4f4..cf3518133684 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/automate/disassembly_tasks_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/automate/disassembly_tasks_cfg.py
@@ -5,8 +5,8 @@
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import ArticulationCfg, RigidObjectCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 ASSET_DIR = f"{ISAACLAB_NUCLEUS_DIR}/AutoMate"
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/agents/rsl_rl_ppo_cfg.py
index 424a2c2d5291..4f627624272f 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.cabinet.config.franka.agents.rsl_rl_ppo_cfg import CabinetPPORunnerCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/ik_abs_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/ik_abs_env_cfg.py
index 669261c75f32..f4201e6f3826 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/ik_abs_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/ik_abs_env_cfg.py
@@ -5,7 +5,7 @@
 
 from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.cabinet.config.franka import joint_pos_env_cfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/ik_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/ik_rel_env_cfg.py
index d1dbdde4e5dc..3b0b6633fa52 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/ik_rel_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/franka/ik_rel_env_cfg.py
@@ -5,7 +5,7 @@
 
 from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.cabinet.config.franka import joint_pos_env_cfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/openarm/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/openarm/agents/rsl_rl_ppo_cfg.py
index b6ea23947e6d..8dfd24624513 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/openarm/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/openarm/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/openarm/cabinet_openarm_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/openarm/cabinet_openarm_env_cfg.py
index 34ce272c6545..1bf80e39542b 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/openarm/cabinet_openarm_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/openarm/cabinet_openarm_env_cfg.py
@@ -25,8 +25,8 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors import FrameTransformerCfg
 from isaaclab.sensors.frame_transformer import OffsetCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 ##
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/openarm/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/openarm/joint_pos_env_cfg.py
index ead6d11ed379..7b42a60f2f36 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/openarm/joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/cabinet/config/openarm/joint_pos_env_cfg.py
@@ -8,7 +8,7 @@
 ##
 from isaaclab.sensors import FrameTransformerCfg
 from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.cabinet import mdp
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole/__init__.py
index 4d2b92161e08..d40e8c302808 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole/__init__.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole/__init__.py
@@ -11,59 +11,17 @@
 
 from . import agents
 
-_SPACE_PRESETS = (
-    "box_box",
-    "box_discrete",
-    "box_multidiscrete",
-    "dict_box",
-    "dict_discrete",
-    "dict_multidiscrete",
-    "discrete_box",
-    "discrete_discrete",
-    "discrete_multidiscrete",
-    "multidiscrete_box",
-    "multidiscrete_discrete",
-    "multidiscrete_multidiscrete",
-    "tuple_box",
-    "tuple_discrete",
-    "tuple_multidiscrete",
-)
-
 ###########################
 # Register Gym environments
 ###########################
 
-# Canonical proprioceptive showcase task -- selects the (observation, action)
-# space combination via the preset CLI (#5587). The default skrl yaml matches
-# the canonical ``box_box`` shape; for other variants pass the matching
-# ``--agent skrl_<obs>_<action>_cfg_entry_point``.
+# The same preset selects the matching environment space and SKRL model config.
 gym.register(
     id="IsaacContrib-Cartpole-Showcase-Direct",
     entry_point=f"{__name__}.cartpole_env:CartpoleShowcaseEnv",
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": f"{__name__}.cartpole_env_cfg:CartpoleShowcasePresetsEnvCfg",
-        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_box_box_ppo_cfg.yaml",
-        "skrl_box_box_cfg_entry_point": f"{agents.__name__}:skrl_box_box_ppo_cfg.yaml",
-        "skrl_box_discrete_cfg_entry_point": f"{agents.__name__}:skrl_box_discrete_ppo_cfg.yaml",
-        "skrl_box_multidiscrete_cfg_entry_point": f"{agents.__name__}:skrl_box_multidiscrete_ppo_cfg.yaml",
-        "skrl_discrete_box_cfg_entry_point": f"{agents.__name__}:skrl_discrete_box_ppo_cfg.yaml",
-        "skrl_discrete_discrete_cfg_entry_point": f"{agents.__name__}:skrl_discrete_discrete_ppo_cfg.yaml",
-        "skrl_discrete_multidiscrete_cfg_entry_point": f"{agents.__name__}:skrl_discrete_multidiscrete_ppo_cfg.yaml",
-        "skrl_multidiscrete_box_cfg_entry_point": f"{agents.__name__}:skrl_multidiscrete_box_ppo_cfg.yaml",
-        "skrl_multidiscrete_discrete_cfg_entry_point": f"{agents.__name__}:skrl_multidiscrete_discrete_ppo_cfg.yaml",
-        "skrl_multidiscrete_multidiscrete_cfg_entry_point": (
-            f"{agents.__name__}:skrl_multidiscrete_multidiscrete_ppo_cfg.yaml"
-        ),
-        "skrl_dict_box_cfg_entry_point": f"{agents.__name__}:skrl_dict_box_ppo_cfg.yaml",
-        "skrl_dict_discrete_cfg_entry_point": f"{agents.__name__}:skrl_dict_discrete_ppo_cfg.yaml",
-        "skrl_dict_multidiscrete_cfg_entry_point": f"{agents.__name__}:skrl_dict_multidiscrete_ppo_cfg.yaml",
-        "skrl_tuple_box_cfg_entry_point": f"{agents.__name__}:skrl_tuple_box_ppo_cfg.yaml",
-        "skrl_tuple_discrete_cfg_entry_point": f"{agents.__name__}:skrl_tuple_discrete_ppo_cfg.yaml",
-        "skrl_tuple_multidiscrete_cfg_entry_point": f"{agents.__name__}:skrl_tuple_multidiscrete_ppo_cfg.yaml",
-        "agent_preset_compatibility": {
-            "skrl_cfg_entry_point": ("box_box",),
-            **{f"skrl_{preset_name}_cfg_entry_point": (preset_name,) for preset_name in _SPACE_PRESETS},
-        },
+        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_cfg",
     },
 )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole/agents/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole/agents/__init__.py
index 460a30569089..9a092fb5ddc5 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole/agents/__init__.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole/agents/__init__.py
@@ -2,3 +2,18 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
+
+from pathlib import Path
+
+from isaaclab.utils.io import load_yaml
+
+from isaaclab_tasks.utils import preset
+
+
+def skrl_cfg():
+    """Load the SKRL configuration family keyed by the task's space presets."""
+    configs = {
+        path.stem.removeprefix("skrl_").removesuffix("_ppo_cfg"): load_yaml(path)
+        for path in Path(__file__).parent.glob("skrl_*_ppo_cfg.yaml")
+    }
+    return preset(default=configs.pop("box_box"), **configs)
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole/cartpole_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole/cartpole_env_cfg.py
index ba6a8640234b..1f761c47f179 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole/cartpole_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole/cartpole_env_cfg.py
@@ -7,7 +7,7 @@
 
 from gymnasium import spaces
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.cartpole.cartpole_direct_env_cfg import CartpoleEnvCfg
 from isaaclab_tasks.utils import PresetCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole_camera/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole_camera/__init__.py
index e3b86e64f14b..56b770fc7e6d 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole_camera/__init__.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole_camera/__init__.py
@@ -11,26 +11,11 @@
 
 from . import agents
 
-_SPACE_PRESETS = (
-    "box_box",
-    "box_discrete",
-    "box_multidiscrete",
-    "dict_box",
-    "dict_discrete",
-    "dict_multidiscrete",
-    "tuple_box",
-    "tuple_discrete",
-    "tuple_multidiscrete",
-)
-
 ###########################
 # Register Gym environments
 ###########################
 
-# Canonical camera-based showcase task -- selects the (observation, action)
-# space combination via the preset CLI (#5587). The default skrl yaml matches
-# the canonical ``box_box`` shape; for other variants pass the matching
-# ``--agent skrl_<obs>_<action>_cfg_entry_point``.
+# The same preset selects the matching environment space and SKRL model config.
 gym.register(
     id="IsaacContrib-Cartpole-Camera-Showcase-Direct",
     entry_point=f"{__name__}.cartpole_camera_env:CartpoleCameraShowcaseEnv",
@@ -39,19 +24,6 @@
         "env_cfg_entry_point": (
             f"{__name__}.cartpole_camera_env_cfg:CartpoleCameraShowcasePresetsEnvCfg"
         ),
-        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_box_box_ppo_cfg.yaml",
-        "skrl_box_box_cfg_entry_point": f"{agents.__name__}:skrl_box_box_ppo_cfg.yaml",
-        "skrl_box_discrete_cfg_entry_point": f"{agents.__name__}:skrl_box_discrete_ppo_cfg.yaml",
-        "skrl_box_multidiscrete_cfg_entry_point": f"{agents.__name__}:skrl_box_multidiscrete_ppo_cfg.yaml",
-        "skrl_dict_box_cfg_entry_point": f"{agents.__name__}:skrl_dict_box_ppo_cfg.yaml",
-        "skrl_dict_discrete_cfg_entry_point": f"{agents.__name__}:skrl_dict_discrete_ppo_cfg.yaml",
-        "skrl_dict_multidiscrete_cfg_entry_point": f"{agents.__name__}:skrl_dict_multidiscrete_ppo_cfg.yaml",
-        "skrl_tuple_box_cfg_entry_point": f"{agents.__name__}:skrl_tuple_box_ppo_cfg.yaml",
-        "skrl_tuple_discrete_cfg_entry_point": f"{agents.__name__}:skrl_tuple_discrete_ppo_cfg.yaml",
-        "skrl_tuple_multidiscrete_cfg_entry_point": f"{agents.__name__}:skrl_tuple_multidiscrete_ppo_cfg.yaml",
-        "agent_preset_compatibility": {
-            "skrl_cfg_entry_point": ("box_box",),
-            **{f"skrl_{preset_name}_cfg_entry_point": (preset_name,) for preset_name in _SPACE_PRESETS},
-        },
+        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_cfg",
     },
 )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole_camera/agents/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole_camera/agents/__init__.py
index 460a30569089..9a092fb5ddc5 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole_camera/agents/__init__.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole_camera/agents/__init__.py
@@ -2,3 +2,18 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
+
+from pathlib import Path
+
+from isaaclab.utils.io import load_yaml
+
+from isaaclab_tasks.utils import preset
+
+
+def skrl_cfg():
+    """Load the SKRL configuration family keyed by the task's space presets."""
+    configs = {
+        path.stem.removeprefix("skrl_").removesuffix("_ppo_cfg"): load_yaml(path)
+        for path in Path(__file__).parent.glob("skrl_*_ppo_cfg.yaml")
+    }
+    return preset(default=configs.pop("box_box"), **configs)
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole_camera/cartpole_camera_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole_camera/cartpole_camera_env_cfg.py
index 940ffa21e5f3..14a67d3f40ae 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole_camera/cartpole_camera_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/cartpole_showcase/cartpole_camera/cartpole_camera_env_cfg.py
@@ -15,7 +15,7 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors import CameraCfg
 from isaaclab.sim import SimulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 from isaaclab_tasks.utils import PresetCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/rizon_4s/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/rizon_4s/agents/rsl_rl_ppo_cfg.py
index 529abf84b499..20e68ba87fdf 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/rizon_4s/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/rizon_4s/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg, RslRlRNNModelCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/rizon_4s/joint_pos_env_cfg.py
index 5777791ce7fc..523580158d8b 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/rizon_4s/joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/rizon_4s/joint_pos_env_cfg.py
@@ -13,7 +13,7 @@
 from isaaclab.managers import EventTermCfg as EventTerm
 from isaaclab.managers import RewardTermCfg as RewTerm
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.noise import UniformNoiseCfg
 
 import isaaclab_tasks.contrib.deploy.mdp as mdp
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/rizon_4s/ros_inference_env_cfg.py
index 419a5dddce2c..edb9348c3bef 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/rizon_4s/ros_inference_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/rizon_4s/ros_inference_env_cfg.py
@@ -9,7 +9,7 @@
 
 from isaaclab.assets import RigidObjectCfg
 from isaaclab.managers import ObservationTermCfg as ObsTerm
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .joint_pos_env_cfg import Rizon4sGearAssemblyEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/agents/rsl_rl_ppo_cfg.py
index 567f72a51dab..d49d02f5990f 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg, RslRlRNNModelCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/joint_pos_env_cfg.py
index a7ae5a5f69b0..f18030bdab42 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/joint_pos_env_cfg.py
@@ -12,7 +12,7 @@
 from isaaclab.assets import ArticulationCfg
 from isaaclab.managers import EventTermCfg as EventTerm
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 import isaaclab_tasks.contrib.deploy.mdp as mdp
 import isaaclab_tasks.contrib.deploy.mdp.events as gear_assembly_events
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/ros_inference_env_cfg.py
index cc18759d33d4..cdce81364692 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/ros_inference_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/config/ur_10e/ros_inference_env_cfg.py
@@ -6,7 +6,7 @@
 import math
 
 from isaaclab.assets import RigidObjectCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .joint_pos_env_cfg import UR10e2F85GearAssemblyEnvCfg, UR10e2F140GearAssemblyEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/gear_assembly_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/gear_assembly_env_cfg.py
index 3437ff5071cd..6ac70cd698f9 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/gear_assembly_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/gear_assembly/gear_assembly_env_cfg.py
@@ -20,8 +20,8 @@
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim.simulation_cfg import SimulationCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 from isaaclab.utils.noise import UniformNoiseCfg
 from isaaclab.visualizers import VisualizerCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/noise_models.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/noise_models.py
index 69294a7323ac..740099a169ee 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/noise_models.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/mdp/noise_models.py
@@ -20,7 +20,7 @@
 
 import torch
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.math import quat_from_euler_xyz, quat_mul
 from isaaclab.utils.noise import ConstantNoiseCfg, NoiseModel, NoiseModelCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/rizon_4s/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/rizon_4s/agents/rsl_rl_ppo_cfg.py
index f599e3935d65..85f2b38e3336 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/rizon_4s/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/rizon_4s/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/rizon_4s/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/rizon_4s/joint_pos_env_cfg.py
index d4dfd8447857..ebffc652c8af 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/rizon_4s/joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/rizon_4s/joint_pos_env_cfg.py
@@ -8,7 +8,7 @@
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.markers.config import FRAME_MARKER_CFG
 from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg, OffsetCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 import isaaclab_tasks.contrib.deploy.mdp as mdp
 from isaaclab_tasks.contrib.deploy.reach.reach_env_cfg import ReachEnvCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/rizon_4s/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/rizon_4s/ros_inference_env_cfg.py
index 96b17a7c7e4d..6aea41b6761e 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/rizon_4s/ros_inference_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/rizon_4s/ros_inference_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .joint_pos_env_cfg import Rizon4sReachEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/ur_10e/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/ur_10e/agents/rsl_rl_ppo_cfg.py
index a10de35aa326..2e5a4e8dfca9 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/ur_10e/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/ur_10e/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/ur_10e/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/ur_10e/joint_pos_env_cfg.py
index 01a0c21785f7..02aa861a5341 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/ur_10e/joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/ur_10e/joint_pos_env_cfg.py
@@ -8,7 +8,7 @@
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.markers.config import FRAME_MARKER_CFG
 from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg, OffsetCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 import isaaclab_tasks.contrib.deploy.mdp as mdp
 from isaaclab_tasks.contrib.deploy.reach.reach_env_cfg import ReachEnvCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/ur_10e/ros_inference_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/ur_10e/ros_inference_env_cfg.py
index c1b18e395b1a..af6732a4c5d7 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/ur_10e/ros_inference_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/config/ur_10e/ros_inference_env_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .joint_pos_env_cfg import UR10eReachEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/reach_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/reach_env_cfg.py
index 5e0cc0b63c29..fcfc1b83aeda 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/reach_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/deploy/reach/reach_env_cfg.py
@@ -16,8 +16,8 @@
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.scene import InteractiveSceneCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 from isaaclab.utils.noise import UniformNoiseCfg as Unoise
 from isaaclab.visualizers import VisualizerCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/dr_legs/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/dr_legs/agents/rsl_rl_ppo_cfg.py
index 8fbc732f2569..a8fa16965a75 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/dr_legs/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/dr_legs/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/dr_legs/hold_pose_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/dr_legs/hold_pose_env_cfg.py
index e568e1d12381..8722e7b5ee5c 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/dr_legs/hold_pose_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/dr_legs/hold_pose_env_cfg.py
@@ -23,7 +23,7 @@
 from isaaclab.physics import PhysxAutoCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 import isaaclab_tasks.contrib.dr_legs.mdp as mdp
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/dr_legs/walk_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/dr_legs/walk_env_cfg.py
index dd4cfb56e5d2..103ed60c6b6f 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/dr_legs/walk_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/dr_legs/walk_env_cfg.py
@@ -17,7 +17,7 @@
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.managers import RewardTermCfg as RewTerm
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 import isaaclab_tasks.contrib.dr_legs.mdp as mdp
 from isaaclab_tasks.utils import PresetCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/mdp/commands/commands_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/mdp/commands/commands_cfg.py
index 16657809b305..cbcb4577308c 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/mdp/commands/commands_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/mdp/commands/commands_cfg.py
@@ -6,7 +6,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.envs.mdp.commands.commands_cfg import UniformPoseCommandCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .drone_pose_command import DroneUniformPoseCommand
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/navigation/config/arl_robot_1/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/navigation/config/arl_robot_1/agents/rsl_rl_ppo_cfg.py
index eeba299a1a3e..aeddab56e5f8 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/navigation/config/arl_robot_1/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/navigation/config/arl_robot_1/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/navigation/config/arl_robot_1/floating_obstacles_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/navigation/config/arl_robot_1/floating_obstacles_env_cfg.py
index 5e35fc105f8f..5f1a13fd65fc 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/navigation/config/arl_robot_1/floating_obstacles_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/navigation/config/arl_robot_1/floating_obstacles_env_cfg.py
@@ -6,7 +6,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.drone_arl.navigation.config.arl_robot_1.navigation_env_cfg import (
     NavigationVelocityFloatingObstacleEnvCfg,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/navigation/config/arl_robot_1/navigation_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/navigation/config/arl_robot_1/navigation_env_cfg.py
index d220caf4465f..4f180c18851e 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/navigation/config/arl_robot_1/navigation_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/navigation/config/arl_robot_1/navigation_env_cfg.py
@@ -23,8 +23,8 @@
 from isaaclab.sensors import ContactSensorCfg
 from isaaclab.sensors.ray_caster.multi_mesh_ray_caster_camera_cfg import MultiMeshRayCasterCameraCfg
 from isaaclab.sensors.ray_caster.patterns import PinholeCameraPatternCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 from isaaclab.utils.noise import UniformNoiseCfg as Unoise
 
 from isaaclab_contrib.assets import MultirotorCfg
@@ -338,6 +338,8 @@ def __post_init__(self):
             dynamic_friction=1.0,
         )
         self.sim.physics = PhysxCfg(gpu_max_rigid_patch_count=2**21)
+        # ThrusterCfg is implemented in Isaac Lab and has no Newton-native execution path.
+        self.sim.use_newton_actuators = False
         # update sensor update periods
         # we tick all the sensors based on the smallest update period (physics update period)
         if self.scene.contact_forces is not None:
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/navigation/config/arl_robot_1/scenes/obstacle_scenes/obstacle_scene_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/navigation/config/arl_robot_1/scenes/obstacle_scenes/obstacle_scene_cfg.py
index ddb8c2efec27..c42610dc10b7 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/navigation/config/arl_robot_1/scenes/obstacle_scenes/obstacle_scene_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/navigation/config/arl_robot_1/scenes/obstacle_scenes/obstacle_scene_cfg.py
@@ -5,7 +5,7 @@
 
 from dataclasses import MISSING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/track_position_state_based/config/arl_robot_1/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/track_position_state_based/config/arl_robot_1/agents/rsl_rl_ppo_cfg.py
index d3cf82f5d946..9a9b0de5bb38 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/track_position_state_based/config/arl_robot_1/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/track_position_state_based/config/arl_robot_1/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/track_position_state_based/config/arl_robot_1/no_obstacle_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/track_position_state_based/config/arl_robot_1/no_obstacle_env_cfg.py
index 97ee8103f53e..345db03069bd 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/track_position_state_based/config/arl_robot_1/no_obstacle_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/track_position_state_based/config/arl_robot_1/no_obstacle_env_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_assets.robots.arl_robot_1 import ARL_ROBOT_1_CFG
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/track_position_state_based/config/arl_robot_1/track_position_state_based_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/track_position_state_based/config/arl_robot_1/track_position_state_based_env_cfg.py
index eb19838cfce0..ef2d6fef02d6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/track_position_state_based/config/arl_robot_1/track_position_state_based_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/drone_arl/track_position_state_based/config/arl_robot_1/track_position_state_based_env_cfg.py
@@ -18,8 +18,8 @@
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.scene import InteractiveSceneCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 from isaaclab.utils.noise import UniformNoiseCfg as Unoise
 
 from isaaclab_contrib.assets import MultirotorCfg
@@ -236,3 +236,5 @@ def __post_init__(self):
             dynamic_friction=1.0,
         )
         self.sim.physics = PhysxCfg(gpu_max_rigid_patch_count=10 * 2**15)
+        # ThrusterCfg is implemented in Isaac Lab and has no Newton-native execution path.
+        self.sim.use_newton_actuators = False
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/factory/factory_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/factory/factory_env_cfg.py
index e3a44bbb5620..967f591d3a53 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/factory/factory_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/factory/factory_env_cfg.py
@@ -12,7 +12,7 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.sim.spawners.materials.physics_materials_cfg import RigidBodyMaterialCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .factory_tasks_cfg import ASSET_DIR, FactoryTask, GearMesh, NutThread, PegInsert
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/factory/factory_tasks_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/factory/factory_tasks_cfg.py
index 705ecc1b1845..222c2d92438c 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/factory/factory_tasks_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/factory/factory_tasks_cfg.py
@@ -5,8 +5,8 @@
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import ArticulationCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 ASSET_DIR = f"{ISAACLAB_NUCLEUS_DIR}/Factory"
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/forge/forge_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/forge/forge_env_cfg.py
index 708da93af4ec..dee8b16c3d4b 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/forge/forge_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/forge/forge_env_cfg.py
@@ -6,7 +6,7 @@
 import isaaclab.envs.mdp as mdp
 from isaaclab.managers import EventTermCfg as EventTerm
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.factory.factory_env_cfg import (
     OBS_DIM_CFG,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/forge/forge_tasks_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/forge/forge_tasks_cfg.py
index 73a0a45f429c..f97934af5880 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/forge/forge_tasks_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/forge/forge_tasks_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.factory.factory_tasks_cfg import FactoryTask, GearMesh, NutThread, PegInsert
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/config/franka/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/config/franka/agents/rsl_rl_ppo_cfg.py
index 175fe686b513..d503ee4add3d 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/config/franka/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/config/franka/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import (
     RslRlMLPModelCfg,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/mdp/actions_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/mdp/actions_cfg.py
index 70f3d9ce18f0..9ea5fa9fed2d 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/mdp/actions_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/mdp/actions_cfg.py
@@ -11,7 +11,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.envs.mdp.actions import BinaryJointPositionActionCfg, RelativeJointPositionActionCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .actions import (
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/pour_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/pour_env_cfg.py
index ced95d8e0321..2662affebd7a 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/pour_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/pour_env_cfg.py
@@ -34,8 +34,8 @@
 from isaaclab.sim.schemas import MassCfg, UsdPhysicsRigidBodyCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
 from isaaclab.sim.spawners.materials import RigidBodyMaterialBaseCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_contrib.coupling import CouplerEntryCfg, CouplerProxyCfg, CouplerProxyMappingCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/reset_sampler.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/reset_sampler.py
index 6799708accc5..5b626a116af5 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/reset_sampler.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/franka_pour/reset_sampler.py
@@ -11,7 +11,7 @@
 
 import torch
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 __all__ = [
     "ResetDatasetSamplerCfg",
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/humanoid_amp/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/humanoid_amp/__init__.py
index 6b0a38e01c3e..326cc29ca1f4 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/humanoid_amp/__init__.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/humanoid_amp/__init__.py
@@ -21,6 +21,8 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": f"{__name__}.humanoid_amp_env_cfg:HumanoidAmpDanceEnvCfg",
+        "default_agent": "skrl",
+        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_dance_amp_cfg.yaml",
         "skrl_amp_cfg_entry_point": f"{agents.__name__}:skrl_dance_amp_cfg.yaml",
     },
 )
@@ -31,6 +33,8 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": f"{__name__}.humanoid_amp_env_cfg:HumanoidAmpRunEnvCfg",
+        "default_agent": "skrl",
+        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_run_amp_cfg.yaml",
         "skrl_amp_cfg_entry_point": f"{agents.__name__}:skrl_run_amp_cfg.yaml",
     },
 )
@@ -41,6 +45,8 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": f"{__name__}.humanoid_amp_env_cfg:HumanoidAmpWalkEnvCfg",
+        "default_agent": "skrl",
+        "skrl_cfg_entry_point": f"{agents.__name__}:skrl_walk_amp_cfg.yaml",
         "skrl_amp_cfg_entry_point": f"{agents.__name__}:skrl_walk_amp_cfg.yaml",
     },
 )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/humanoid_amp/humanoid_amp_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/humanoid_amp/humanoid_amp_env_cfg.py
index b38635542f44..828050635c8b 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/humanoid_amp/humanoid_amp_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/humanoid_amp/humanoid_amp_env_cfg.py
@@ -15,7 +15,7 @@
 from isaaclab.envs import DirectRLEnvCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_assets import HUMANOID_28_CFG
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/keyboard/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/keyboard/agents/rsl_rl_ppo_cfg.py
index 2bfbf6e6c2ae..96d2dbc0cdac 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/keyboard/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/keyboard/agents/rsl_rl_ppo_cfg.py
@@ -5,7 +5,7 @@
 
 from dataclasses import MISSING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import (
     RslRlMLPModelCfg,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/keyboard/keyboards/keyboard_gen_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/keyboard/keyboards/keyboard_gen_cfg.py
index 2c06ff746fa7..4e9d6441ab7c 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/keyboard/keyboards/keyboard_gen_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/keyboard/keyboards/keyboard_gen_cfg.py
@@ -10,7 +10,7 @@
 from collections.abc import Callable
 
 from isaaclab.sim.spawners.spawner_cfg import SpawnerCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .keyboard_schema import (
     DEFAULT_BUCKET_SIZES,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/keyboard/mdp/commands/typing_commands_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/keyboard/mdp/commands/typing_commands_cfg.py
index 51f894929c03..922f90e5e92e 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/keyboard/mdp/commands/typing_commands_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/keyboard/mdp/commands/typing_commands_cfg.py
@@ -11,7 +11,7 @@
 
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
 from isaaclab.managers import CommandTermCfg, EventTermCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ...keyboards.keyboard_schema import KEY_ACTUATION_FRACTION
 from .typing_commands import LetterTypingCommand
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/keyboard/so101_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/keyboard/so101_env_cfg.py
index 28f4dfc584e4..31c5f0d58c34 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/keyboard/so101_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/keyboard/so101_env_cfg.py
@@ -20,8 +20,8 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors import ContactSensorCfg
 from isaaclab.sim import MultiAssetSpawnerCfg, SimulationCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 from isaaclab.utils.noise import UniformNoiseCfg as Unoise
 from isaaclab.visualizers import VisualizerCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/agents/rsl_rl_ppo_cfg.py
index 0f304a488d41..0203625b826e 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_abs_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_abs_env_cfg.py
index 765344d61a71..ca2d85422a0b 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_abs_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_abs_env_cfg.py
@@ -5,7 +5,7 @@
 
 from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.lift.config.franka import joint_pos_env_cfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_rel_env_cfg.py
index 18c65a844e69..a0bbecacaa4a 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_rel_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/ik_rel_env_cfg.py
@@ -5,7 +5,7 @@
 
 from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.lift.config.franka import joint_pos_env_cfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/joint_pos_env_cfg.py
index 17f5b995417f..46f564b95e31 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/franka/joint_pos_env_cfg.py
@@ -8,8 +8,8 @@
 from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
 from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_tasks.contrib.lift import mdp
 from isaaclab_tasks.contrib.lift.lift_env_cfg import LiftEnvCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/openarm/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/openarm/agents/rsl_rl_ppo_cfg.py
index 0c547cd17b77..fb962b9cd98f 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/openarm/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/openarm/agents/rsl_rl_ppo_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/openarm/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/openarm/joint_pos_env_cfg.py
index 11f2de74a266..a05392f242ac 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/openarm/joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/config/openarm/joint_pos_env_cfg.py
@@ -11,8 +11,8 @@
 from isaaclab.sensors import FrameTransformerCfg
 from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_tasks.contrib.lift import mdp
 from isaaclab_tasks.contrib.lift.lift_env_cfg import LiftEnvCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/lift_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/lift_env_cfg.py
index cc05b96ac826..cc63f38a275e 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/lift_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/lift/lift_env_cfg.py
@@ -21,8 +21,8 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_tasks.contrib.lift import mdp
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_pick_place/configs/action_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_pick_place/configs/action_cfg.py
index 0d3426b7daa2..7c6dff955e15 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_pick_place/configs/action_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_pick_place/configs/action_cfg.py
@@ -7,7 +7,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.managers.action_manager import ActionTermCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from ..mdp.actions import AgileBasedLowerBodyAction
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_pick_place/configs/agile_locomotion_observation_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_pick_place/configs/agile_locomotion_observation_cfg.py
index a3d811313bd8..6fd0b6dbdf9d 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_pick_place/configs/agile_locomotion_observation_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_pick_place/configs/agile_locomotion_observation_cfg.py
@@ -7,7 +7,7 @@
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_pick_place/fixed_base_upper_body_ik_g1_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_pick_place/fixed_base_upper_body_ik_g1_env_cfg.py
index 71161a10af48..a8485d79f4d1 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_pick_place/fixed_base_upper_body_ik_g1_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_pick_place/fixed_base_upper_body_ik_g1_env_cfg.py
@@ -16,8 +16,8 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors import ContactSensorCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_tasks.contrib.locomanip_pick_place import mdp as locomanip_mdp
 from isaaclab_tasks.contrib.pick_place import mdp as manip_mdp
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_pick_place/locomanipulation_g1_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_pick_place/locomanipulation_g1_env_cfg.py
index 112946a225ff..57598bb5e495 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_pick_place/locomanipulation_g1_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_pick_place/locomanipulation_g1_env_cfg.py
@@ -7,7 +7,6 @@
     ControllerHapticFeedbackCfg,
     IsaacTeleopCfg,
     XrAnchorRotationMode,
-    XrCameraFeedCfg,
     XrCfg,
 )
 
@@ -22,8 +21,8 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors import ContactSensorCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_tasks.contrib.locomanip_pick_place import mdp as locomanip_mdp
 from isaaclab_tasks.contrib.locomanip_pick_place.configs.action_cfg import AgileBasedLowerBodyActionCfg
@@ -486,15 +485,6 @@ def __post_init__(self):
             pipeline_builder=_build_g1_locomanipulation_pipeline,
             sim_device=self.sim.device,
             xr_cfg=self.xr,
-            xr_camera_feeds=[
-                XrCameraFeedCfg(
-                    camera_name="robot_pov_cam",
-                    enable_dlss_ray_reconstruction=True,
-                    dlss_exec_mode="quality",
-                    offset_m=(0.0, -0.15),
-                    max_update_hz=0.0,
-                )
-            ],
         )
         self.image_obs_list = ["robot_pov_cam"]
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_tracking/config/digit/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_tracking/config/digit/agents/rsl_rl_ppo_cfg.py
index 10a84ace6454..2118f550cc12 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_tracking/config/digit/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_tracking/config/digit/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_tracking/config/digit/loco_manip_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_tracking/config/digit/loco_manip_env_cfg.py
index 0ec546b59f99..53dccc3cbbd4 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_tracking/config/digit/loco_manip_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/locomanip_tracking/config/digit/loco_manip_env_cfg.py
@@ -10,7 +10,7 @@
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.managers import RewardTermCfg as RewTerm
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.noise import UniformNoiseCfg as Unoise
 
 import isaaclab_tasks.core.velocity.mdp as mdp
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/agents/rsl_rl_ppo_cfg.py
index b0b931e324d8..918b9b387223 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/mdp/actions_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/mdp/actions_cfg.py
index 66e231c0a8ee..2fe08e503db8 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/mdp/actions_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/mdp/actions_cfg.py
@@ -11,7 +11,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.managers import ActionTermCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .actions import SelectedBinaryJointPositionAction, SelectedJointPositionAction
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/mdp/commands_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/mdp/commands_cfg.py
index a18ba66eb4fa..8a9598f7a0bd 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/mdp/commands_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/mdp/commands_cfg.py
@@ -12,7 +12,7 @@
 
 from isaaclab.managers import CommandTermCfg
 from isaaclab.markers import FRAME_MARKER_CFG, VisualizationMarkersCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ..selection_utils import SceneEntitySelectionCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/multitask_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/multitask_env_cfg.py
index c1a1677c1c19..87139e8fe849 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/multitask_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/multitask_env_cfg.py
@@ -21,7 +21,7 @@
 from isaaclab.markers import FRAME_MARKER_CFG, SPHERE_MARKER_CFG, VisualizationMarkersCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.scene import add as add_scene
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 from isaaclab_tasks.contrib.lift.config.openarm.joint_pos_env_cfg import OpenArmCubeLiftEnvCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/selection_utils.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/selection_utils.py
index 432de01e0d4c..d9b7af533fd9 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/selection_utils.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/multitask_manipulation/selection_utils.py
@@ -14,7 +14,7 @@
 
 from isaaclab.cloner.path import match
 from isaaclab.managers.scene_entity_cfg import SceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from isaaclab.assets import BaseArticulation, BaseRigidObject, BaseRigidObjectCollection
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/navigation/config/anymal_c/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/navigation/config/anymal_c/agents/rsl_rl_ppo_cfg.py
index ecbc9fdf455f..c02c9b0eb0d0 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/navigation/config/anymal_c/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/navigation/config/anymal_c/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/navigation/config/anymal_c/navigation_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/navigation/config/anymal_c/navigation_env_cfg.py
index 82f0da048495..9ea9e0da9328 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/navigation/config/anymal_c/navigation_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/navigation/config/anymal_c/navigation_env_cfg.py
@@ -12,8 +12,8 @@
 from isaaclab.managers import RewardTermCfg as RewTerm
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.managers import TerminationTermCfg as DoneTerm
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 import isaaclab_tasks.contrib.navigation.mdp as mdp
 from isaaclab_tasks.contrib.velocity.config.anymal_c.flat_env_cfg import AnymalCFlatEnvCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/navigation/mdp/pre_trained_policy_action_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/navigation/mdp/pre_trained_policy_action_cfg.py
index 49cf75281ad4..0c7b54152dfb 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/navigation/mdp/pre_trained_policy_action_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/navigation/mdp/pre_trained_policy_action_cfg.py
@@ -6,7 +6,7 @@
 from dataclasses import MISSING
 
 from isaaclab.managers import ActionTermCfg, ObservationGroupCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/assembly_keypoints.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/assembly_keypoints.py
index db53dfcad054..04a50d214cc6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/assembly_keypoints.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/assembly_keypoints.py
@@ -11,7 +11,7 @@
 
 from __future__ import annotations
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 # ``Offset`` lives in the shared util layer — pure rigid-body math, no
 # assembly semantics. Re-exported here for backwards compatibility with
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/assembly_profile_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/assembly_profile_cfg.py
index c5ab27f7c2ff..79d45af82559 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/assembly_profile_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/assembly_profile_cfg.py
@@ -20,7 +20,7 @@
 
 from __future__ import annotations
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.nist.assembly_keypoints import Offset
 from isaaclab_tasks.contrib.nist.assembly_profile import (
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/config/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/config/agents/rsl_rl_ppo_cfg.py
index c8a852f884cb..bed76fc7df76 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/config/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/config/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_assets_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_assets_cfg.py
index 60d8b3013d3b..82d7a1a04882 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_assets_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_assets_cfg.py
@@ -9,8 +9,8 @@
 from isaaclab.actuators.actuator_cfg import ImplicitActuatorCfg
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
 from isaaclab.sim.spawners.materials import UsdPhysicsRigidBodyMaterialCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_tasks.contrib.nist.assembly_keypoints import NIST_BOARD_CFG
 from isaaclab_tasks.utils import PresetCfg, preset
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_env_cfg.py
index a8e0c3c332d2..93834813afc6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_env_cfg.py
@@ -15,7 +15,7 @@
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.physics import PhysxAutoCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.nist import mdp
 from isaaclab_tasks.contrib.nist.factory_presets import (
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_presets.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_presets.py
index 8f9f0c032d0a..17bb3cd2520f 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_presets.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_presets.py
@@ -8,7 +8,7 @@
 import math
 
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.nist import assembly_keypoints as kpts
 from isaaclab_tasks.contrib.nist.assembly_profile_cfg import (
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_scenes_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_scenes_cfg.py
index 2c68e8ebb3fe..47c157c38780 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_scenes_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/factory_scenes_cfg.py
@@ -12,7 +12,7 @@
 
 from isaaclab.assets import ArticulationCfg, RigidObjectCfg
 from isaaclab.scene import InteractiveSceneCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.nist import factory_assets_cfg as assets
 from isaaclab_tasks.utils import PresetCfg, preset
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/collision_analyzer_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/collision_analyzer_cfg.py
index 6cbad7d56c64..bc59b9a932f7 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/collision_analyzer_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/collision_analyzer_cfg.py
@@ -9,7 +9,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.managers import ManagerTermBaseCfg, SceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from isaaclab_tasks.contrib.nist.utils.collision_analyzer import CollisionAnalyzer
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/pose_offset.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/pose_offset.py
index 6bae90b3a4be..615fcc410b88 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/pose_offset.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/pose_offset.py
@@ -20,7 +20,7 @@
 import torch
 
 import isaaclab.utils.math as math_utils
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from isaaclab.assets import Articulation, RigidObject
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/sampling/sampler_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/sampling/sampler_cfg.py
index fb6da6567432..9c623659b4e6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/sampling/sampler_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/sampling/sampler_cfg.py
@@ -9,7 +9,7 @@
 
 from dataclasses import field
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.nist.utils.sampling.sampler import Sampler
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/sampling/sampling_strategies_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/sampling/sampling_strategies_cfg.py
index 1e774fda270b..4da48a7e3881 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/sampling/sampling_strategies_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/sampling/sampling_strategies_cfg.py
@@ -7,7 +7,7 @@
 
 from __future__ import annotations
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.nist.utils.sampling.sampling_strategies import (
     BetaSamplingStrategy,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/exhaustpipe_gr1t2_base_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/exhaustpipe_gr1t2_base_env_cfg.py
index 738230f45b8b..a8168cf67694 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/exhaustpipe_gr1t2_base_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/exhaustpipe_gr1t2_base_env_cfg.py
@@ -26,8 +26,8 @@
 
 # from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_tasks.utils.presets import set_isaac_rtx_global_settings
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py
index 3fe6bdbbe150..e2f8ba4c3685 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/exhaustpipe_gr1t2_pink_ik_env_cfg.py
@@ -7,7 +7,7 @@
 
 from isaaclab.controllers.pink_ik import DampingTaskCfg, FrameTaskCfg, NullSpacePostureTaskCfg, PinkIKControllerCfg
 from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.pick_place.exhaustpipe_gr1t2_base_env_cfg import (
     ExhaustPipeGR1T2BaseEnvCfg,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/nutpour_gr1t2_base_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/nutpour_gr1t2_base_env_cfg.py
index e216b92511fa..ed9e0398d7bc 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/nutpour_gr1t2_base_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/nutpour_gr1t2_base_env_cfg.py
@@ -26,8 +26,8 @@
 
 # from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_tasks.utils.presets import set_isaac_rtx_global_settings
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py
index 0ee984b7d4d2..e5671650ee40 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/nutpour_gr1t2_pink_ik_env_cfg.py
@@ -7,7 +7,7 @@
 
 from isaaclab.controllers.pink_ik import DampingTaskCfg, FrameTaskCfg, NullSpacePostureTaskCfg, PinkIKControllerCfg
 from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.pick_place.nutpour_gr1t2_base_env_cfg import NutPourGR1T2BaseEnvCfg
 from isaaclab_tasks.contrib.pick_place.pickplace_gr1t2_env_cfg import (
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/pickplace_gr1t2_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/pickplace_gr1t2_env_cfg.py
index f63f3d4f6aca..c1825f6827a5 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/pickplace_gr1t2_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/pickplace_gr1t2_env_cfg.py
@@ -20,8 +20,8 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors import ContactSensorCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path
-from isaaclab.utils.configclass import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 from . import mdp
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py
index 4eeb1a811100..9cea032486cd 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py
@@ -10,7 +10,7 @@
 from isaaclab_teleop.xr_cfg import XrCfg
 
 from isaaclab.envs import ManagerBasedRLEnvCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .pickplace_gr1t2_env_cfg import (
     ActionsCfg,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py
index ab065fe6d441..ac8cc0a370bf 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/pick_place/pickplace_unitree_g1_inspire_hand_env_cfg.py
@@ -23,8 +23,8 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim.schemas.schemas_cfg import MassPropertiesCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR, retrieve_file_path
-from isaaclab.utils.configclass import configclass
 
 from . import mdp
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py
index 6d3087cc01c7..d86421a632ec 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py
@@ -24,8 +24,8 @@
 from isaaclab.sensors import ContactSensorCfg, FrameTransformerCfg
 from isaaclab.sim.schemas.schemas_cfg import MassPropertiesCfg, RigidBodyPropertiesCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 from isaaclab_tasks.contrib.place import mdp as place_mdp
@@ -208,32 +208,12 @@ class PhysicsCfg(PresetCfg):
     default = isaacsim_physx
 
 
-# Robot USD assets whose gripper revolute joints are authored with reversed
-# body0/body1 ordering, which the Newton MJWarp USD parser rejects.
-_NEWTON_REVERSED_JOINT_ASSETS = ("Robots/Agibot/A2D/",)
-
-
-def raise_if_reversed_joints_on_newton(env_cfg) -> None:
-    """Reject Newton physics for robots whose USD has reversed gripper joints.
-
-    The Newton MJWarp ``parse_usd`` importer requires each joint prim to define the parent
-    body as ``physics:body0`` and the child as ``physics:body1``. Some robot assets (e.g. the
-    Agibot A2D gripper support-link revolute joints) author these reversed; PhysX tolerates
-    this, but Newton raises ``Reversed joints are not supported`` deep in scene creation. This
-    raises an actionable error at config-validation time instead.
-
-    Args:
-        env_cfg: The resolved environment config to inspect.
-    """
-    robot_cfg = getattr(env_cfg.scene, "robot", None)
-    usd_path = getattr(getattr(robot_cfg, "spawn", None), "usd_path", None)
-    if usd_path is None or not isinstance(env_cfg.sim.physics, NewtonCfg):
-        return
-    if any(marker in usd_path for marker in _NEWTON_REVERSED_JOINT_ASSETS):
+def raise_if_unsupported_newton_physics(env_cfg: ManagerBasedRLEnvCfg) -> None:
+    """Reject Newton physics while the Agibot collision mesh cannot compile."""
+    if isinstance(env_cfg.sim.physics, NewtonCfg):
         raise ValueError(
-            "This task's robot has gripper joints authored with reversed body0/body1 ordering, "
-            "which the Newton backend's USD parser does not support ('Reversed joints are not "
-            "supported'). Re-run this task with physics=isaacsim_physx (the default)."
+            "The Agibot A2D asset contains a generated convex collision mesh whose volume is too small for "
+            "Newton MJWarp. Re-run this task with physics=isaacsim_physx (the default)."
         )
 
 
@@ -242,7 +222,7 @@ class PlaceToy2BoxEnvCfg(ManagerBasedRLEnvCfg):
     """Configuration for the stacking environment."""
 
     # Scene settings
-    scene: ObjectTableSceneCfg = ObjectTableSceneCfg(num_envs=4096, env_spacing=3.0, replicate_physics=False)
+    scene: ObjectTableSceneCfg = ObjectTableSceneCfg(num_envs=1, env_spacing=3.0, replicate_physics=True)
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()
@@ -267,7 +247,7 @@ def __post_init__(self):
 
     def validate_config(self):
         """Reject backend combinations that the configured robot cannot run on."""
-        raise_if_reversed_joints_on_newton(self)
+        raise_if_unsupported_newton_physics(self)
 
 
 """
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py
index bf59f79ea00d..06e7cd30052c 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py
@@ -20,8 +20,8 @@
 from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
 from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 from isaaclab_tasks.contrib.place import mdp as place_mdp
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/place/mdp/observations.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/place/mdp/observations.py
index 9a157319667f..75a6fd950b5b 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/place/mdp/observations.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/place/mdp/observations.py
@@ -99,7 +99,7 @@ def object_grasped(
 
     if hasattr(env.scene, "surface_grippers") and len(env.scene.surface_grippers) > 0:
         surface_gripper = env.scene.surface_grippers["surface_gripper"]
-        suction_cup_status = wp.to_torch(surface_gripper.state).view(-1, 1)  # 1: closed, 0: closing, -1: open
+        suction_cup_status = wp.to_torch(surface_gripper.state).view(-1)  # 1: closed, 0: closing, -1: open
         suction_cup_is_closed = (suction_cup_status == 1).to(torch.float32)
         grasped = torch.logical_and(suction_cup_is_closed, pose_diff < diff_threshold)
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/franka/ik_abs_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/franka/ik_abs_env_cfg.py
index 21207ba5a88c..a9a101d0f4d9 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/franka/ik_abs_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/franka/ik_abs_env_cfg.py
@@ -5,9 +5,10 @@
 
 """Deprecated compatibility configuration for absolute DiffIK Franka Reach."""
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.reach.config.franka import franka_reach_env_cfg
+from isaaclab_tasks.utils import resolve_presets
 
 
 @configclass
@@ -16,9 +17,4 @@ class FrankaReachEnvCfg(franka_reach_env_cfg.FrankaReachEnvCfg):
 
     def __post_init__(self) -> None:
         super().__post_init__()
-        self.sim.physics = self.sim.physics.isaacsim_physx
-        self.scene.robot.spawn.rigid_props.disable_gravity = (
-            self.scene.robot.spawn.rigid_props.disable_gravity.diffik_abs
-        )
-        self.rewards.action_magnitude.weight = self.rewards.action_magnitude.weight.diffik_abs
-        self.actions.arm_action = self.actions.arm_action.diffik_abs
+        resolve_presets(self, selected=("diffik_abs", "isaacsim_physx"))
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/bimanual/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/bimanual/agents/rsl_rl_ppo_cfg.py
index 4422b4719b15..0afc5496d059 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/bimanual/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/bimanual/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/bimanual/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/bimanual/joint_pos_env_cfg.py
index d279edf32d5d..1cc6e8bdbbe1 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/bimanual/joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/bimanual/joint_pos_env_cfg.py
@@ -8,7 +8,7 @@
 ##
 
 import isaaclab.envs.mdp as mdp
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.reach.config.openarm.bimanual.reach_openarm_bi_env_cfg import ReachEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/bimanual/reach_openarm_bi_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/bimanual/reach_openarm_bi_env_cfg.py
index 1b87a0a43c7c..66c66a8d6cf6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/bimanual/reach_openarm_bi_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/bimanual/reach_openarm_bi_env_cfg.py
@@ -23,7 +23,7 @@
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.scene import InteractiveSceneCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.noise import UniformNoiseCfg as Unoise
 from isaaclab.visualizers import VisualizerCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/unimanual/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/unimanual/agents/rsl_rl_ppo_cfg.py
index f9172d8c5c1a..9bfdf6530499 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/unimanual/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/unimanual/agents/rsl_rl_ppo_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/unimanual/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/unimanual/joint_pos_env_cfg.py
index 539bd5164235..7a0e22441c2a 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/unimanual/joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/unimanual/joint_pos_env_cfg.py
@@ -5,7 +5,7 @@
 
 import isaaclab.envs.mdp as mdp
 from isaaclab.assets.articulation import ArticulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.reach.config.openarm.unimanual.reach_openarm_uni_env_cfg import (
     ReachEnvCfg,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/unimanual/reach_openarm_uni_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/unimanual/reach_openarm_uni_env_cfg.py
index eb0543005082..09716e036458 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/unimanual/reach_openarm_uni_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/reach/config/openarm/unimanual/reach_openarm_uni_env_cfg.py
@@ -23,8 +23,8 @@
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.scene import InteractiveSceneCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 from isaaclab.utils.noise import UniformNoiseCfg as Unoise
 from isaaclab.visualizers import VisualizerCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/__init__.py
index cf604bdc6274..25de2b02b8a6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/__init__.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/__init__.py
@@ -3,12 +3,11 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Contributed Shadow Hand tasks: the rendering-throughput benchmark and the OpenAI variant."""
+"""Contributed Shadow Hand tasks: the OpenAI variants."""
 
 import gymnasium as gym
 
 from isaaclab_tasks.contrib.reorient.config.shadow_hand import agents as contrib_agents
-from isaaclab_tasks.core.reorient.config.shadow_hand import agents as core_agents
 
 gym.register(
     id="IsaacContrib-Reorient-Cube-Shadow-OpenAI-FF-Direct",
@@ -31,13 +30,3 @@
         "rsl_rl_cfg_entry_point": f"{contrib_agents.__name__}.rsl_rl_ppo_cfg:ShadowHandAsymLSTMPPORunnerCfg",
     },
 )
-gym.register(
-    id="IsaacContrib-Reorient-Cube-Shadow-Camera-Benchmark-Direct",
-    entry_point="isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_direct_camera_env:ShadowHandCameraEnv",
-    disable_env_checker=True,
-    kwargs={
-        "env_cfg_entry_point": f"{__name__}.shadow_hand_camera_benchmark_env_cfg:ShadowHandCameraBenchmarkEnvCfg",
-        "rsl_rl_cfg_entry_point": f"{core_agents.__name__}.rsl_rl_ppo_cfg:ShadowHandCameraFFPPORunnerCfg",
-        "rl_games_cfg_entry_point": f"{core_agents.__name__}:rl_games_ppo_camera_cfg.yaml",
-    },
-)
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/agents/rsl_rl_ppo_cfg.py
index c9105bc78225..2c6b25bac8cb 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg, RslRlRNNModelCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/shadow_hand_openai_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/shadow_hand_openai_env_cfg.py
index 83500a05baff..ab30ba7aaa09 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/shadow_hand_openai_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/reorient/config/shadow_hand/shadow_hand_openai_env_cfg.py
@@ -7,7 +7,7 @@
 
 from isaaclab.sim import SimulationCfg
 from isaaclab.sim.spawners.materials import RigidBodyMaterialBaseCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.noise import GaussianNoiseCfg, NoiseModelWithAdditiveBiasCfg
 
 from isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_common import (
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/bin_stack_ik_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/bin_stack_ik_rel_env_cfg.py
index d1207f915d17..91ddcbb851cc 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/bin_stack_ik_rel_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/bin_stack_ik_rel_env_cfg.py
@@ -5,7 +5,7 @@
 
 from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from . import bin_stack_joint_pos_env_cfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/bin_stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/bin_stack_joint_pos_env_cfg.py
index a99506622902..aa4ca8a3e6b6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/bin_stack_joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/bin_stack_joint_pos_env_cfg.py
@@ -12,8 +12,8 @@
 from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
 from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_tasks.contrib.stack import mdp
 from isaaclab_tasks.contrib.stack.mdp import franka_stack_events
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_abs_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_abs_env_cfg.py
index 636e90eda7ed..bd53ef91b7a5 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_abs_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_abs_env_cfg.py
@@ -7,7 +7,7 @@
 
 from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 # Marker consumed by ``env_test_utils._is_teleop_env`` to bucket teleop
 # environments in the test suite.
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_blueprint_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_blueprint_env_cfg.py
index 5de552b355a5..c96701e23ee6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_blueprint_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_blueprint_env_cfg.py
@@ -19,7 +19,7 @@
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.sensors import CameraCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ... import mdp
 from . import stack_joint_pos_env_cfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_env_cfg.py
index d3d8d0b4662f..4737c4439994 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_env_cfg.py
@@ -12,7 +12,7 @@
 )
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.managers import TerminationTermCfg as DoneTerm
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.stack.stack_env_cfg import mdp
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_env_cfg_skillgen.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_env_cfg_skillgen.py
index 55f2696d3f1e..a8ed078d07d1 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_env_cfg_skillgen.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_env_cfg_skillgen.py
@@ -8,7 +8,7 @@
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from ... import mdp
 from . import stack_joint_pos_env_cfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_instance_randomize_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_instance_randomize_env_cfg.py
index e333b8d3ab29..32f273708893 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_instance_randomize_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_instance_randomize_env_cfg.py
@@ -5,7 +5,7 @@
 
 from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from . import stack_joint_pos_instance_randomize_env_cfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_visuomotor_cosmos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_visuomotor_cosmos_env_cfg.py
index 14ddc0da9f1e..41eb3f724b52 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_visuomotor_cosmos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_visuomotor_cosmos_env_cfg.py
@@ -8,7 +8,7 @@
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.sensors import CameraCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.stack import mdp
 from isaaclab_tasks.utils.presets import set_isaac_rtx_global_settings
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_visuomotor_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_visuomotor_env_cfg.py
index bc2d0fae3443..156cb86b26f8 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_visuomotor_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_ik_rel_visuomotor_env_cfg.py
@@ -15,8 +15,8 @@
 from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
 from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, NVIDIA_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_tasks.contrib.stack import mdp
 from isaaclab_tasks.contrib.stack.mdp import franka_stack_events
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_joint_pos_env_cfg.py
index 7cc2ce66d2af..fbd8d869bbab 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_joint_pos_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 from isaaclab.assets import ArticulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.stack import mdp
 from isaaclab_tasks.contrib.stack.stack_env_cfg import (
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_joint_pos_instance_randomize_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_joint_pos_instance_randomize_env_cfg.py
index 7184522d9580..578e94a2854b 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_joint_pos_instance_randomize_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/franka/stack_joint_pos_instance_randomize_env_cfg.py
@@ -12,8 +12,8 @@
 from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
 from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_tasks.contrib.stack import mdp
 from isaaclab_tasks.contrib.stack.mdp import franka_stack_events
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/galbot/stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/galbot/stack_joint_pos_env_cfg.py
index 4f3f9a13fbd9..bbe1c0ba18b5 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/galbot/stack_joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/galbot/stack_joint_pos_env_cfg.py
@@ -17,8 +17,8 @@
 from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
 from isaaclab.sim.schemas.schemas_cfg import CollisionPropertiesCfg, RigidBodyPropertiesCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 from isaaclab_tasks.contrib.stack import mdp
@@ -26,6 +26,7 @@
 from isaaclab_tasks.contrib.stack.stack_env_cfg import (
     ObservationsCfg,
     StackEnvCfg,
+    raise_if_surface_gripper_on_gpu,
     raise_if_surface_gripper_on_newton,
 )
 
@@ -348,11 +349,15 @@ class GalbotRightArmCubeStackEnvCfg(GalbotLeftArmCubeStackEnvCfg):
     def validate_config(self):
         # The right-arm suction cup uses a PhysX-only surface gripper.
         raise_if_surface_gripper_on_newton(self)
+        raise_if_surface_gripper_on_gpu(self)
 
     def __post_init__(self):
         # post init of parent
         super().__post_init__()
 
+        # Surface grippers currently require CPU simulation.
+        self.sim.device = "cpu"
+
         # Move to area below right hand (invert y-axis)
         left, right = self.events.randomize_cube_positions.params["pose_range"]["y"]
         self.events.randomize_cube_positions.params["pose_range"]["y"] = (-right, -left)
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/galbot/stack_rmp_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/galbot/stack_rmp_rel_env_cfg.py
index 7812af64b60b..4db125e1482d 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/galbot/stack_rmp_rel_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/galbot/stack_rmp_rel_env_cfg.py
@@ -16,7 +16,7 @@
 from isaaclab.envs.mdp.actions.rmpflow_actions_cfg import RMPFlowActionCfg
 from isaaclab.sensors import CameraCfg, FrameTransformerCfg
 from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.stack import mdp
 from isaaclab_tasks.utils.presets import (
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/pose_ik_action.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/pose_ik_action.py
index fdac999d3488..71a583422f4a 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/pose_ik_action.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/pose_ik_action.py
@@ -28,7 +28,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .pose_ik_controller import SO101PoseIKControllerCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/pose_ik_controller.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/pose_ik_controller.py
index 5491a5e129b3..328fa3203ba9 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/pose_ik_controller.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/pose_ik_controller.py
@@ -28,7 +28,7 @@
 
 from isaaclab.controllers.differential_ik import DifferentialIKController
 from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_ik_abs_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_ik_abs_env_cfg.py
index f92c599de985..38d1c8511ee6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_ik_abs_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_ik_abs_env_cfg.py
@@ -9,7 +9,7 @@
 from isaaclab_teleop import IsaacTeleopCfg
 
 from isaaclab.actuators import ImplicitActuatorCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.stack import mdp
 from isaaclab_tasks.utils import preset
@@ -227,7 +227,7 @@ def __post_init__(self):
                     "Robot": "robot",
                     "Sensor": "sensors",
                     "Physics": preset(
-                        default="physics",
+                        default="physx",
                         isaacsim_physx="physx",
                         physx="physx",
                         newton_mjwarp="physics",
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_joint_pos_env_cfg.py
index 639fb4e149a1..bbfbcbe8dd9d 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_joint_pos_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 from isaaclab.assets import ArticulationCfg, RigidObjectCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.stack import mdp
 from isaaclab_tasks.contrib.stack.stack_env_cfg import (
@@ -68,7 +68,7 @@ def __post_init__(self):
         self.scene.replicate_physics = True
         self.sim.physics.newton_mjwarp.solver_cfg.nconmax = 600
         self.sim.physics = preset(
-            default=self.sim.physics.newton_mjwarp,
+            default=self.sim.physics.isaacsim_physx,
             isaacsim_physx=self.sim.physics.isaacsim_physx,
             physx=self.sim.physics.physx,
             newton_mjwarp=self.sim.physics.newton_mjwarp,
@@ -95,7 +95,7 @@ def __post_init__(self):
                     "Robot": "robot",
                     "Sensor": "sensors",
                     "Physics": preset(
-                        default="physics",
+                        default="physx",
                         isaacsim_physx="physx",
                         physx="physx",
                         newton_mjwarp="physics",
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_joint_teleop_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_joint_teleop_env_cfg.py
index 44f4a3abc3da..13a2342867da 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_joint_teleop_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_joint_teleop_env_cfg.py
@@ -8,7 +8,7 @@
 from isaaclab_teleop import IsaacTeleopCfg
 
 from isaaclab.managers import TerminationTermCfg as DoneTerm
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.contrib.stack import mdp
 
@@ -32,6 +32,9 @@
 # plugin (or any pusher emitting the same schema) advertises.
 _SO101_LEADER_COLLECTION_ID = "so101_leader"
 
+# Tolerance [rad] below ``SO101_GRIPPER_OPEN`` that still counts as releasing the cube.
+_SUCCESS_GRIPPER_ATOL = 0.5
+
 
 def _build_so101_joint_teleop_pipeline():
     """Build an IsaacTeleop joint-space pipeline driven by the SO-101 leader arm.
@@ -159,14 +162,15 @@ def __post_init__(self):
             xr_cfg=self.xr,
         )
 
-        # Relax the gripper-open check in the success termination. The default atol=0.0001 rad
-        # (100 µrad) is reachable when the gripper target is set to exactly SO101_GRIPPER_OPEN
-        # via an affine mapping (as in the IK-Abs env). In joint teleop the leader arm's raw
-        # encoder angle is mirrored 1:1, so the follower gripper may not reach the exact open
-        # value within 100 µrad due to calibration offsets or soft-limit ceilings. Using
-        # gripper_threshold (0.2 rad) as the tolerance matches the threshold already used by
-        # observations to classify the gripper as open vs. closed.
+        # Widen the gripper-open check in the success termination. In joint teleop the follower jaw
+        # mirrors the leader's raw encoder 1:1 and is capped by its own joint limit (1.7453 rad), so
+        # a 0.2 rad tolerance accepts only the top 0.2 rad of a 1.92 rad range and a leader whose
+        # calibrated full-open reading falls short never trips success. 0.5 rad still demands more
+        # opening than freeing a cube needs: the jaw opens by ``2 * L * sin(q / 2)``, so a 0.0477 m
+        # cube is released by q >= 1.245 for any lever arm ``L >= 0.043 m`` (the jaw spans ~0.093 m).
+        # Deliberately not ``gripper_threshold``, which ``object_grasped`` uses to annotate the
+        # grasp subtasks for every SO-101 stack env.
         self.terminations.success = DoneTerm(
             func=mdp.cubes_stacked,
-            params={"atol": self.gripper_threshold, "rtol": 0.0},
+            params={"atol": _SUCCESS_GRIPPER_ATOL, "rtol": 0.0},
         )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/ur10_gripper/stack_ik_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/ur10_gripper/stack_ik_rel_env_cfg.py
index 44c2457e3dcc..0e6b2df08b29 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/ur10_gripper/stack_ik_rel_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/ur10_gripper/stack_ik_rel_env_cfg.py
@@ -9,7 +9,7 @@
 from isaaclab.devices.keyboard import Se3KeyboardCfg
 from isaaclab.devices.spacemouse import Se3SpaceMouseCfg
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from . import stack_joint_pos_env_cfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py
index a561caac7429..586403af3018 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/ur10_gripper/stack_joint_pos_env_cfg.py
@@ -13,13 +13,14 @@
 from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
 from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_tasks.contrib.stack import mdp
 from isaaclab_tasks.contrib.stack.mdp import franka_stack_events
 from isaaclab_tasks.contrib.stack.stack_env_cfg import (
     StackEnvCfg,
+    raise_if_surface_gripper_on_gpu,
     raise_if_surface_gripper_on_newton,
 )
 
@@ -88,6 +89,7 @@ class UR10CubeStackEnvCfg(StackEnvCfg):
     def validate_config(self):
         # Surface grippers used by these suction robots are PhysX-only.
         raise_if_surface_gripper_on_newton(self)
+        raise_if_surface_gripper_on_gpu(self)
 
     def __post_init__(self):
         # post init of parent
@@ -152,7 +154,7 @@ def __post_init__(self):
         super().__post_init__()
 
         # Suction grippers currently require CPU simulation
-        self.device = "cpu"
+        self.sim.device = "cpu"
 
         # Set events
         self.events = EventCfgLongSuction()
@@ -192,7 +194,7 @@ def __post_init__(self):
         super().__post_init__()
 
         # Suction grippers currently require CPU simulation
-        self.device = "cpu"
+        self.sim.device = "cpu"
 
         # Set UR10 as robot
         self.scene.robot = UR10_SHORT_SUCTION_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/mdp/observations.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/mdp/observations.py
index 94adf1b6453f..db480ebfbc04 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/mdp/observations.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/mdp/observations.py
@@ -324,7 +324,7 @@ def object_grasped(
 
     if hasattr(env.scene, "surface_grippers") and len(env.scene.surface_grippers) > 0:
         surface_gripper = env.scene.surface_grippers["surface_gripper"]
-        suction_cup_status = wp.to_torch(surface_gripper.state).view(-1, 1)  # 1: closed, 0: closing, -1: open
+        suction_cup_status = wp.to_torch(surface_gripper.state).view(-1)  # 1: closed, 0: closing, -1: open
         suction_cup_is_closed = (suction_cup_status == 1).to(torch.float32)
         grasped = torch.logical_and(suction_cup_is_closed, pose_diff < diff_threshold)
 
@@ -369,7 +369,7 @@ def object_stacked(
 
     if hasattr(env.scene, "surface_grippers") and len(env.scene.surface_grippers) > 0:
         surface_gripper = env.scene.surface_grippers["surface_gripper"]
-        suction_cup_status = wp.to_torch(surface_gripper.state).view(-1, 1)  # 1: closed, 0: closing, -1: open
+        suction_cup_status = wp.to_torch(surface_gripper.state).view(-1)  # 1: closed, 0: closing, -1: open
         suction_cup_is_open = (suction_cup_status == -1).to(torch.float32)
         stacked = torch.logical_and(suction_cup_is_open, stacked)
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/stack_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/stack_env_cfg.py
index 80e30872bd0e..a1e118430766 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/stack_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/stack_env_cfg.py
@@ -23,8 +23,8 @@
 from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg, OffsetCfg
 from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_tasks.utils import PresetCfg
 
@@ -342,6 +342,20 @@ def raise_if_surface_gripper_on_newton(env_cfg) -> None:
         )
 
 
+def raise_if_surface_gripper_on_gpu(env_cfg) -> None:
+    """Reject GPU simulation for scenes that configure a surface gripper.
+
+    Args:
+        env_cfg: The resolved environment config to inspect.
+    """
+    if getattr(env_cfg.scene, "surface_gripper", None) is None:
+        return
+    if env_cfg.sim.device != "cpu":
+        raise ValueError(
+            "Surface grippers are only supported on the CPU simulation device. Re-run this task with --device cpu."
+        )
+
+
 @configclass
 class StackEnvCfg(ManagerBasedRLEnvCfg):
     """Configuration for the stacking environment."""
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/stack_instance_randomize_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/stack_instance_randomize_env_cfg.py
index 2592f375d6fe..25cf6f93edbf 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/stack_instance_randomize_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/stack_instance_randomize_env_cfg.py
@@ -16,8 +16,8 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from . import mdp
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/ur10_particle_push/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/ur10_particle_push/agents/rsl_rl_ppo_cfg.py
index 41cd87b05d70..7b21a198e1b3 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/ur10_particle_push/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/ur10_particle_push/agents/rsl_rl_ppo_cfg.py
@@ -7,7 +7,7 @@
 from rsl_rl.modules.distribution import GaussianDistribution
 from torch.distributions import Normal
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import (
     RslRlCNNModelCfg,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/ur10_particle_push/mdp/actions_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/ur10_particle_push/mdp/actions_cfg.py
index eb3ed4ac81a2..364028c5f662 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/ur10_particle_push/mdp/actions_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/ur10_particle_push/mdp/actions_cfg.py
@@ -10,7 +10,7 @@
 from typing import TYPE_CHECKING
 
 from isaaclab.envs.mdp.actions import RelativeJointPositionActionCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from .actions import ClampedRelativeJointPositionAction
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/ur10_particle_push/ur10_particle_push_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/ur10_particle_push/ur10_particle_push_env_cfg.py
index db036ce788ea..c5c642987908 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/ur10_particle_push/ur10_particle_push_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/ur10_particle_push/ur10_particle_push_env_cfg.py
@@ -33,8 +33,8 @@
 from isaaclab.sim import SimulationCfg
 from isaaclab.sim.schemas import UsdPhysicsRigidBodyCfg
 from isaaclab.sim.spawners.materials import RigidBodyMaterialBaseCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_contrib.coupling import CouplerEntryCfg, CouplerProxyCfg, CouplerProxyMappingCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/agents/rsl_rl_ppo_cfg.py
index 509044186ad3..d444e1cbd20c 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/flat_env_cfg.py
index ef59316e1997..efec87707930 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/flat_env_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .rough_env_cfg import UnitreeA1RoughEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/rough_env_cfg.py
index b4610383bc85..6f54f541c9be 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/rough_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/rough_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
 
@@ -41,4 +41,4 @@ def __post_init__(self):
         # events
         self.events.add_base_mass.params["asset_cfg"].body_names = "trunk"
         self.events.base_external_force_torque.params["asset_cfg"].body_names = "trunk"
-        self.events.base_com.default.params["asset_cfg"].body_names = "trunk"
+        self.events.base_com.params["asset_cfg"].body_names = "trunk"
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/agents/rsl_rl_ppo_cfg.py
index 1ca848d6d69f..44ae5df2569e 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg, RslRlSymmetryCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/flat_env_cfg.py
index c255e4207417..4b943f3793c8 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/flat_env_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .rough_env_cfg import AnymalBRoughEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/rough_env_cfg.py
index dd74a8f26360..6be26957f7ed 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/rough_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/rough_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/agents/rsl_rl_ppo_cfg.py
index 8f0b4c0e70af..13eddca5cffd 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg, RslRlSymmetryCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/flat_env_cfg.py
index 6e29d1955394..2e12d6eabd62 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/flat_env_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .rough_env_cfg import AnymalCRoughEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/rough_env_cfg.py
index 59824584b55f..4d3af315ffe7 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/rough_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/rough_env_cfg.py
@@ -4,10 +4,9 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
-from isaaclab_tasks.utils import preset
 
 ##
 # Pre-defined configs
@@ -22,6 +21,3 @@ def __post_init__(self):
 
         # scene
         self.scene.robot = ANYMAL_C_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
-        self.scene.robot.actuators["legs"].armature = preset(
-            default=0.0, newton_mjwarp=0.01, physx=0.0, isaacsim_physx=0.0
-        )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/digit/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/digit/agents/rsl_rl_ppo_cfg.py
index 0f003d5f6d23..fffbd52389c5 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/digit/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/digit/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
@@ -30,7 +30,8 @@ class DigitRoughPPORunnerCfg(RslRlOnPolicyRunnerCfg):
         value_loss_coef=1.0,
         use_clipped_value_loss=True,
         clip_param=0.2,
-        entropy_coef=0.01,
+        # MJWarp needs a lower entropy floor than PhysX here (0.005 vs the usual 0.01) -- see #7520.
+        entropy_coef=0.005,
         num_learning_epochs=5,
         num_mini_batches=4,
         learning_rate=1.0e-3,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/digit/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/digit/flat_env_cfg.py
index bc3e8e8e4828..a63ce7705525 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/digit/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/digit/flat_env_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .rough_env_cfg import DigitRoughEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/digit/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/digit/rough_env_cfg.py
index b639a01dd8df..c39dd646f0ea 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/digit/rough_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/digit/rough_env_cfg.py
@@ -5,25 +5,34 @@
 
 import math
 
+from isaaclab_newton.sim.schemas import NewtonArticulationCfg
 from isaaclab_physx.physics import PhysxCfg
 
-from isaaclab.actuators import ImplicitActuatorCfg
-from isaaclab.managers import ObservationGroupCfg, ObservationTermCfg, RewardTermCfg, SceneEntityCfg, TerminationTermCfg
+from isaaclab.managers import (
+    ObservationGroupCfg,
+    ObservationTermCfg,
+    RewardTermCfg,
+    SceneEntityCfg,
+    TerminationTermCfg,
+)
 from isaaclab.physics import PhysxAutoCfg
 from isaaclab.sim import SimulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.noise import UniformNoiseCfg as Unoise
 
 import isaaclab_tasks.core.velocity.mdp as mdp
-from isaaclab_tasks.core.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
-from isaaclab_tasks.utils import PresetCfg
+from isaaclab_tasks.core.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg, RoughPhysicsCfg
+from isaaclab_tasks.utils import PresetCfg, preset
 
 from isaaclab_assets.robots.agility import ARM_JOINT_NAMES, DIGIT_V4_CFG, LEG_JOINT_NAMES
 
+_ROUGH_NEWTON_MJWARP = RoughPhysicsCfg().newton_mjwarp
+"""Bound once so ``DigitPhysicsCfg`` does not construct ``RoughPhysicsCfg`` twice."""
+
 
 @configclass
 class DigitPhysicsCfg(PresetCfg):
-    """PhysX-only physics configuration for the Digit velocity environments."""
+    """Physics configuration for the Digit velocity environments."""
 
     isaacsim_physx = PhysxCfg(
         gpu_max_rigid_patch_count=10 * 2**15,
@@ -31,6 +40,13 @@ class DigitPhysicsCfg(PresetCfg):
         gpu_total_aggregate_pairs_capacity=2**23,
     )
     physx = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
+    # ``class_type`` is reset to ``None`` because ``NewtonCfg.__post_init__`` re-derives it from
+    # ``solver_cfg`` and refuses an explicit value -- ``replace()`` would otherwise carry the
+    # already-derived value from the source instance forward as one.
+    newton_mjwarp = _ROUGH_NEWTON_MJWARP.replace(
+        class_type=None,
+        solver_cfg=_ROUGH_NEWTON_MJWARP.solver_cfg.replace(njmax=5000, nconmax=2000),
+    )
     default = isaacsim_physx
 
 
@@ -244,14 +260,6 @@ def __post_init__(self):
         self.scene.contact_forces.history_length = self.decimation
         self.scene.contact_forces.update_period = self.sim.dt
         self.scene.height_scanner.update_period = self.decimation * self.sim.dt
-        # target only actuated joints explicitly — ".*" mis-indexes Digit's ball-joint DoFs
-        self.scene.robot.actuators = {
-            "legs_arms": ImplicitActuatorCfg(
-                joint_names_expr=LEG_JOINT_NAMES + ARM_JOINT_NAMES,
-                stiffness=None,
-                damping=None,
-            ),
-        }
         # commands
         self.commands.base_velocity.ranges.lin_vel_x = (-0.8, 0.8)
         self.commands.base_velocity.ranges.lin_vel_y = (-0.5, 0.5)
@@ -261,8 +269,12 @@ def __post_init__(self):
         # events
         self.events.add_base_mass.params["asset_cfg"].body_names = "torso_base"
         self.events.base_external_force_torque.params["asset_cfg"].body_names = "torso_base"
-        # Digit is PhysX-only, so the inherited ``newton_mjwarp`` branch names no
-        # reachable backend; collapse the preset so it cannot be selected on its own.
-        self.events.base_com = self.events.base_com.default
         self.events.base_com.params["asset_cfg"].body_names = "torso_base"
+        # The asset authors enabledSelfCollisions=False and DIGIT_V4_CFG sets no
+        # articulation_props, so Newton filters every intra-articulation shape pair -- 253 of
+        # them, exactly C(23,2) for its 23 colliding shapes -- and the legs pass through each
+        # other. Which links carry colliders is left as the asset authored it.
+        self.scene.robot.spawn.articulation_props = preset(
+            default=None, newton_mjwarp=[NewtonArticulationCfg(self_collision_enabled=True)]
+        )
         self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/agents/rsl_rl_ppo_cfg.py
index 48e0d4b7ac85..9c2e0d744d37 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/flat_env_cfg.py
index d6907cba7ede..40f88fa03226 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/flat_env_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .rough_env_cfg import UnitreeGo1RoughEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/rough_env_cfg.py
index f4f4db46a1e0..678c33ceaa62 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/rough_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/rough_env_cfg.py
@@ -4,10 +4,9 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
-from isaaclab_tasks.utils import preset
 
 ##
 # Pre-defined configs
@@ -22,7 +21,6 @@ def __post_init__(self):
 
         # scene
         self.scene.robot = UNITREE_GO1_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
-        self.scene.robot.actuators["base_legs"].armature = preset(default=0.0, newton_mjwarp=0.02)
         self.scene.height_scanner.prim_path = "{ENV_REGEX_NS}/Robot/trunk"
         # scale down the terrains because the robot is small
         self.scene.terrain.terrain_generator.sub_terrains["boxes"].grid_height_range = (0.025, 0.1)
@@ -43,4 +41,4 @@ def __post_init__(self):
         # events
         self.events.add_base_mass.params["asset_cfg"].body_names = "trunk"
         self.events.base_external_force_torque.params["asset_cfg"].body_names = "trunk"
-        self.events.base_com.default.params["asset_cfg"].body_names = "trunk"
+        self.events.base_com.params["asset_cfg"].body_names = "trunk"
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/spot/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/spot/agents/rsl_rl_ppo_cfg.py
index 55c585d7b53c..0c7e6f30dac6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/spot/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/spot/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/spot/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/spot/flat_env_cfg.py
index da3acaf7cd00..6602461d885d 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/spot/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/spot/flat_env_cfg.py
@@ -23,8 +23,8 @@
 from isaaclab.physics import PhysxAutoCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.terrains import TerrainImporterCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 from isaaclab.utils.noise import UniformNoiseCfg as Unoise
 from isaaclab.visualizers import VisualizerCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_direct_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_direct_env_cfg.py
index e16d4ee27262..784a7beb0aab 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_direct_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_direct_env_cfg.py
@@ -10,7 +10,7 @@
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg
 from isaaclab.envs import DirectRLEnvCfg
 from isaaclab.scene import InteractiveSceneCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.cabinet.cabinet_env_cfg import (
     CABINET_CFG,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_env_cfg.py
index 1a74ce3676d8..9977401cf507 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_env_cfg.py
@@ -26,8 +26,8 @@
 from isaaclab.sensors import FrameTransformerCfg
 from isaaclab.sensors.frame_transformer import OffsetCfg
 from isaaclab.sim import SimulationCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 import isaaclab_tasks.core.cabinet.mdp as mdp
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/agents/rsl_rl_ppo_cfg.py
index 3f191ffc97eb..19ca8e34b73a 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/cabinet_direct_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/cabinet_direct_env_cfg.py
index 7bc78b45cdb5..6298bb6bf218 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/cabinet_direct_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/cabinet_direct_env_cfg.py
@@ -5,7 +5,7 @@
 
 from __future__ import annotations
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.cabinet.cabinet_direct_env_cfg import CabinetDirectEnvCfg, CabinetDirectSceneCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/joint_pos_env_cfg.py
index 1cb824489f8f..a9331cefede8 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/config/franka/joint_pos_env_cfg.py
@@ -5,7 +5,7 @@
 
 from isaaclab.sensors import FrameTransformerCfg
 from isaaclab.sensors.frame_transformer import OffsetCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 import isaaclab_tasks.core.cabinet.mdp as mdp
 from isaaclab_tasks.core.cabinet.cabinet_env_cfg import FRAME_MARKER_SMALL_CFG, CabinetEnvCfg, CabinetSceneCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/__init__.py
index 064f647ecf83..1e5a2e6308d0 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/__init__.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/__init__.py
@@ -15,16 +15,6 @@
 
 from . import agents
 
-_RAW_CAMERA_PRESETS = (
-    "albedo",
-    "depth",
-    "rgb",
-    "semantic_segmentation",
-    "simple_shading_constant_diffuse",
-    "simple_shading_diffuse_mdl",
-    "simple_shading_full_mdl",
-)
-
 ##
 # Register Gym environments -- direct workflow.
 ##
@@ -53,6 +43,7 @@
         "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CartpoleCameraDirectPPORunnerCfg",
         "default_agent": "rsl_rl",
         "skrl_cfg_entry_point": f"{agents.__name__}:skrl_direct_camera_ppo_cfg.yaml",
+        "pretrained_checkpoint_preset_compatibility": {"rl_games": ("depth",)},
     },
 )
 
@@ -83,18 +74,9 @@
     disable_env_checker=True,
     kwargs={
         "env_cfg_entry_point": f"{__name__}.cartpole_manager_camera_env_cfg:CartpoleCameraEnvCfg",
-        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_ppo_cfg.yaml",
-        "rl_games_feature_cfg_entry_point": f"{agents.__name__}:rl_games_manager_feature_ppo_cfg.yaml",
-        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CartpoleCameraPPORunnerCfg",
+        "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_camera_cfg",
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:CartpoleCameraPPORunnerPresetsCfg",
         "default_agent": "rsl_rl",
-        "rsl_rl_feature_cfg_entry_point": (
-            f"{agents.__name__}.rsl_rl_ppo_cfg:CartpoleCameraFeaturePPORunnerCfg"
-        ),
-        "agent_preset_compatibility": {
-            "rl_games_cfg_entry_point": _RAW_CAMERA_PRESETS,
-            "rl_games_feature_cfg_entry_point": ("resnet18", "theia_tiny"),
-            "rsl_rl_cfg_entry_point": _RAW_CAMERA_PRESETS,
-            "rsl_rl_feature_cfg_entry_point": ("resnet18", "theia_tiny"),
-        },
+        "pretrained_checkpoint_preset_compatibility": {"rsl_rl": ("resnet18", "theia_tiny")},
     },
 )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/agents/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/agents/__init__.py
index 460a30569089..18315782774e 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/agents/__init__.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/agents/__init__.py
@@ -2,3 +2,20 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
+
+from pathlib import Path
+
+from isaaclab.utils.io import load_yaml
+
+from isaaclab_tasks.utils import preset
+
+
+def rl_games_camera_cfg():
+    """Load the RL-Games configuration family keyed by camera pipeline presets."""
+    agent_dir = Path(__file__).parent
+    feature_cfg = load_yaml(agent_dir / "rl_games_manager_feature_ppo_cfg.yaml")
+    return preset(
+        default=load_yaml(agent_dir / "rl_games_camera_ppo_cfg.yaml"),
+        resnet18=feature_cfg,
+        theia_tiny=feature_cfg,
+    )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/agents/rsl_rl_ppo_cfg.py
index c527c7488884..d0d8d22efe7d 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import (
     RslRlCNNModelCfg,
@@ -14,6 +14,7 @@
 )
 
 import isaaclab_tasks.core.cartpole.mdp.symmetry as symmetry
+from isaaclab_tasks.utils import PresetCfg
 
 
 @configclass
@@ -161,3 +162,12 @@ class CartpoleCameraFeaturePPORunnerCfg(RslRlOnPolicyRunnerCfg):
         desired_kl=0.008,
         max_grad_norm=1.0,
     )
+
+
+@configclass
+class CartpoleCameraPPORunnerPresetsCfg(PresetCfg):
+    """RSL-RL configuration family keyed by camera pipeline presets."""
+
+    default = CartpoleCameraPPORunnerCfg()
+    resnet18 = CartpoleCameraFeaturePPORunnerCfg()
+    theia_tiny = CartpoleCameraFeaturePPORunnerCfg()
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_camera_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_camera_env_cfg.py
index e74f287b564e..65fc628d4d30 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_camera_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_camera_env_cfg.py
@@ -10,7 +10,7 @@
 import isaaclab.sim as sim_utils
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors import CameraCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 from isaaclab_tasks.core.cartpole.cartpole_direct_env_cfg import CartpoleEnvCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_env_cfg.py
index 855d27439175..ea25546a0591 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_env_cfg.py
@@ -20,7 +20,7 @@
 from isaaclab.physics import PhysxAutoCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 from isaaclab_tasks.utils import PresetCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_camera_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_camera_env_cfg.py
index 53a165d58855..bcb211aa9751 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_camera_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_camera_env_cfg.py
@@ -10,7 +10,7 @@
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.sensors import CameraCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 import isaaclab_tasks.core.cartpole.mdp as mdp
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_env_cfg.py
index 17ea5e0f5ac6..e8432ae1f673 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_env_cfg.py
@@ -24,7 +24,7 @@
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.physics import PhysxAutoCfg
 from isaaclab.scene import InteractiveSceneCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 import isaaclab_tasks.core.cartpole.mdp as mdp
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/fourbar_pole/agents/rsl_rl_manager_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/fourbar_pole/agents/rsl_rl_manager_ppo_cfg.py
index c37510ea4b0c..f0d0d398e0a9 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/fourbar_pole/agents/rsl_rl_manager_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/fourbar_pole/agents/rsl_rl_manager_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import (
     RslRlMLPModelCfg,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/fourbar_pole/fourbar_pole_manager_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/fourbar_pole/fourbar_pole_manager_env_cfg.py
index ddd6f32f846c..3eaa5450d760 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/fourbar_pole/fourbar_pole_manager_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/fourbar_pole/fourbar_pole_manager_env_cfg.py
@@ -23,7 +23,7 @@
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.scene import InteractiveSceneCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 import isaaclab_tasks.core.fourbar_pole.mdp as mdp
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/handover/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/handover/agents/rsl_rl_ppo_cfg.py
index 54b8fd50184e..eaeb1dd3a959 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/handover/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/handover/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/handover/handover_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/handover/handover_env_cfg.py
index 3aa03de5a082..84c7896e3fe6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/handover/handover_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/handover/handover_env_cfg.py
@@ -17,8 +17,8 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.sim.spawners.materials import RigidBodyMaterialBaseCfg
+from isaaclab.utils import configclass
 from isaaclab.utils import math as math_utils
-from isaaclab.utils.configclass import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 from isaaclab_tasks.core.handover.handover_common import GOAL_MARKER_CFG, OBJECT_RADIUS
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/handover/handover_manager_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/handover/handover_manager_env_cfg.py
index a4ed9b6a0a59..22a622f21178 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/handover/handover_manager_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/handover/handover_manager_env_cfg.py
@@ -16,7 +16,7 @@
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim.spawners.materials import RigidBodyMaterialBaseCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 import isaaclab_tasks.core.handover.mdp as mdp
 import isaaclab_tasks.core.reorient.mdp as reorient_mdp
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/handover/mdp/commands_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/handover/mdp/commands_cfg.py
index 02d50c142dcb..3354dab6b113 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/handover/mdp/commands_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/handover/mdp/commands_cfg.py
@@ -11,7 +11,7 @@
 
 from isaaclab.managers import CommandTermCfg
 from isaaclab.markers import VisualizationMarkersCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.handover.handover_common import GOAL_MARKER_CFG, GOAL_POSITION_OFFSET
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/adr_curriculum.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/adr_curriculum.py
index af4ab414eabd..842dffe11802 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/adr_curriculum.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/adr_curriculum.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 from isaaclab.managers import CurriculumTermCfg as CurrTerm
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from . import mdp
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/agents/rsl_rl_ppo_cfg.py
index a98326e1f8ae..3ae66fe477c4 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/agents/rsl_rl_ppo_cfg.py
@@ -5,7 +5,7 @@
 
 from dataclasses import MISSING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import (
     RslRlMLPModelCfg,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/franka_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/franka_env_cfg.py
index ac65fc920b49..26c063d78da2 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/franka_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka/franka_env_cfg.py
@@ -11,8 +11,8 @@
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.sensors import ContactSensorCfg
 from isaaclab.sim import MeshCapsuleCfg, MeshCuboidCfg, MeshSphereCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_assets.robots import FRANKA_PANDA_CFG
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/agents/rsl_rl_ppo_cfg.py
index 262f4eae159a..d04ede4aa599 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import (
     RslRlCNNModelCfg,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_cable_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_cable_env_cfg.py
index 7fb7bb38853e..5bcc700e9e2c 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_cable_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_cable_env_cfg.py
@@ -20,7 +20,7 @@
 from isaaclab.markers import VisualizationMarkersCfg
 from isaaclab.sensors import CameraCfg
 from isaaclab.sim.spawners.materials import RigidBodyMaterialBaseCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.renderers import isaac_rtx_per_env_scene_partition_enabled
 
 from isaaclab_contrib.coupling import CouplerEntryCfg, CouplerProxyCfg, CouplerProxyMappingCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_cloth_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_cloth_env_cfg.py
index 4aceaef7f6be..029632ce9746 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_cloth_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_cloth_env_cfg.py
@@ -28,7 +28,7 @@
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.physics import PhysxAutoCfg
 from isaaclab.sensors import CameraCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_contrib.coupling import CouplerEntryCfg, CouplerProxyCfg, CouplerProxyMappingCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_soft_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_soft_env_cfg.py
index c3bb17a8e31b..3c9fa467b024 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_soft_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/franka_soft/franka_soft_env_cfg.py
@@ -40,8 +40,8 @@
 from isaaclab.sensors import CameraCfg, FrameTransformerCfg
 from isaaclab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 from isaaclab_contrib.coupling import (
@@ -50,7 +50,7 @@
     CouplerProxyMappingCfg,
 )
 
-from isaaclab_tasks.utils import PresetCfg
+from isaaclab_tasks.utils import PresetCfg, preset
 from isaaclab_tasks.utils.presets import MultiBackendRendererCfg
 
 from ... import mdp
@@ -201,6 +201,11 @@ class _FrankaSoftSceneCfg(InteractiveSceneCfg):
     """Scene for the Franka deformable environment."""
 
     robot: ArticulationCfg = FRANKA_PANDA_MENAGERIE_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+    robot.spawn.variants = preset(
+        default={"Physics": "mujoco"},
+        isaacsim_physx={"Physics": "physx"},
+        physx={"Physics": "physx"},
+    )
 
     # end-effector frame for reward shaping
     ee_frame: FrameTransformerCfg = FrameTransformerCfg(
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/agents/rsl_rl_ppo_cfg.py
index 661322278586..8693416f9cb1 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/agents/rsl_rl_ppo_cfg.py
@@ -5,7 +5,7 @@
 
 from dataclasses import MISSING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import (
     RslRlCNNModelCfg,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/camera_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/camera_cfg.py
index 4f51aaeced92..7abb0fe65e5c 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/camera_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/camera_cfg.py
@@ -10,7 +10,7 @@
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.sensors import CameraCfg, MultiMeshRayCasterCameraCfg, patterns
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.noise import UniformNoiseCfg as Unoise
 
 from isaaclab_tasks.utils import PresetCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_camera_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_camera_env_cfg.py
index 348631c72b98..84a810702481 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_camera_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_camera_env_cfg.py
@@ -12,7 +12,7 @@
 """
 
 from isaaclab.sensors import CameraCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.utils import PresetCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_env_cfg.py
index e4f304abe8d5..701b99ebdf90 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_env_cfg.py
@@ -8,7 +8,7 @@
 from isaaclab.managers import RewardTermCfg as RewTerm
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.sensors import CameraCfg, ContactSensorCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_assets.robots import KUKA_ALLEGRO_CFG
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/lift_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/lift_env_cfg.py
index 94b6d2fc44f7..cfbeab76cc97 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/lift_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/lift_env_cfg.py
@@ -22,8 +22,8 @@
 from isaaclab.physics import PhysxAutoCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import MeshCapsuleCfg, MeshConeCfg, MeshCuboidCfg, MeshSphereCfg, RigidBodyMaterialCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 from isaaclab.utils.noise import UniformNoiseCfg as Unoise
 from isaaclab.visualizers import VisualizerCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/mdp/commands/pose_commands_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/mdp/commands/pose_commands_cfg.py
index 27678fd8bdfd..63180a1e9ea6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/mdp/commands/pose_commands_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/mdp/commands/pose_commands_cfg.py
@@ -9,8 +9,8 @@
 import isaaclab.sim as sim_utils
 from isaaclab.managers import CommandTermCfg
 from isaaclab.markers import VisualizationMarkersCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 if TYPE_CHECKING:
     from .pose_commands import CableUniformPoseCommand, DeformableUniformPoseCommand, ObjectUniformPoseCommand
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/mdp/events_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/mdp/events_cfg.py
index 214271912d21..1584bc7b5fb7 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/mdp/events_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/mdp/events_cfg.py
@@ -11,7 +11,7 @@
 from dataclasses import MISSING
 
 from isaaclab.managers import ManagerTermBaseCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.utils.success_monitor import SuccessMonitorCfg as SuccessMonitorCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/agents/rsl_rl_ppo_cfg.py
index 63c4a5b1ef4d..89e423413c02 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_direct_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_direct_env_cfg.py
index 38bc104d929d..6bc5f8b85f77 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_direct_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_direct_env_cfg.py
@@ -21,7 +21,7 @@
 from isaaclab.sensors import JointWrenchSensorCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.utils import PresetCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_manager_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_manager_env_cfg.py
index d628496cf9a3..9140e0ee3041 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_manager_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_manager_env_cfg.py
@@ -24,7 +24,7 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors import JointWrenchSensorCfg
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 import isaaclab_tasks.core.locomotion.mdp as mdp
 from isaaclab_tasks.utils import PresetCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/agents/rsl_rl_ppo_cfg.py
index 889f29926fdb..dc52f7f649fb 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/agents/rsl_rl_ppo_cfg.py
@@ -13,7 +13,7 @@
 ====================================================================================================
 """
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_direct_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_direct_env_cfg.py
index 8fbb51b1c950..ed5f071f06ee 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_direct_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_direct_env_cfg.py
@@ -17,7 +17,7 @@
 from isaaclab.sensors import JointWrenchSensorCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.utils import PresetCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_manager_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_manager_env_cfg.py
index 11a3aa6f16f6..3a7090934c06 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_manager_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_manager_env_cfg.py
@@ -20,7 +20,7 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors import JointWrenchSensorCfg
 from isaaclab.terrains import TerrainImporterCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 import isaaclab_tasks.core.locomotion.mdp as mdp
 from isaaclab_tasks.utils import PresetCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/locomotion_direct_env.py b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/locomotion_direct_env.py
index b6401d0058bb..c16798766293 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/locomotion_direct_env.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/locomotion_direct_env.py
@@ -46,8 +46,6 @@ def __init__(self, cfg: DirectRLEnvCfg, render_mode: str | None = None, **kwargs
         self.joint_gears[joint_ids] = torch.tensor(gears, device=self.sim.device)
         # the energy and joint-limit penalties weigh each joint by its gear relative to the largest one
         self.gear_ratio_scaled = self.joint_gears / torch.max(self.joint_gears)
-        joint_dof_idx, _ = self.robot.find_joints(".*", as_proxy=True)
-        self._joint_dof_idx = joint_dof_idx.warp
         # resolve against the sensor's own body list: its ordering is backend-specific and does not
         # necessarily match the articulation's body ordering
         self._feet_body_idx, _ = self.joint_wrench.find_bodies(self.cfg.feet_body_names)
@@ -83,11 +81,13 @@ def _setup_scene(self):
 
     def _pre_physics_step(self, actions: torch.Tensor) -> None:
         self.actions = actions.clone()
-
-    def _apply_action(self) -> None:
         # the action is clamped before scaling: unbounded joint efforts drive the solver to NaN
         forces = self.action_scale * self.joint_gears * torch.clamp(self.actions, -1.0, 1.0)
-        self.robot.set_joint_effort_target_index(target=forces, joint_ids=self._joint_dof_idx)
+        self.robot.set_joint_effort_target_index(target=forces)
+
+    def _apply_action(self) -> None:
+        # Joint effort targets persist in the articulation command buffer across decimation substeps.
+        pass
 
     def _compute_intermediate_values(self):
         self.torso_position = self.robot.data.root_pos_w.torch
@@ -100,7 +100,7 @@ def _compute_intermediate_values(self):
 
         # planar vector from the torso to the walk target
         to_target = self.targets - self.torso_position
-        to_target[:, 2] = 0.0
+        to_target[:, 2].zero_()
 
         # alignment of the torso with the world up axis and with the direction to the target
         self.up_proj = -self.robot.data.projected_gravity_b.torch[:, 2]
@@ -188,27 +188,26 @@ def _reset_idx(self, env_ids: Sequence[int] | None):
         self.actions[env_ids] = 0.0
 
         # root state is reset to the default pose, offset into the environment
-        default_root_pose = self.robot.data.default_root_pose.torch[env_ids].clone()
+        default_root_pose = self.robot.data.default_root_pose.torch[env_ids]
         default_root_pose[:, :3] += self.scene.env_origins[env_ids]
         self.robot.write_root_pose_to_sim_index(root_pose=default_root_pose, env_ids=env_ids)
         self.robot.write_root_velocity_to_sim_index(
-            root_velocity=self.robot.data.default_root_vel.torch[env_ids].clone(), env_ids=env_ids
+            root_velocity=self.robot.data.default_root_vel.torch[env_ids], env_ids=env_ids
         )
 
         # joint state is randomized around the default pose and clamped back into the joint limits
-        joint_pos = self.robot.data.default_joint_pos.torch[env_ids].clone()
-        joint_vel = self.robot.data.default_joint_vel.torch[env_ids].clone()
+        joint_pos = self.robot.data.default_joint_pos.torch[env_ids]
+        joint_vel = self.robot.data.default_joint_vel.torch[env_ids]
         joint_pos += sample_uniform(*self.cfg.initial_joint_pos_range, joint_pos.shape, joint_pos.device)
         joint_vel += sample_uniform(*self.cfg.initial_joint_vel_range, joint_vel.shape, joint_vel.device)
         joint_pos_limits = self.robot.data.soft_joint_pos_limits.torch[env_ids]
         joint_pos = joint_pos.clamp_(joint_pos_limits[..., 0], joint_pos_limits[..., 1])
         joint_vel_limits = self.robot.data.soft_joint_vel_limits.torch[env_ids]
         joint_vel = joint_vel.clamp_(-joint_vel_limits, joint_vel_limits)
-        self.robot.write_joint_position_to_sim_index(position=joint_pos, env_ids=env_ids)
-        self.robot.write_joint_velocity_to_sim_index(velocity=joint_vel, env_ids=env_ids)
+        self.robot.write_joint_state_to_sim_index(position=joint_pos, velocity=joint_vel, env_ids=env_ids)
 
         to_target = self.targets[env_ids] - default_root_pose[:, :3]
-        to_target[:, 2] = 0.0
+        to_target[:, 2].zero_()
         self.potentials[env_ids] = -torch.linalg.norm(to_target, ord=2, dim=-1) / self.step_dt
 
         self._compute_intermediate_values()
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/pendulum/pendulum_marl_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/pendulum/pendulum_marl_env_cfg.py
index 32567aef5f0e..2a377255e412 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/pendulum/pendulum_marl_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/pendulum/pendulum_marl_env_cfg.py
@@ -16,7 +16,7 @@
 from isaaclab.physics import PhysxAutoCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.utils import PresetCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/agents/rsl_rl_ppo_cfg.py
index ccce6ac2b32b..de561956371a 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/franka_reach_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/franka_reach_env_cfg.py
index 4a3ceac454ef..5874076d8612 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/franka_reach_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/franka_reach_env_cfg.py
@@ -11,11 +11,17 @@
 from isaaclab_newton.ik.newton_ik_objectives_cfg import NewtonIKJointLimitObjectiveCfg, NewtonIKPoseObjectiveCfg
 from isaaclab_newton.ik.newton_ik_solver_cfg import NewtonIKSolverCfg
 from isaaclab_newton.physics import NewtonCfg
+from isaaclab_newton.sim.schemas import MujocoRigidBodyCfg
+from isaaclab_physx.sim.schemas import PhysxRigidBodyCfg
 
 import isaaclab.envs.mdp as mdp
 from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
+from isaaclab.devices import DevicesCfg
+from isaaclab.devices.gamepad import Se3GamepadCfg
+from isaaclab.devices.keyboard import Se3KeyboardCfg
+from isaaclab.devices.spacemouse import Se3SpaceMouseCfg
 from isaaclab.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.reach.reach_env_cfg import ReachEnvCfg
 from isaaclab_tasks.utils import PresetCfg, preset
@@ -23,7 +29,7 @@
 ##
 # Pre-defined configs
 ##
-from isaaclab_assets import FRANKA_PANDA_MENAGERIE_CFG  # isort: skip
+from isaaclab_assets import FRANKA_PANDA_CFG, FRANKA_PANDA_MENAGERIE_CFG  # isort: skip
 
 
 ##
@@ -94,9 +100,22 @@ def __post_init__(self) -> None:
         # post init of parent
         super().__post_init__()
 
-        # switch robot to franka
+        # Use the collision-complete legacy asset in PhysX until the Menagerie asset is corrected.
         self.scene.robot = FRANKA_PANDA_MENAGERIE_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
-        self.scene.robot.spawn.rigid_props.disable_gravity = preset(default=False, diffik_abs=True)
+        self.scene.robot.spawn.usd_path = preset(
+            default=self.scene.robot.spawn.usd_path,
+            isaacsim_physx=FRANKA_PANDA_CFG.spawn.usd_path,
+            physx=FRANKA_PANDA_CFG.spawn.usd_path,
+            ovphysx=FRANKA_PANDA_CFG.spawn.usd_path,
+        )
+        # IK targets need backend-native gravity control to hold steady between commands.
+        self.scene.robot.spawn.rigid_props = [
+            PhysxRigidBodyCfg(
+                disable_gravity=preset(default=False, diffik=True, diffik_abs=True, newton_ik=True),
+                max_depenetration_velocity=5.0,
+            ),
+            MujocoRigidBodyCfg(gravcomp=preset(default=None, diffik=1.0, diffik_abs=1.0, newton_ik=1.0)),
+        ]
         # override rewards
         self.rewards.end_effector_position_tracking.params["asset_cfg"].body_names = ["panda_hand"]
         self.rewards.end_effector_orientation_tracking.params["asset_cfg"].body_names = ["panda_hand"]
@@ -108,6 +127,19 @@ def __post_init__(self) -> None:
 
         # override actions
         self.actions.arm_action = FrankaArmActionCfg()
+        # Native SE(3) devices match the 6D relative differential and Newton IK actions.
+        relative_ik_teleop_devices = DevicesCfg(
+            devices={
+                "keyboard": Se3KeyboardCfg(gripper_term=False, sim_device=self.sim.device),
+                "gamepad": Se3GamepadCfg(gripper_term=False, sim_device=self.sim.device),
+                "spacemouse": Se3SpaceMouseCfg(gripper_term=False, sim_device=self.sim.device),
+            }
+        )
+        self.teleop_devices = preset(
+            default=DevicesCfg(),
+            diffik=relative_ik_teleop_devices,
+            newton_ik=relative_ik_teleop_devices,
+        )
         # override command generator body
         # end-effector is along z-direction
         self.commands.ee_pose.body_name = "panda_hand"
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/franka_reach_osc_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/franka_reach_osc_env_cfg.py
index bd4fa34adc53..c6f4ae78e539 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/franka_reach_osc_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/franka/franka_reach_osc_env_cfg.py
@@ -3,29 +3,67 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+import warnings
+
+from isaaclab_newton.sim.schemas import MujocoRigidBodyCfg
+from isaaclab_physx.sim.schemas import PhysxRigidBodyCfg
+
 from isaaclab.actuators import IdealPDActuatorCfg
 from isaaclab.controllers.operational_space_cfg import OperationalSpaceControllerCfg
 from isaaclab.envs.mdp.actions.actions_cfg import OperationalSpaceControllerActionCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.reach.config.franka import franka_reach_env_cfg
+from isaaclab_tasks.utils import preset
+
+
+class _DeprecatedDiffIKAbsWeight(float):
+    """Marker for the deprecated ``diffik_abs`` no-op alias; replaced by a plain float during validation."""
 
 
 @configclass
 class FrankaReachEnvCfg(franka_reach_env_cfg.FrankaReachEnvCfg):
+    def validate_config(self) -> None:
+        """Validate the physics backend and warn about the deprecated ``diffik_abs`` alias."""
+        super().validate_config()
+        weight = self.rewards.action_magnitude.weight
+        if isinstance(weight, _DeprecatedDiffIKAbsWeight):
+            warnings.warn(
+                "Preset 'diffik_abs' is deprecated for 'Isaac-Reach-Franka-OSC' and has no effect: the task always"
+                " uses the operational space controller. Drop 'presets=diffik_abs' from the command line; the alias"
+                " will be removed in a future release.",
+                FutureWarning,
+                stacklevel=2,
+            )
+            self.rewards.action_magnitude.weight = float(weight)
+
     def __post_init__(self) -> None:
         # post init of parent
         super().__post_init__()
 
-        # Use an explicit actuator to enforce the USD-authored effort limits for effort control.
+        # Use an explicit actuator to enforce the USD-authored effort limits for effort control. Keep the
+        # asset's solver velocity limit: the Menagerie USD authors none, so dropping it leaves the arm unbounded.
         arm_actuator = self.scene.robot.actuators["panda_arm"]
         self.scene.robot.actuators["panda_arm"] = IdealPDActuatorCfg(
             joint_names_expr=arm_actuator.joint_names_expr,
-            velocity_limit_sim=arm_actuator.velocity_limit_sim,
+            joint_velocity_limit=arm_actuator.joint_velocity_limit,
             stiffness=0.0,
             damping=0.0,
         )
-        self.scene.robot.spawn.rigid_props.disable_gravity = True
+        for rigid_props in self.scene.robot.spawn.rigid_props:
+            if isinstance(rigid_props, PhysxRigidBodyCfg):
+                rigid_props.disable_gravity = True
+            elif isinstance(rigid_props, MujocoRigidBodyCfg):
+                rigid_props.gravcomp = 1.0
+
+        # The OSC action term replaces the parent's arm-controller presets, so the parent's controller-keyed
+        # variants would only zero the action-magnitude reward weight or attach 6D teleop devices here. Resolve
+        # their defaults and keep ``diffik_abs`` as a deprecated no-op alias so existing command lines keep working.
+        self.teleop_devices = self.teleop_devices.default
+        default_weight = self.rewards.action_magnitude.weight.default
+        self.rewards.action_magnitude.weight = preset(
+            default=default_weight, diffik_abs=_DeprecatedDiffIKAbsWeight(default_weight)
+        )
 
         # If closed-loop contact force control is desired, contact sensors should be enabled for the robot
         # self.scene.robot.spawn.activate_contact_sensors = True
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/ur_10/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/ur_10/agents/rsl_rl_ppo_cfg.py
index 05ab6eace04c..ef6ae64a45f5 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/ur_10/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/ur_10/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/ur_10/joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/ur_10/joint_pos_env_cfg.py
index fedb827bffee..4adfcf120d67 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/ur_10/joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reach/config/ur_10/joint_pos_env_cfg.py
@@ -6,7 +6,7 @@
 import math
 
 import isaaclab.envs.mdp as mdp
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.reach.reach_env_cfg import ReachEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reach/reach_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reach/reach_env_cfg.py
index 34e1fba0f0b6..033cb642ee1d 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reach/reach_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reach/reach_env_cfg.py
@@ -23,7 +23,7 @@
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.physics import PhysxAutoCfg
 from isaaclab.scene import InteractiveSceneCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.utils.noise import UniformNoiseCfg as Unoise
 from isaaclab.visualizers import VisualizerCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/agents/rsl_rl_ppo_cfg.py
index 7005a5fd4e32..b8c011ba1724 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/allegro_hand_common.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/allegro_hand_common.py
index abd9fb678ebe..9a4aab94369f 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/allegro_hand_common.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/allegro_hand_common.py
@@ -17,8 +17,8 @@
 from isaaclab.assets import RigidObjectCfg
 from isaaclab.markers import VisualizationMarkersCfg
 from isaaclab.physics import PhysxAutoCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from isaaclab_tasks.utils import PresetCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/allegro_hand_direct_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/allegro_hand_direct_env_cfg.py
index 2e49d8a61c8d..22b2a0c582f9 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/allegro_hand_direct_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/allegro_hand_direct_env_cfg.py
@@ -9,7 +9,7 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.sim.spawners.materials import RigidBodyMaterialBaseCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.reorient.config.allegro_hand.allegro_hand_common import (
     ALLEGRO_HAND_ROBOT_CFG,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/allegro_hand_manager_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/allegro_hand_manager_env_cfg.py
index 552e62a6fb2a..52a85582adbc 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/allegro_hand_manager_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/allegro_hand/allegro_hand_manager_env_cfg.py
@@ -8,7 +8,7 @@
 from isaaclab.assets import ArticulationCfg, RigidObjectCfg
 from isaaclab.managers import EventTermCfg as EventTerm
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 import isaaclab_tasks.core.reorient.mdp as mdp
 from isaaclab_tasks.core.reorient.config.allegro_hand.allegro_hand_common import (
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/agents/rsl_rl_ppo_cfg.py
index f1b840e4f0d5..59d7b77d38d7 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/feature_extractor.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/feature_extractor.py
index 56c159a1446e..4cec0b16ab4f 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/feature_extractor.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/feature_extractor.py
@@ -11,7 +11,8 @@
 import torchvision
 
 from isaaclab.sensors import save_images_to_file
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
+from isaaclab.utils.assets import retrieve_file_path
 
 # Number of output channels for each supported camera data type.
 _DATA_TYPE_CHANNELS: dict[str, int] = {
@@ -128,6 +129,14 @@ class FeatureExtractorCfg:
     load_checkpoint: bool = False
     """If True, the feature extractor model is loaded from a checkpoint. Default is False."""
 
+    pretrained_checkpoint: str | None = None
+    """Fallback feature-extractor checkpoint to load when no local checkpoint exists.
+
+    This may be a local or remote path. :class:`FeatureExtractor` first looks for the latest
+    local ``*.pth`` checkpoint in the log directory, then retrieves this checkpoint when configured.
+    Default is None.
+    """
+
     write_image_to_file: bool = False
     """If True, the images from the camera sensor are written to file. Default is False."""
 
@@ -200,9 +209,7 @@ def __init__(
             os.makedirs(self.log_dir)
 
         if self.cfg.load_checkpoint:
-            list_of_files = glob.glob(self.log_dir + "/*.pth")
-            latest_file = max(list_of_files, key=os.path.getctime)
-            checkpoint = os.path.join(self.log_dir, latest_file)
+            checkpoint = self._resolve_checkpoint_path()
             print(f"[INFO]: Loading feature extractor checkpoint from {checkpoint}")
             self.feature_extractor.load_state_dict(torch.load(checkpoint, weights_only=True))
 
@@ -323,3 +330,13 @@ def step(
         else:
             predicted_pose = self.feature_extractor(img_input)
             return None, predicted_pose
+
+    def _resolve_checkpoint_path(self) -> str:
+        """Resolve the local feature-extractor checkpoint to load."""
+        local_checkpoints = glob.glob(os.path.join(self.log_dir, "*.pth"))
+        if local_checkpoints:
+            return max(local_checkpoints, key=os.path.getctime)
+        if self.cfg.pretrained_checkpoint is not None:
+            print(f"[INFO]: Fetching pretrained feature extractor checkpoint from {self.cfg.pretrained_checkpoint}")
+            return retrieve_file_path(self.cfg.pretrained_checkpoint)
+        raise FileNotFoundError(f"No feature-extractor checkpoint found in '{self.log_dir}'.")
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_camera_manager_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_camera_manager_env_cfg.py
index c210f297cb1e..cb9916ee4f7f 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_camera_manager_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_camera_manager_env_cfg.py
@@ -8,7 +8,8 @@
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.sensors import JointWrenchSensorCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
+from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
 import isaaclab_tasks.core.reorient.mdp as mdp
 from isaaclab_tasks.core.reorient.config.shadow_hand.feature_extractor import FeatureExtractorCfg
@@ -22,9 +23,18 @@
     ShadowHandManagerSceneCfg,
 )
 from isaaclab_tasks.core.reorient.reorient_manager_env_cfg import ReorientRobotObsCfg
+from isaaclab_tasks.utils import preset
 
 from isaaclab_assets.robots.shadow_hand import FINGERTIP_NAMES
 
+_PRETRAINED_CHECKPOINT_DIR = f"{ISAACLAB_NUCLEUS_DIR}/PretrainedCheckpoints/rsl_rl"
+_MANAGER_NEWTON_FEATURE_EXTRACTOR_CHECKPOINT = (
+    f"{_PRETRAINED_CHECKPOINT_DIR}/Isaac-Reorient-Cube-Shadow-Camera_newtonmjwarp_newton_rsl_rl_feature_extractor.pth"
+)
+_MANAGER_PHYSX_FEATURE_EXTRACTOR_CHECKPOINT = (
+    f"{_PRETRAINED_CHECKPOINT_DIR}/Isaac-Reorient-Cube-Shadow-Camera_physx_rtx_rsl_rl_feature_extractor.pth"
+)
+
 
 @configclass
 class ShadowHandCameraManagerSceneCfg(ShadowHandManagerSceneCfg):
@@ -94,7 +104,15 @@ class ShadowHandCameraManagerEnvCfg(ShadowHandManagerEnvCfg):
     # only the fields that differ from ShadowHandManagerEnvCfg are overridden
     scene: ShadowHandCameraManagerSceneCfg = ShadowHandCameraManagerSceneCfg()
     observations: ShadowHandCameraObservationsCfg = ShadowHandCameraObservationsCfg()
-    feature_extractor: FeatureExtractorCfg = FeatureExtractorCfg()
+    feature_extractor: FeatureExtractorCfg = FeatureExtractorCfg(
+        pretrained_checkpoint=preset(  # type: ignore[arg-type]
+            default=_MANAGER_NEWTON_FEATURE_EXTRACTOR_CHECKPOINT,
+            newton_mjwarp=_MANAGER_NEWTON_FEATURE_EXTRACTOR_CHECKPOINT,
+            isaacsim_physx=_MANAGER_PHYSX_FEATURE_EXTRACTOR_CHECKPOINT,
+            ovphysx=_MANAGER_PHYSX_FEATURE_EXTRACTOR_CHECKPOINT,
+            physx=_MANAGER_PHYSX_FEATURE_EXTRACTOR_CHECKPOINT,
+        )
+    )
 
     def __post_init__(self):
         super().__post_init__()
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_common.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_common.py
index 2da68b385c6b..162492333818 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_common.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_common.py
@@ -21,8 +21,8 @@
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.markers import VisualizationMarkersCfg
 from isaaclab.physics import PhysxAutoCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 import isaaclab_tasks.core.reorient.mdp as reorient_mdp
 from isaaclab_tasks.utils import PresetCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py
index fa321188be0b..9010bebdae42 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py
@@ -9,13 +9,23 @@
 from isaaclab.renderers import RendererCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors import CameraCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
+from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
 from isaaclab_tasks.core.reorient.config.shadow_hand.feature_extractor import FeatureExtractorCfg
 from isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_direct_env_cfg import ShadowHandEnvCfg
-from isaaclab_tasks.utils import PresetCfg
+from isaaclab_tasks.utils import PresetCfg, preset
 from isaaclab_tasks.utils.presets import MultiBackendRendererCfg
 
+_PRETRAINED_CHECKPOINT_DIR = f"{ISAACLAB_NUCLEUS_DIR}/PretrainedCheckpoints/rsl_rl"
+_DIRECT_NEWTON_FEATURE_EXTRACTOR_CHECKPOINT = (
+    f"{_PRETRAINED_CHECKPOINT_DIR}/"
+    "Isaac-Reorient-Cube-Shadow-Camera-Direct_newtonmjwarp_newton_rsl_rl_feature_extractor.pth"
+)
+_DIRECT_PHYSX_FEATURE_EXTRACTOR_CHECKPOINT = (
+    f"{_PRETRAINED_CHECKPOINT_DIR}/Isaac-Reorient-Cube-Shadow-Camera-Direct_physx_rtx_rsl_rl_feature_extractor.pth"
+)
+
 
 def validate_shadow_hand_camera_settings(
     tiled_camera: CameraCfg,
@@ -166,7 +176,15 @@ class ShadowHandCameraEnvCfg(ShadowHandEnvCfg):
 
     # camera — data-type and renderer backend selectable via CLI presets
     tiled_camera: ShadowHandTiledCameraCfg = ShadowHandTiledCameraCfg()
-    feature_extractor: FeatureExtractorCfg = FeatureExtractorCfg()
+    feature_extractor: FeatureExtractorCfg = FeatureExtractorCfg(
+        pretrained_checkpoint=preset(  # type: ignore[arg-type]
+            default=_DIRECT_NEWTON_FEATURE_EXTRACTOR_CHECKPOINT,
+            newton_mjwarp=_DIRECT_NEWTON_FEATURE_EXTRACTOR_CHECKPOINT,
+            isaacsim_physx=_DIRECT_PHYSX_FEATURE_EXTRACTOR_CHECKPOINT,
+            ovphysx=_DIRECT_PHYSX_FEATURE_EXTRACTOR_CHECKPOINT,
+            physx=_DIRECT_PHYSX_FEATURE_EXTRACTOR_CHECKPOINT,
+        )
+    )
 
     # env
     observation_space = 164 + 27  # state observation + vision CNN embedding
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_env_cfg.py
index fd0692a17fa2..b1b8e5edfbfd 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_env_cfg.py
@@ -9,7 +9,7 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.sim.spawners.materials import RigidBodyMaterialBaseCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_common import (
     CUBE_CFG,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_manager_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_manager_env_cfg.py
index aaea0958a293..f7dbf5adbff6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_manager_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_manager_env_cfg.py
@@ -10,7 +10,7 @@
 from isaaclab.managers import ObservationTermCfg as ObsTerm
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.sensors import JointWrenchSensorCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 import isaaclab_tasks.core.reorient.mdp as mdp
 from isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_common import (
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/mdp/commands_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/mdp/commands_cfg.py
index 1b064dde2548..a2dbd431853b 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/mdp/commands_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/mdp/commands_cfg.py
@@ -12,8 +12,8 @@
 import isaaclab.sim as sim_utils
 from isaaclab.managers import CommandTermCfg
 from isaaclab.markers import VisualizationMarkersCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 
 from .commands import ReorientCommand
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/reorient_manager_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/reorient_manager_env_cfg.py
index 93b8be2a4570..405d8e1f6d66 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/reorient_manager_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/reorient_manager_env_cfg.py
@@ -24,7 +24,7 @@
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim.simulation_cfg import SimulationCfg
 from isaaclab.sim.spawners.materials import RigidBodyMaterialBaseCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 import isaaclab_tasks.core.reorient.mdp as mdp
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/agents/rsl_rl_distillation_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/agents/rsl_rl_distillation_cfg.py
index 153e1f9a50be..faf362709ed0 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/agents/rsl_rl_distillation_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/agents/rsl_rl_distillation_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import (
     RslRlDistillationAlgorithmCfg,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/agents/rsl_rl_ppo_cfg.py
index 34fd0297ee1f..245fde73f59c 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import (
     RslRlMLPModelCfg,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/flat_env_cfg.py
index 47bd12334c24..6cebcbc62fd4 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/flat_env_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .rough_env_cfg import AnymalDRoughEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/rough_env_cfg.py
index 5a8421445975..69bebc876764 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/rough_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/rough_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/agents/rsl_rl_ppo_cfg.py
index c61dc468b1dc..5c712a944372 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/flat_env_cfg.py
index c3ddf051d08e..ceac57ab74d9 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/flat_env_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .rough_env_cfg import CassieRoughEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/rough_env_cfg.py
index ea76fc0fb5ff..f65b6af462a1 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/rough_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/rough_env_cfg.py
@@ -6,14 +6,13 @@
 
 from isaaclab.managers import RewardTermCfg as RewTerm
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 import isaaclab_tasks.core.velocity.mdp as mdp
 from isaaclab_tasks.core.velocity.velocity_env_cfg import (
     LocomotionVelocityRoughEnvCfg,
     RewardsCfg,
 )
-from isaaclab_tasks.utils import preset
 
 ##
 # Pre-defined configs
@@ -60,7 +59,6 @@ def __post_init__(self):
 
         # scene
         self.scene.robot = CASSIE_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
-        self.scene.robot.actuators["legs"].armature = preset(default=0.0, newton_mjwarp=0.02)
         self.scene.height_scanner.prim_path = "{ENV_REGEX_NS}/Robot/pelvis"
         # actions
         self.actions.joint_pos.scale = 0.5
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/agents/rsl_rl_ppo_cfg.py
index 47987e1a33b4..7b890ebdf66c 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/agents/rsl_rl_ppo_cfg.py
@@ -3,23 +3,15 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
-from isaaclab_tasks.utils import preset
-
 
 @configclass
 class G1RoughPPORunnerCfg(RslRlOnPolicyRunnerCfg):
     num_steps_per_env = 24
-    # Newton needs ~1.7x the PPO iterations to match PhysX on G1. PhysX saturates near iter 3000
-    # (reward ≈ +18, ep_len ≈ 980) and does not meaningfully improve on either metric past that —
-    # reward oscillates +16 to +19 through iter 7500, ep_len stays flat. Newton reaches the same
-    # (reward, ep_len) quality at iter 5000 (+16 / 984). Comparing reward alone is misleading:
-    # ep_len confirms the robot is stable in both cases. The gap is sample-efficiency, not a
-    # ceiling — no physics or reward tuning closes it.
-    max_iterations = preset(default=3000, newton_mjwarp=5000)
+    max_iterations = 5000
     save_interval = 50
     experiment_name = "g1_rough"
     obs_groups = {"actor": ["policy"], "critic": ["policy"]}
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/flat_env_cfg.py
index 106494f29110..300c45950351 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/flat_env_cfg.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .rough_env_cfg import G1RoughEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/rough_env_cfg.py
index 319bae822577..b489b603e02c 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/rough_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/rough_env_cfg.py
@@ -6,7 +6,7 @@
 
 from isaaclab.managers import RewardTermCfg as RewTerm
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 import isaaclab_tasks.core.velocity.mdp as mdp
 from isaaclab_tasks.core.velocity.velocity_env_cfg import (
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/agents/rsl_rl_ppo_cfg.py
index ac2a2c2482b6..a3b43de04f9b 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/flat_env_cfg.py
index 838dfc880333..b89c7af23b38 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/flat_env_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .rough_env_cfg import UnitreeGo2RoughEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/rough_env_cfg.py
index 2d948fd524ff..ed7e260714f8 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/rough_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/rough_env_cfg.py
@@ -4,10 +4,9 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.core.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
-from isaaclab_tasks.utils import preset
 
 ##
 # Pre-defined configs
@@ -25,7 +24,6 @@ def __post_init__(self):
         self.sim.use_newton_actuators = True
         # scene
         self.scene.robot = UNITREE_GO2_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
-        self.scene.robot.actuators["base_legs"].armature = preset(default=0.0, newton_mjwarp=0.02)
         self.scene.height_scanner.prim_path = "{ENV_REGEX_NS}/Robot/base"
         # scale down the terrains because the robot is small
         terrains = self.scene.terrain.terrain_generator.sub_terrains
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/agents/rsl_rl_ppo_cfg.py
index d341c8b1ccf9..75d91571b393 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/agents/rsl_rl_ppo_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/agents/rsl_rl_ppo_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/flat_env_cfg.py
index de70bbc6e780..caa871480a40 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/flat_env_cfg.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .rough_env_cfg import H1RoughEnvCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/rough_env_cfg.py
index 8690e76511ba..4ee17887b912 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/rough_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/rough_env_cfg.py
@@ -6,7 +6,7 @@
 
 from isaaclab.managers import RewardTermCfg as RewTerm
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 import isaaclab_tasks.core.velocity.mdp as mdp
 from isaaclab_tasks.core.velocity.velocity_env_cfg import (
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/velocity_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/velocity_env_cfg.py
index da44d26bfa3a..7aeae7f961fb 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/velocity_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/velocity_env_cfg.py
@@ -31,12 +31,12 @@
 from isaaclab.sensors import ContactSensorCfg, RayCasterCfg, patterns
 from isaaclab.sim import SimulationCfg
 from isaaclab.terrains import TerrainImporterCfg
+from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
-from isaaclab.utils.configclass import configclass
 from isaaclab.utils.noise import UniformNoiseCfg as Unoise
 
 import isaaclab_tasks.core.velocity.mdp as mdp
-from isaaclab_tasks.utils import PresetCfg, preset
+from isaaclab_tasks.utils import PresetCfg
 
 ##
 # Pre-defined configs
@@ -223,15 +223,13 @@ class EventsCfg:
         },
     )
 
-    base_com = preset(
-        default=EventTerm(
-            func=mdp.randomize_rigid_body_com,
-            mode="startup",
-            params={
-                "asset_cfg": SceneEntityCfg("robot", body_names="base"),
-                "com_range": {"x": (-0.05, 0.05), "y": (-0.05, 0.05), "z": (-0.01, 0.01)},
-            },
-        ),
+    base_com = EventTerm(
+        func=mdp.randomize_rigid_body_com,
+        mode="startup",
+        params={
+            "asset_cfg": SceneEntityCfg("robot", body_names="base"),
+            "com_range": {"x": (-0.05, 0.05), "y": (-0.05, 0.05), "z": (-0.01, 0.01)},
+        },
     )
 
     # reset
diff --git a/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py b/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py
index af437defabb1..61637f9a410f 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py
@@ -38,8 +38,7 @@
 from omegaconf import OmegaConf
 
 from isaaclab.envs.utils.spaces import replace_env_cfg_spaces_with_strings, replace_strings_with_env_cfg_spaces
-from isaaclab.utils import replace_slices_with_strings, replace_strings_with_slices
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass, replace_slices_with_strings, replace_strings_with_slices
 
 from .preset_target import PresetTarget
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/utils/parse_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/utils/parse_cfg.py
index 3b879e5c22c3..8e7c4126f7fe 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/utils/parse_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/utils/parse_cfg.py
@@ -7,8 +7,8 @@
 
 from __future__ import annotations
 
-import collections
 import importlib
+import importlib.util
 import inspect
 import os
 import re
@@ -61,6 +61,7 @@ def load_cfg_from_registry(task_name: str, entry_point_key: str) -> dict | objec
 
     Raises:
         ValueError: If the entry point key is not available in the gym registry for the task.
+        ImportError: If a Python configuration requires a missing Pink IK dependency.
     """
     spec = gym.spec(task_name.split(":")[-1])
     # Emit a FutureWarning when loading the env cfg for a retired task
@@ -85,27 +86,17 @@ def load_cfg_from_registry(task_name: str, entry_point_key: str) -> dict | objec
     cfg_entry_point = spec.kwargs.get(entry_point_key)
     # check if entry point exists
     if cfg_entry_point is None:
-        # get existing agents and algorithms
-        agents = collections.defaultdict(list)
-        for k in spec.kwargs:
-            if k.endswith("_cfg_entry_point") and k != "env_cfg_entry_point":
-                spec = (
-                    k.replace("_cfg_entry_point", "")
-                    .replace("rl_games", "rl-games")
-                    .replace("rsl_rl", "rsl-rl")
-                    .split("_")
-                )
-                agent = spec[0].replace("-", "_")
-                algorithms = [item.upper() for item in (spec[1:] if len(spec) > 1 else ["PPO"])]
-                agents[agent].extend(algorithms)
-        msg = "\nExisting RL library (and algorithms) config entry points: "
-        for agent, algorithms in agents.items():
-            msg += f"\n  |-- {agent}: {', '.join(algorithms)}"
+        agent_entries = sorted(
+            key for key in spec.kwargs if key.endswith("_cfg_entry_point") and key != "env_cfg_entry_point"
+        )
+        msg = "\nExisting agent configuration entry points:"
+        if agent_entries:
+            msg += "".join(f"\n  |-- {key}" for key in agent_entries)
         # raise error
         raise ValueError(
             f"Could not find configuration for the environment: '{task_name}'."
             f"\nPlease check that the gym registry has the entry point: '{entry_point_key}'."
-            f"{msg if agents else ''}"
+            f"{msg if agent_entries else ''}"
         )
     # parse the default config file
     if isinstance(cfg_entry_point, str) and cfg_entry_point.endswith(".yaml"):
@@ -123,30 +114,49 @@ def load_cfg_from_registry(task_name: str, entry_point_key: str) -> dict | objec
         with open(config_file, encoding="utf-8") as f:
             cfg = yaml.full_load(f)
     else:
-        if callable(cfg_entry_point):
-            # resolve path to the module location
-            mod_path = inspect.getfile(cfg_entry_point)
+        try:
+            if callable(cfg_entry_point):
+                # resolve path to the module location
+                mod_path = inspect.getfile(cfg_entry_point)
+                # load the configuration
+                cfg_cls = cfg_entry_point()
+            elif isinstance(cfg_entry_point, str):
+                # resolve path to the module location
+                mod_name, attr_name = cfg_entry_point.split(":")
+                mod = importlib.import_module(mod_name)
+                cfg_cls = getattr(mod, attr_name)
+            else:
+                cfg_cls = cfg_entry_point
             # load the configuration
-            cfg_cls = cfg_entry_point()
-        elif isinstance(cfg_entry_point, str):
-            # resolve path to the module location
-            mod_name, attr_name = cfg_entry_point.split(":")
-            mod = importlib.import_module(mod_name)
-            cfg_cls = getattr(mod, attr_name)
-        else:
-            cfg_cls = cfg_entry_point
-        # load the configuration
-        print(f"[INFO]: Parsing configuration from: {cfg_entry_point}")
-        if callable(cfg_cls):
-            cfg = cfg_cls()
-        else:
-            cfg = cfg_cls
+            print(f"[INFO]: Parsing configuration from: {cfg_entry_point}")
+            if callable(cfg_cls):
+                cfg = cfg_cls()
+            else:
+                cfg = cfg_cls
+            if entry_point_key == "env_cfg_entry_point" and getattr(cfg, "actions", None) is not None:
+                from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
+
+                # Pink action implementations load lazily; report missing dependencies before simulator startup.
+                actions = cfg.actions if isinstance(cfg.actions, dict) else vars(cfg.actions)
+                if any(isinstance(action, PinkInverseKinematicsActionCfg) for action in actions.values()):
+                    for module_name in ("pinocchio", "pink", "qpsolvers", "daqp"):
+                        if importlib.util.find_spec(module_name) is None:
+                            raise ModuleNotFoundError(f"No module named '{module_name}'", name=module_name)
+        except ModuleNotFoundError as exc:
+            if exc.name not in {"pinocchio", "pink", "qpsolvers", "daqp"}:
+                raise
+            raise ImportError(
+                f"Task '{task_name}' could not load Pink IK dependency '{exc.name}'. "
+                "Pink IK requires Linux x86_64 or aarch64 with the standard Isaac Lab installation. "
+                "Install the pin, pin-pink, and daqp versions specified in pyproject.toml on a supported platform. "
+                "The standard Windows installation does not provide Pinocchio."
+            ) from exc
     return cfg
 
 
 def parse_env_cfg(
     task_name: str,
-    device: str = "cuda:0",
+    device: str | None = None,
     num_envs: int | None = None,
     use_fabric: bool | None = None,
     overrides: Sequence[str] = (),
@@ -155,7 +165,7 @@ def parse_env_cfg(
 
     Args:
         task_name: The name of the environment.
-        device: The device to run the simulation on. Defaults to "cuda:0".
+        device: The device to run the simulation on. Defaults to None, in which case it is left unchanged.
         num_envs: Number of environments to create. Defaults to None, in which case it is left unchanged.
         use_fabric: Whether to enable/disable fabric interface. If false, all read/write operations go through USD.
             This slows down the simulation but allows seeing the changes in the USD through the USD stage.
@@ -190,7 +200,8 @@ def parse_env_cfg(
         raise RuntimeError(f"Configuration for the task: '{task_name}' is not a class. Please provide a class.")
 
     # simulation device
-    cfg.sim.device = device
+    if device is not None:
+        cfg.sim.device = device
     # disable fabric to read/write through USD
     if use_fabric is not None:
         cfg.sim.use_fabric = use_fabric
diff --git a/source/isaaclab_tasks/isaaclab_tasks/utils/preset_cli.py b/source/isaaclab_tasks/isaaclab_tasks/utils/preset_cli.py
index cd7f1abbb94b..0df4272e97a6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/utils/preset_cli.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/utils/preset_cli.py
@@ -11,9 +11,9 @@
 * ``renderer=NAME``           -- typed selector for ``RendererCfg`` variants.
 * ``presets=NAME[,NAME,...]`` -- broadcast applied to every matching ``PresetCfg``.
 
-:func:`setup_preset_cli` registers preset-selection help and, for RL callers,
-agent discovery. It then runs ``parse_known_args``, returning the verbatim
-remainder. The preset tokens above are passed through unchanged; hydra's
+:func:`setup_preset_cli` registers preset-selection help, then runs
+``parse_known_args`` and returns the verbatim remainder. The preset tokens
+above are passed through unchanged; hydra's
 :func:`~isaaclab_tasks.utils.hydra.register_task` parses them directly (applying
 the names as presets and enforcing that ``physics=``/``renderer=`` resolve
 against a config of that type). Callers simply assign the remainder to
@@ -60,10 +60,7 @@
 
 
 def setup_preset_cli(
-    parser: argparse.ArgumentParser,
-    argv: list[str] | None = None,
-    *,
-    agent_library: str | None = None,
+    parser: argparse.ArgumentParser, argv: list[str] | None = None
 ) -> tuple[argparse.Namespace, list[str]]:
     """Register the preset-selection help description and parse argv.
 
@@ -90,10 +87,6 @@ def setup_preset_cli(
             argv. Help-time variant enumeration always reads ``sys.argv`` --
             the user's interactive command line is the only argv that
             triggers ``--help`` rendering.
-        agent_library: Optional RL-library prefix. When provided, task-specific
-            help lists registered ``--agent`` values and declared preset
-            compatibility.
-
     Returns:
         ``(args, remaining)`` where ``remaining`` is the verbatim output of
         ``parser.parse_known_args(argv)``, ready to hand to Hydra via
@@ -122,24 +115,12 @@ def setup_preset_cli(
     # ``renderer``) into SimulationApp config.
     parser.add_argument_group("preset selection", description=_DescriptionBuilder.build(actual_variants))
 
-    if agent_library:
-        parser.add_argument_group(
-            "agent selection",
-            description=_AgentDescriptionBuilder.build(agent_library, argv_helper.task_name),
-        )
-
     args_to_parse = sys.argv[1:] if argv is None else argv
     if "-h" in args_to_parse or "--help" in args_to_parse:
         parser.print_help()
         raise SystemExit(0)
 
-    args, remaining = parser.parse_known_args(args_to_parse)
-
-    task_name = getattr(args, "task", None) or argv_helper.task_name
-    if agent_library and getattr(args, "agent", None) is None and task_name:
-        _auto_select_agent(args, task_name, agent_library, args_to_parse)
-
-    return args, remaining
+    return parser.parse_known_args(args_to_parse)
 
 
 # ============================================================================
@@ -271,112 +252,11 @@ def _description(target: PresetTarget) -> str:
         return "broadcast: applied to every matching PresetCfg"
 
 
-class _AgentDescriptionBuilder:
-    """Render registered agent configs and declared preset compatibility."""
-
-    @staticmethod
-    def build(agent_library: str, task_name: str | None) -> str:
-        """Build help text for one RL library.
-
-        Args:
-            agent_library: RL-library prefix used to filter agent configs.
-            task_name: Gymnasium task ID, or ``None`` when task-specific help
-                was not requested.
-
-        Returns:
-            Multi-line argparse group description.
-        """
-        if task_name is None:
-            return (
-                f"Registered --agent values for {agent_library}. Pass `--task=X --help` "
-                "to see the available configs and declared preset compatibility."
-            )
-
-        agents, compatibility = _enumerate_agents(task_name, agent_library)
-        if not agents:
-            return f"Registered --agent values for {agent_library}: (none)"
-
-        lines = [f"Registered --agent values for {agent_library}:"]
-        for agent in agents:
-            suffix = " (default)" if agent == f"{agent_library}_cfg_entry_point" else ""
-            lines.append(f"    {agent}{suffix}")
-            compatible = compatibility.get(agent)
-            if compatible is not None:
-                lines.append(f"      compatible presets: {', '.join(compatible)}")
-        if not compatibility:
-            lines.extend(["", "Preset selection does not constrain --agent for this task."])
-        return "\n".join(lines)
-
-
 # ============================================================================
 # argv inspection (pre-argparse peek for help-text rendering)
 # ============================================================================
 
 
-def _auto_select_agent(
-    args: argparse.Namespace,
-    task_name: str,
-    agent_library: str,
-    argv: list[str],
-) -> None:
-    """Set ``args.agent`` when the task unambiguously implies one entry point.
-
-    Two independent selection rules are applied in order:
-
-    1. **Preset-based**: scans *argv* for ``presets=<name>`` tokens and checks
-       ``agent_preset_compatibility``. When exactly one registered entry point
-       declares compatibility with every active preset, that entry point is used.
-
-    2. **Default-absent**: when no preset is active and the canonical default
-       entry point (``<library>_cfg_entry_point``) is not registered for the
-       task, but exactly one other entry point is, that sole entry point is used.
-       This handles tasks such as ``IsaacContrib-Humanoid-AMP-*`` that only
-       support a non-default algorithm (AMP) and never register the PPO default.
-
-    Does nothing when the match is absent or ambiguous.
-
-    Args:
-        args: Parsed namespace to update in-place.
-        task_name: Gymnasium task ID used to look up the registry spec.
-        agent_library: RL-library prefix (e.g. ``"skrl"``).
-        argv: Raw argument list scanned for ``presets=`` tokens.
-    """
-    if getattr(args, "agent", None) is not None:
-        return
-
-    active_presets: set[str] = set()
-    for token in argv:
-        if token.startswith("presets="):
-            for name in token[len("presets=") :].split(","):
-                name = name.strip()
-                if name:
-                    active_presets.add(name)
-
-    try:
-        agents, compatibility = _enumerate_agents(task_name, agent_library)
-    except Exception:  # noqa: BLE001
-        return
-
-    if active_presets:
-        # Rule 1: preset-based selection via agent_preset_compatibility.
-        # Filter to only the presets that appear in the compatibility map: physics
-        # and renderer tokens can arrive via the presets= broadcast but are never
-        # declared as agent constraints, so including them would make issubset fail
-        # for every entry point and silently fall back to the wrong default.
-        all_declared = {p for declared in compatibility.values() for p in declared}
-        domain_presets = active_presets & all_declared
-        if domain_presets:
-            matches = [ep for ep, declared in compatibility.items() if domain_presets.issubset(set(declared))]
-            if len(matches) == 1:
-                args.agent = matches[0]
-        return
-
-    # Rule 2: default-absent selection.
-    default_ep = f"{agent_library}_cfg_entry_point"
-    if default_ep not in agents and len(agents) == 1:
-        args.agent = agents[0]
-
-
 class _ArgvHelper:
     """Single-pass argv scan that exposes ``task_name`` and ``help_requested``.
 
@@ -423,17 +303,6 @@ def _enumerate_variants(task_name: str) -> dict[PresetTarget, set[str]]:
     return _bucket_variants_by_target(collect_presets(env_cfg))
 
 
-def _enumerate_agents(task_name: str, agent_library: str) -> tuple[list[str], dict[str, tuple[str, ...]]]:
-    """Return registered agents and task-declared preset compatibility."""
-    import gymnasium as gym
-
-    spec = gym.spec(task_name.split(":")[-1])
-    prefix = f"{agent_library}_"
-    agents = sorted(key for key in spec.kwargs if key.startswith(prefix) and key.endswith("_cfg_entry_point"))
-    compatibility = spec.kwargs.get("agent_preset_compatibility", {})
-    return agents, {agent: tuple(presets) for agent, presets in compatibility.items() if agent in agents}
-
-
 def _bucket_variants_by_target(walked: dict) -> dict[PresetTarget, set[str]]:
     """Convert :func:`collect_presets` output into ``{target: set[name]}``.
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/utils/presets.py b/source/isaaclab_tasks/isaaclab_tasks/utils/presets.py
index ed2893288136..9812a85357ef 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/utils/presets.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/utils/presets.py
@@ -10,7 +10,7 @@
 from isaaclab_physx.renderers import IsaacRtxRendererCfg
 
 from isaaclab.renderers.renderer_cfg import RendererCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.utils import PresetCfg
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/utils/success_monitor.py b/source/isaaclab_tasks/isaaclab_tasks/utils/success_monitor.py
index 6e513f97bab7..57f08c444ce0 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/utils/success_monitor.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/utils/success_monitor.py
@@ -9,7 +9,7 @@
 
 import torch
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 @configclass
diff --git a/source/isaaclab_tasks/pyproject.toml b/source/isaaclab_tasks/pyproject.toml
index 7baacb75535f..203c4b27165d 100644
--- a/source/isaaclab_tasks/pyproject.toml
+++ b/source/isaaclab_tasks/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab_tasks"
-version = "20.1.0"
+version = "20.3.0"
 description = "Extension containing suite of environments for robot learning."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]
diff --git a/source/isaaclab_tasks/test/benchmark/test_render_benchmark_cfg.py b/source/isaaclab_tasks/test/benchmark/test_render_benchmark_cfg.py
new file mode 100644
index 000000000000..431cdfa4730e
--- /dev/null
+++ b/source/isaaclab_tasks/test/benchmark/test_render_benchmark_cfg.py
@@ -0,0 +1,130 @@
+# 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
+
+"""Tests for the ``Isaac-RenderBenchmark-Franka-Cabinet`` task's registration and presets.
+
+No Kit/GPU required: these only load and resolve the config through the registry, the same way
+:mod:`scripts.benchmarks.benchmark_renderer` selects a preset before launching a run.
+"""
+
+from types import SimpleNamespace
+
+import gymnasium as gym
+import pytest
+from isaaclab_newton.physics import NewtonCfg
+from isaaclab_newton.renderers import NewtonWarpRendererCfg
+from isaaclab_physx.physics import PhysxCfg
+
+from isaaclab.physics import PhysxAutoCfg
+
+import isaaclab_tasks  # noqa: F401
+from isaaclab_tasks.benchmark.render_benchmark.render_benchmark_env import RenderBenchmarkEnv
+from isaaclab_tasks.utils.hydra import collect_presets, resolve_presets
+from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry
+
+_TASK = "Isaac-RenderBenchmark-Franka-Cabinet"
+
+
+def _load_cfg():
+    return load_cfg_from_registry(_TASK, "env_cfg_entry_point")
+
+
+def test_task_registered_with_direct_entry_point():
+    spec = gym.spec(_TASK)
+
+    assert spec.kwargs["env_cfg_entry_point"] == (
+        "isaaclab_tasks.benchmark.render_benchmark.render_benchmark_env_cfg:RenderBenchmarkFrankaCabinetEnvCfg"
+    )
+    assert spec.disable_env_checker is True
+
+
+def test_default_scene_and_articulations():
+    cfg = _load_cfg()
+
+    assert cfg.decimation == 2
+    assert cfg.episode_length_s == pytest.approx(60.0)
+    assert cfg.scene.num_envs == 4
+    assert set(cfg.articulations) == {"robot", "cabinet"}
+    assert cfg.joint_animation_amplitude == pytest.approx(0.4)
+
+
+@pytest.mark.parametrize(
+    ("presets", "expected_type"),
+    [
+        ((), NewtonCfg),
+        (("newton_mjwarp",), NewtonCfg),
+        (("physx",), PhysxAutoCfg),
+        (("isaacsim_physx",), PhysxCfg),
+    ],
+)
+def test_physics_presets_resolve_to_expected_backend(presets, expected_type):
+    cfg = resolve_presets(_load_cfg(), selected=presets)
+
+    assert isinstance(cfg.sim.physics, expected_type)
+
+
+_CAMERA_DATA_TYPE_PRESETS = [
+    ("default", ["rgb"]),
+    ("rgb", ["rgb"]),
+    ("albedo", ["albedo"]),
+    ("depth", ["depth"]),
+    ("simple_shading_constant_diffuse", ["simple_shading_constant_diffuse"]),
+    ("simple_shading_diffuse_mdl", ["simple_shading_diffuse_mdl"]),
+    ("simple_shading_full_mdl", ["simple_shading_full_mdl"]),
+]
+
+
+@pytest.fixture(scope="module")
+def render_benchmark_presets():
+    """Collect every preset once, before any preset selection mutates the config in place."""
+    return collect_presets(_load_cfg())
+
+
+@pytest.mark.parametrize("preset_name,expected_data_types", _CAMERA_DATA_TYPE_PRESETS)
+def test_camera_presets_resolve_to_expected_data_types(render_benchmark_presets, preset_name, expected_data_types):
+    camera_presets = render_benchmark_presets["tiled_camera"]
+    assert preset_name in camera_presets, f"Preset '{preset_name}' not found in tiled_camera presets"
+    resolved = camera_presets[preset_name]
+
+    assert resolved.data_types == expected_data_types
+    assert resolved.width > 0
+    assert resolved.height > 0
+    assert isinstance(resolved.renderer_cfg.newton_renderer, NewtonWarpRendererCfg)
+
+
+def test_camera_resolution_defaults_to_256():
+    """``BENCHMARK_RENDER_RESOLUTION`` is read once at import, so its effect is process-scoped;
+    this documents the default a fresh process gets when the env var is unset."""
+    cfg = resolve_presets(_load_cfg(), selected=())
+
+    assert cfg.tiled_camera.width == 256
+    assert cfg.tiled_camera.height == 256
+
+
+def _fake_env_for_ground_cfg(ground_size: tuple[float, float], env_spacing: float) -> SimpleNamespace:
+    return SimpleNamespace(
+        cfg=SimpleNamespace(
+            ground_size=ground_size, ground_thickness=0.1, ground_color=(0.5, 0.5, 0.5), ground_top_z=0.0
+        ),
+        scene=SimpleNamespace(cfg=SimpleNamespace(env_spacing=env_spacing)),
+    )
+
+
+def test_ground_cfg_clamps_size_to_env_spacing():
+    """An oversized ground tile must be clamped, or cloned environments' grounds overlap."""
+    fake_env = _fake_env_for_ground_cfg(ground_size=(50.0, 50.0), env_spacing=3.0)
+
+    ground_cfg = RenderBenchmarkEnv._ground_cfg(fake_env)
+
+    assert ground_cfg.spawn.size[:2] == (3.0, 3.0)
+
+
+def test_ground_cfg_keeps_size_smaller_than_env_spacing():
+    """A tile already smaller than the env spacing must not be inflated."""
+    fake_env = _fake_env_for_ground_cfg(ground_size=(2.0, 1.5), env_spacing=3.0)
+
+    ground_cfg = RenderBenchmarkEnv._ground_cfg(fake_env)
+
+    assert ground_cfg.spawn.size[:2] == (2.0, 1.5)
diff --git a/source/isaaclab_tasks/test/contrib/stack/test_so101_teleop_success.py b/source/isaaclab_tasks/test/contrib/stack/test_so101_teleop_success.py
new file mode 100644
index 000000000000..e02737ab9df9
--- /dev/null
+++ b/source/isaaclab_tasks/test/contrib/stack/test_so101_teleop_success.py
@@ -0,0 +1,90 @@
+# 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
+
+"""Sim-free unit tests for the SO-101 joint-teleop success termination.
+
+The joint-teleop pipeline mirrors the leader arm's raw gripper encoder angle onto the follower 1:1,
+so the follower jaw stops wherever the operator's leader jaw does. These tests pin the gripper-open
+window that :func:`~isaaclab_tasks.contrib.stack.mdp.cubes_stacked` accepts, using the success term
+as the environment actually wires it, so a tolerance that is too tight to reach in practice cannot
+be reintroduced silently.
+"""
+
+from types import SimpleNamespace
+
+import pytest
+import torch
+
+from isaaclab_tasks.contrib.stack.config.so101.stack_joint_teleop_env_cfg import SO101CubeStackEnvCfg
+
+# Resting center-to-center distance of two stacked cubes [m], measured in sim.
+_STACK_DZ = 0.0477
+
+
+def _proxy(tensor: torch.Tensor) -> SimpleNamespace:
+    """Wrap a tensor in the ``.torch`` accessor the MDP terms read."""
+    return SimpleNamespace(torch=tensor)
+
+
+class _Scene:
+    """Minimal scene mapping. Deliberately has no ``surface_grippers`` attribute."""
+
+    def __init__(self, entities: dict):
+        self._entities = entities
+
+    def __getitem__(self, key: str):
+        return self._entities[key]
+
+
+class _Robot:
+    def __init__(self, gripper_pos: float):
+        self.data = SimpleNamespace(joint_pos=_proxy(torch.tensor([[gripper_pos]])))
+
+    def find_joints(self, names):
+        return [0], names
+
+
+def _make_env(gripper_pos: float, stacked: bool = True) -> SimpleNamespace:
+    """Build a fake env holding one stack of three cubes and a gripper at ``gripper_pos`` [rad]."""
+    # cube_1 bottom, cube_2 middle, cube_3 top, sharing an xy column.
+    heights = [0.0, _STACK_DZ, 2 * _STACK_DZ]
+    if not stacked:
+        # Swap the top two so the required bottom-to-top order no longer holds.
+        heights = [0.0, 2 * _STACK_DZ, _STACK_DZ]
+    cubes = {
+        f"cube_{i + 1}": SimpleNamespace(data=SimpleNamespace(root_pos_w=_proxy(torch.tensor([[0.3, 0.0, z]]))))
+        for i, z in enumerate(heights)
+    }
+    return SimpleNamespace(
+        scene=_Scene({"robot": _Robot(gripper_pos), **cubes}),
+        cfg=SimpleNamespace(gripper_joint_names=["gripper"], gripper_open_val=1.745),
+        device="cpu",
+    )
+
+
+def _success(gripper_pos: float, stacked: bool = True) -> bool:
+    """Evaluate the success term exactly as the joint-teleop env configures it."""
+    term = SO101CubeStackEnvCfg().terminations.success
+    return bool(term.func(_make_env(gripper_pos, stacked=stacked), **term.params)[0])
+
+
+@pytest.mark.parametrize("gripper_pos", [1.745, 1.5, 1.3])
+def test_success_fires_once_the_gripper_is_open_enough(gripper_pos):
+    """A completed stack terminates without opening the jaw to the very top of its range.
+
+    1.3 rad fails under the previous 0.2 rad tolerance, which is the regression this guards.
+    """
+    assert _success(gripper_pos)
+
+
+@pytest.mark.parametrize("gripper_pos", [0.0, 0.5, 1.2])
+def test_success_does_not_fire_while_the_gripper_is_still_closing(gripper_pos):
+    """The window still has a lower bound, so success cannot fire while the cube is held."""
+    assert not _success(gripper_pos)
+
+
+def test_success_requires_the_documented_stack_order():
+    """Cubes out of the bottom-to-top cube_1, cube_2, cube_3 order never count as stacked."""
+    assert not _success(1.745, stacked=False)
diff --git a/source/isaaclab_tasks/test/contrib/stack/test_surface_gripper_task_cfg.py b/source/isaaclab_tasks/test/contrib/stack/test_surface_gripper_task_cfg.py
new file mode 100644
index 000000000000..95c860ae9bb2
--- /dev/null
+++ b/source/isaaclab_tasks/test/contrib/stack/test_surface_gripper_task_cfg.py
@@ -0,0 +1,34 @@
+# Copyright (c) 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
+
+import pytest
+
+import isaaclab_tasks  # noqa: F401
+from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry
+
+_SURFACE_GRIPPER_TASKS = [
+    "IsaacContrib-Stack-Cube-Galbot-Right-Arm-Suction-RmpFlow",
+    "IsaacContrib-Stack-Cube-UR10-Long-Suction-IK-Rel",
+    "IsaacContrib-Stack-Cube-UR10-Short-Suction-IK-Rel",
+]
+
+
+@pytest.mark.parametrize("task_name", _SURFACE_GRIPPER_TASKS)
+def test_surface_gripper_tasks_default_to_cpu(task_name: str) -> None:
+    """Surface-gripper tasks should select their only supported simulation device."""
+    env_cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
+
+    assert env_cfg.sim.device == "cpu"
+    env_cfg.validate()
+
+
+@pytest.mark.parametrize("task_name", _SURFACE_GRIPPER_TASKS)
+def test_surface_gripper_tasks_reject_gpu_override(task_name: str) -> None:
+    """An explicit unsupported GPU device should fail during config validation."""
+    env_cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
+    env_cfg.sim.device = "cuda:0"
+
+    with pytest.raises(ValueError, match="only supported on the CPU simulation device"):
+        env_cfg.validate()
diff --git a/source/isaaclab_tasks/test/contrib/test_agibot_place_env_cfg.py b/source/isaaclab_tasks/test/contrib/test_agibot_place_env_cfg.py
new file mode 100644
index 000000000000..e52614e0f37b
--- /dev/null
+++ b/source/isaaclab_tasks/test/contrib/test_agibot_place_env_cfg.py
@@ -0,0 +1,38 @@
+# Copyright (c) 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
+
+"""Tests for Agibot place environment backend compatibility."""
+
+import pytest
+from isaaclab_newton.physics import NewtonCfg
+from isaaclab_ov.physics import OvPhysxCfg
+from isaaclab_physx.physics import PhysxCfg
+from isaaclab_visualizers.newton import NewtonGLVisualizerCfg
+
+from isaaclab_tasks.contrib.place.config.agibot.place_toy2box_rmp_rel_env_cfg import RmpFlowAgibotPlaceToy2BoxEnvCfg
+
+
+@pytest.mark.parametrize(
+    "physics_cfg",
+    (PhysxCfg(), OvPhysxCfg()),
+    ids=("isaacsim_physx", "ovphysx"),
+)
+def test_agibot_accepts_newton_visualizer_with_physx_backends(physics_cfg) -> None:
+    """NewtonGL visualization should remain available with either supported PhysX backend."""
+    env_cfg = RmpFlowAgibotPlaceToy2BoxEnvCfg()
+    env_cfg.sim.physics = physics_cfg
+    env_cfg.sim.visualizer_cfgs = NewtonGLVisualizerCfg(headless=True)
+
+    env_cfg.validate_config()
+
+
+def test_agibot_rejects_newton_physics_for_incompatible_collision_mesh() -> None:
+    """Newton physics should report the remaining asset collision-mesh limitation."""
+    env_cfg = RmpFlowAgibotPlaceToy2BoxEnvCfg()
+    env_cfg.sim.physics = NewtonCfg()
+    env_cfg.sim.visualizer_cfgs = NewtonGLVisualizerCfg(headless=True)
+
+    with pytest.raises(ValueError, match=r"generated convex collision mesh.*physics=isaacsim_physx"):
+        env_cfg.validate_config()
diff --git a/source/isaaclab_tasks/test/contrib/test_contrib_environments.py b/source/isaaclab_tasks/test/contrib/test_contrib_environments.py
index 25437c653e3c..3d2b961e244d 100644
--- a/source/isaaclab_tasks/test/contrib/test_contrib_environments.py
+++ b/source/isaaclab_tasks/test/contrib/test_contrib_environments.py
@@ -32,6 +32,11 @@
     "IsaacContrib-AutoMate-Disassembly-Direct": "Requires CUDA support outside the standard environment test runner.",
 }
 _SKIPPED_TASK_SUBSTRINGS = {
+    # Under random actions the Kamino P-ADMM solver intermittently diverges and the whole robot state
+    # (root pose, joint state) turns NaN mid-episode, so the run fails nondeterministically (about 1 in 12
+    # seeds locally; the sibling HoldPose task stays finite). The termination terms cannot catch a NaN state.
+    # Re-enable once the solver instability is resolved upstream.
+    "DrLegs-Walk": "Kamino solver intermittently produces NaN robot state under random actions.",
     "RmpFlow": "Uses SingleArticulation, which requires an update.",
     "Skillgen": "Requires cuRobo-specific coverage.",
     "Suction": "Requires CPU simulation.",
diff --git a/source/isaaclab_tasks/test/core/test_agent_preset_composition.py b/source/isaaclab_tasks/test/core/test_agent_preset_composition.py
new file mode 100644
index 000000000000..c27fa2d42fc6
--- /dev/null
+++ b/source/isaaclab_tasks/test/core/test_agent_preset_composition.py
@@ -0,0 +1,116 @@
+# 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
+
+"""Architecture and integration tests for task-owned agent preset families."""
+
+import gymnasium as gym
+import pytest
+
+import isaaclab_tasks  # noqa: F401
+from isaaclab_tasks.utils import resolve_task_config
+from isaaclab_tasks.utils.hydra import collect_presets
+from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry
+
+
+def _get(cfg, path):
+    for name in path:
+        cfg = cfg[name] if isinstance(cfg, dict) else getattr(cfg, name)
+    return cfg
+
+
+@pytest.mark.parametrize(
+    ("task", "entry_point", "preset", "env_path", "env_type", "agent_path", "agent_value"),
+    [
+        (
+            "IsaacContrib-Cartpole-Showcase-Direct",
+            "skrl_cfg_entry_point",
+            "box_discrete",
+            (),
+            "BoxDiscreteEnvCfg",
+            ("agent", "experiment", "directory"),
+            "cartpole_direct_box_discrete",
+        ),
+        (
+            "IsaacContrib-Cartpole-Camera-Showcase-Direct",
+            "skrl_cfg_entry_point",
+            "dict_discrete",
+            (),
+            "DictDiscreteEnvCfg",
+            ("agent", "experiment", "directory"),
+            "cartpole_camera_direct_dict_discrete",
+        ),
+        (
+            "Isaac-Cartpole-Camera",
+            "rsl_rl_cfg_entry_point",
+            "resnet18",
+            ("observations",),
+            "ResNet18ObservationCfg",
+            ("experiment_name",),
+            "cartpole_features",
+        ),
+        (
+            "Isaac-Cartpole-Camera",
+            "rl_games_cfg_entry_point",
+            "theia_tiny",
+            ("observations",),
+            "TheiaTinyObservationCfg",
+            ("params", "config", "name"),
+            "cartpole_features",
+        ),
+    ],
+)
+def test_shared_preset_resolves_matching_environment_and_agent(
+    task, entry_point, preset, env_path, env_type, agent_path, agent_value
+):
+    env_cfg, agent_cfg = resolve_task_config(task, entry_point, overrides=[f"presets={preset}"])
+
+    assert type(_get(env_cfg, env_path)).__name__ == env_type
+    assert _get(agent_cfg, agent_path) == agent_value
+
+
+@pytest.mark.parametrize(
+    ("task", "entry_point", "expected"),
+    [
+        ("IsaacContrib-Cartpole-Showcase-Direct", "skrl_cfg_entry_point", None),
+        ("IsaacContrib-Cartpole-Camera-Showcase-Direct", "skrl_cfg_entry_point", None),
+        ("Isaac-Cartpole-Camera", "rsl_rl_cfg_entry_point", {"resnet18", "theia_tiny"}),
+        ("Isaac-Cartpole-Camera", "rl_games_cfg_entry_point", {"resnet18", "theia_tiny"}),
+    ],
+)
+def test_agent_roots_contain_only_variants_that_change_the_agent(task, entry_point, expected):
+    env_options = set(collect_presets(load_cfg_from_registry(task, "env_cfg_entry_point"))[""])
+    agent_options = collect_presets(load_cfg_from_registry(task, entry_point))[""]
+    variants = set(agent_options) - {"default"}
+    expected = env_options - {"default", "box_box"} if expected is None else expected
+
+    assert variants == expected
+    assert variants < env_options
+    assert all(agent_options[name] != agent_options["default"] for name in variants)
+
+
+def test_missing_agent_entrypoint_diagnostic_does_not_invent_algorithm_labels():
+    with pytest.raises(ValueError) as exc_info:
+        load_cfg_from_registry("IsaacContrib-Humanoid-AMP-Walk-Direct", "skrl_missing_cfg_entry_point")
+
+    assert "skrl_cfg_entry_point" in str(exc_info.value)
+    assert "skrl_amp_cfg_entry_point" in str(exc_info.value)
+    assert "PPO" not in str(exc_info.value)
+
+
+@pytest.mark.parametrize(
+    ("task", "expected"),
+    [
+        ("IsaacContrib-Cartpole-Showcase-Direct", {"env_cfg_entry_point", "skrl_cfg_entry_point"}),
+        ("IsaacContrib-Cartpole-Camera-Showcase-Direct", {"env_cfg_entry_point", "skrl_cfg_entry_point"}),
+        (
+            "Isaac-Cartpole-Camera",
+            {"env_cfg_entry_point", "rl_games_cfg_entry_point", "rsl_rl_cfg_entry_point"},
+        ),
+    ],
+)
+def test_preset_composed_tasks_expose_only_canonical_config_roots(task, expected):
+    registered = {name for name in gym.spec(task).kwargs if name.endswith("_cfg_entry_point")}
+    assert registered == expected
+    assert "agent_preset_compatibility" not in gym.spec(task).kwargs
diff --git a/source/isaaclab_tasks/test/core/test_g1_agent_cfg.py b/source/isaaclab_tasks/test/core/test_g1_agent_cfg.py
deleted file mode 100644
index 461811f05bba..000000000000
--- a/source/isaaclab_tasks/test/core/test_g1_agent_cfg.py
+++ /dev/null
@@ -1,14 +0,0 @@
-# Copyright (c) 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
-
-from isaaclab_tasks.core.velocity.config.g1.agents.rsl_rl_ppo_cfg import G1RoughPPORunnerCfg
-from isaaclab_tasks.utils import resolve_presets
-
-
-def test_g1_rough_newton_preset_uses_extended_training_schedule():
-    """Verify MJWarp selects the tuned G1 Newton training duration."""
-    agent_cfg = resolve_presets(G1RoughPPORunnerCfg(), selected=("newton_mjwarp",))
-
-    assert agent_cfg.max_iterations == 5000
diff --git a/source/isaaclab_tasks/test/core/test_hydra.py b/source/isaaclab_tasks/test/core/test_hydra.py
index 269bdf7728f9..10fd5e1807c5 100644
--- a/source/isaaclab_tasks/test/core/test_hydra.py
+++ b/source/isaaclab_tasks/test/core/test_hydra.py
@@ -13,7 +13,7 @@
 
 import pytest
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_tasks.utils import hydra as hydra_mod
 from isaaclab_tasks.utils.hydra import (
@@ -860,24 +860,15 @@ class EnvCfgFactory:
 # =============================================================================
 
 
-def test_go2_rough_newton_mjwarp_armature_preset():
-    """Go2 rough terrain uses higher MJWarp armature without changing PhysX."""
-    from isaaclab_tasks.core.velocity.config.go2.rough_env_cfg import UnitreeGo2RoughEnvCfg
-
-    env_cfg, _ = _apply(UnitreeGo2RoughEnvCfg(), global_presets=["newton_mjwarp"])
-    assert env_cfg.scene.robot.actuators["base_legs"].armature == 0.02
-
-    env_cfg, _ = _apply(UnitreeGo2RoughEnvCfg())
-    assert env_cfg.scene.robot.actuators["base_legs"].armature == 0.0
-
-
 def test_go2_rough_legacy_newton_alias_resolves_to_newton_mjwarp():
     """Real-config alias path: ``presets=newton`` against an actual env cfg resolves to newton_mjwarp."""
+    from isaaclab_newton.physics import MJWarpSolverCfg
+
     from isaaclab_tasks.core.velocity.config.go2.rough_env_cfg import UnitreeGo2RoughEnvCfg
 
     with pytest.warns(FutureWarning, match="Preset 'newton' is deprecated"):
         env_cfg, _ = _apply(UnitreeGo2RoughEnvCfg(), global_presets=["newton"])
-    assert env_cfg.scene.robot.actuators["base_legs"].armature == 0.02
+    assert isinstance(env_cfg.sim.physics.solver_cfg, MJWarpSolverCfg)
 
 
 def test_velocity_events_newton_mjwarp_keeps_base_com_randomization():
diff --git a/source/isaaclab_tasks/test/core/test_lift_env_cfg.py b/source/isaaclab_tasks/test/core/test_lift_env_cfg.py
index 7bbf6ab3d7e6..e9ab35c1dbba 100644
--- a/source/isaaclab_tasks/test/core/test_lift_env_cfg.py
+++ b/source/isaaclab_tasks/test/core/test_lift_env_cfg.py
@@ -13,11 +13,13 @@
 from isaaclab.managers import CommandTerm
 
 from isaaclab_tasks.core.lift import mdp
+from isaaclab_tasks.core.lift.config.franka_soft.franka_soft_env_cfg import FrankaSoftEnvCfg
 from isaaclab_tasks.core.lift.mdp.commands.pose_commands import (
     CableUniformPoseCommand,
     DeformableUniformPoseCommand,
     ObjectUniformPoseCommand,
 )
+from isaaclab_tasks.utils.hydra import resolve_presets
 
 
 class _MarkerSpy:
@@ -38,6 +40,24 @@ def __init__(self, environment_ids: torch.Tensor, **assets):
         self.env_origins = torch.zeros((len(environment_ids), 3))
 
 
+@pytest.mark.parametrize(
+    ("selected_presets", "expected_physics"),
+    [
+        ((), "mujoco"),
+        (("newton_mjwarp_vbd_proxy",), "mujoco"),
+        (("isaacsim_physx",), "physx"),
+        (("physx",), "physx"),
+    ],
+)
+def test_franka_soft_robot_physics_variant_matches_backend(
+    selected_presets: tuple[str, ...], expected_physics: str
+) -> None:
+    """The Franka USD physics payload must match the selected simulation backend."""
+    cfg = resolve_presets(FrankaSoftEnvCfg(), selected=selected_presets)
+
+    assert cfg.scene.robot.spawn.variants == {"Physics": expected_physics}
+
+
 def test_camera_normalization_is_stationary() -> None:
     """RGB and depth normalization must not depend on per-frame statistics."""
     rgb = torch.tensor([0.0, 127.5, 255.0])
diff --git a/source/isaaclab_tasks/test/core/test_parse_cfg.py b/source/isaaclab_tasks/test/core/test_parse_cfg.py
index 7d4aa2fc1a99..7a73a08446f1 100644
--- a/source/isaaclab_tasks/test/core/test_parse_cfg.py
+++ b/source/isaaclab_tasks/test/core/test_parse_cfg.py
@@ -21,3 +21,56 @@ def test_parse_env_cfg_accepts_list_overrides():
     """A properly wrapped override list should apply without error."""
     env_cfg = parse_env_cfg("Isaac-Cartpole", overrides=["physics=isaacsim_physx"])
     assert env_cfg is not None
+
+
+def test_parse_env_cfg_preserves_task_device_when_omitted():
+    """An omitted device should preserve a task-specific simulation requirement."""
+    env_cfg = parse_env_cfg("IsaacContrib-Stack-Cube-Galbot-Right-Arm-Suction-RmpFlow")
+
+    assert env_cfg.sim.device == "cpu"
+    env_cfg.validate()
+
+
+def test_parse_env_cfg_applies_explicit_device_override():
+    """An explicit device should continue to override the registered task default."""
+    env_cfg = parse_env_cfg("Isaac-Cartpole", device="cpu")
+
+    assert env_cfg.sim.device == "cpu"
+
+
+@pytest.mark.parametrize("missing_module", ["pinocchio", "pink", "qpsolvers", "daqp", "unrelated_dependency"])
+def test_task_config_missing_pink_dependency(monkeypatch: pytest.MonkeyPatch, missing_module: str):
+    """Missing Pink dependencies should identify the task without hiding unrelated import errors."""
+    from isaaclab_tasks.utils import parse_cfg
+
+    task_name = "IsaacContrib-PickPlace-GR1T2-Abs"
+    original_error = ModuleNotFoundError(f"No module named '{missing_module}'", name=missing_module)
+
+    def import_missing_dependency(name: str):
+        raise original_error
+
+    monkeypatch.setattr(parse_cfg.importlib, "import_module", import_missing_dependency)
+    if missing_module == "unrelated_dependency":
+        with pytest.raises(ModuleNotFoundError) as exc_info:
+            parse_cfg.load_cfg_from_registry(task_name, "env_cfg_entry_point")
+        assert exc_info.value is original_error
+    else:
+        with pytest.raises(ImportError, match=f"{task_name}.*Pink IK requires Linux x86_64 or aarch64") as exc_info:
+            parse_cfg.load_cfg_from_registry(task_name, "env_cfg_entry_point")
+        assert exc_info.value.__cause__ is original_error
+
+
+def test_pink_task_checks_lazy_dependencies(monkeypatch: pytest.MonkeyPatch):
+    """A real Pink task must report missing dependencies even when its config imports lazily."""
+    from isaaclab_tasks.utils import parse_cfg
+
+    task_name = "IsaacContrib-PickPlace-GR1T2-Abs"
+    original_find_spec = parse_cfg.importlib.util.find_spec
+
+    def without_pinocchio(name: str, *args, **kwargs):
+        return None if name == "pinocchio" else original_find_spec(name, *args, **kwargs)
+
+    monkeypatch.setattr(parse_cfg.importlib.util, "find_spec", without_pinocchio)
+    with pytest.raises(ImportError, match=f"{task_name}.*Pink IK requires Linux x86_64 or aarch64"):
+        parse_cfg.load_cfg_from_registry(task_name, "env_cfg_entry_point")
+    assert parse_cfg.load_cfg_from_registry("Isaac-Cartpole", "env_cfg_entry_point") is not None
diff --git a/source/isaaclab_tasks/test/core/test_preset_cli.py b/source/isaaclab_tasks/test/core/test_preset_cli.py
index 1820f70185b8..6258394c060b 100644
--- a/source/isaaclab_tasks/test/core/test_preset_cli.py
+++ b/source/isaaclab_tasks/test/core/test_preset_cli.py
@@ -250,7 +250,7 @@ def test_bucket_variants_routes_by_target_match():
     from isaaclab.physics import PhysicsCfg
     from isaaclab.renderers.renderer_cfg import RendererCfg
     from isaaclab.sim import SimulationCfg
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
 
     from isaaclab_tasks.utils.preset_cli import _bucket_variants_by_target
     from isaaclab_tasks.utils.preset_target import PresetTarget
@@ -379,7 +379,7 @@ def test_help_text_branch_strings(monkeypatch, capsys, build_key, expected_phras
     """
     from isaaclab.physics import PhysicsCfg
     from isaaclab.renderers.renderer_cfg import RendererCfg
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
 
     from isaaclab_tasks.utils.hydra import preset
 
@@ -433,105 +433,36 @@ class _MixedCfg:
         assert phrase in flat, f"Missing phrase: {phrase!r}"
 
 
-def test_agent_help_lists_cartpole_camera_preset_pairings(monkeypatch, capsys):
-    """Task help lists registered agents beside their compatible presets."""
-    import isaaclab_tasks  # noqa: F401
+def test_preset_cli_has_no_agent_selection_surface():
+    """Keep the preset CLI bounded to parsing and preset help."""
+    import inspect
+    from pathlib import Path
 
-    monkeypatch.setattr("sys.argv", ["train.py", "--task", "Isaac-Cartpole-Camera", "--help"])
-    from isaaclab_tasks.utils.preset_cli import setup_preset_cli
-
-    parser = argparse.ArgumentParser(prog="train.py")
-    parser.add_argument("--task")
-    parser.add_argument("--agent", default="rl_games_cfg_entry_point")
-    with pytest.raises(SystemExit):
-        setup_preset_cli(parser, agent_library="rl_games")
-
-    output = capsys.readouterr().out
-    assert "rl_games_cfg_entry_point (default)" in output
-    assert "compatible presets: albedo, depth, rgb" in output
-    assert "rl_games_feature_cfg_entry_point" in output
-    assert "compatible presets: resnet18, theia_tiny" in output
-
-
-def test_agent_help_lists_agents_without_preset_constraints(monkeypatch, capsys):
-    """Alternate agents remain discoverable when presets do not constrain them."""
-    import isaaclab_tasks  # noqa: F401
-
-    monkeypatch.setattr("sys.argv", ["train.py", "--task", "Isaac-Cartpole", "--help"])
-    from isaaclab_tasks.utils.preset_cli import setup_preset_cli
-
-    parser = argparse.ArgumentParser(prog="train.py")
-    parser.add_argument("--task")
-    parser.add_argument("--agent", default="rsl_rl_cfg_entry_point")
-    with pytest.raises(SystemExit):
-        setup_preset_cli(parser, agent_library="rsl_rl")
-
-    output = capsys.readouterr().out
-    assert "rsl_rl_cfg_entry_point (default)" in output
-    assert "rsl_rl_with_symmetry_cfg_entry_point" in output
-    assert "Preset selection does not constrain --agent for this task." in output
-
-
-@pytest.mark.parametrize(
-    "task_name,agent_library",
-    [
-        ("Isaac-Cartpole-Camera", "rl_games"),
-        ("Isaac-Cartpole-Camera", "rsl_rl"),
-        ("IsaacContrib-Cartpole-Showcase-Direct", "skrl"),
-        ("IsaacContrib-Cartpole-Camera-Showcase-Direct", "skrl"),
-    ],
-)
-def test_agent_preset_pairings_reference_registered_agents_and_presets(task_name, agent_library):
-    """Task-owned help metadata stays aligned with live agent and preset registrations."""
-    import isaaclab_tasks  # noqa: F401
-    from isaaclab_tasks.utils.preset_cli import _enumerate_agents, _enumerate_variants
-    from isaaclab_tasks.utils.preset_target import PresetTarget
+    import isaaclab_tasks.utils.preset_cli as preset_cli
 
-    agents, compatibility = _enumerate_agents(task_name, agent_library)
-    domain_presets = _enumerate_variants(task_name)[PresetTarget.DOMAIN]
-
-    assert compatibility
-    assert set(compatibility) <= set(agents)
-    assert {preset for presets in compatibility.values() for preset in presets} <= domain_presets
-
-
-# ---------------------------------------------------------------------------
-# _auto_select_agent: preset → agent entry point wiring
-# ---------------------------------------------------------------------------
-
-
-def test_setup_preset_cli_auto_selects_agent_for_showcase_task(monkeypatch):
-    """setup_preset_cli wires the preset to the right entry point end-to-end."""
-    import isaaclab_tasks  # noqa: F401
-
-    monkeypatch.setattr("sys.argv", ["train.py", "--task", "IsaacContrib-Cartpole-Showcase-Direct"])
-    from isaaclab_tasks.utils.preset_cli import setup_preset_cli
-
-    parser = argparse.ArgumentParser(prog="train.py", add_help=False)
-    parser.add_argument("--task", default=None)
-    parser.add_argument("--agent", default=None)
-
-    argv = ["--task", "IsaacContrib-Cartpole-Showcase-Direct", "presets=box_discrete"]
-    args, _ = setup_preset_cli(parser, argv, agent_library="skrl")
-    assert args.agent == "skrl_box_discrete_cfg_entry_point"
-
-
-def test_setup_preset_cli_auto_selects_agent_when_default_absent(monkeypatch):
-    """setup_preset_cli selects the sole entry point when the default is not registered.
+    assert tuple(inspect.signature(preset_cli.setup_preset_cli).parameters) == ("parser", "argv")
+    forbidden_symbols = (
+        "_AGENT_UNSET",
+        "_AgentDescriptionBuilder",
+        "_agent_passed_explicitly",
+        "_auto_select_agent",
+        "_enumerate_agents",
+    )
+    assert not [name for name in forbidden_symbols if hasattr(preset_cli, name)]
 
-    AMP tasks only register ``skrl_amp_cfg_entry_point`` (no ``skrl_cfg_entry_point``).
-    Without this auto-select the benchmark command defaults to ``--algorithm PPO``,
-    resolves ``skrl_cfg_entry_point``, and crashes because it is not registered.
-    """
-    import isaaclab_tasks  # noqa: F401
+    repo_root = Path(__file__).resolve().parents[4]
+    paths = [*repo_root.glob("source/*/**/*.py"), *repo_root.glob("scripts/**/*.py")]
+    forbidden_kwarg = "agent_" + "library="
+    offenders = [
+        path for path in paths if "setup_preset_cli" in path.read_text() and forbidden_kwarg in path.read_text()
+    ]
+    assert not offenders
 
-    monkeypatch.setattr("sys.argv", ["train.py", "--task", "IsaacContrib-Humanoid-AMP-Walk-Direct"])
-    from isaaclab_tasks.utils.preset_cli import setup_preset_cli
 
-    parser = argparse.ArgumentParser(prog="train.py", add_help=False)
-    parser.add_argument("--task", default=None)
-    parser.add_argument("--agent", default=None)
+def test_task_registrations_have_no_preset_to_agent_maps():
+    """A shared preset name must compose config roots without a registry-side pairing table."""
+    from pathlib import Path
 
-    argv = ["--task", "IsaacContrib-Humanoid-AMP-Walk-Direct"]
-    args, _ = setup_preset_cli(parser, argv, agent_library="skrl")
-    assert args.agent == "skrl_amp_cfg_entry_point"
+    task_root = Path(__file__).resolve().parents[2] / "isaaclab_tasks"
+    offenders = [path for path in task_root.rglob("*.py") if "agent_preset_compatibility" in path.read_text()]
+    assert not offenders
diff --git a/source/isaaclab_tasks/test/core/test_reach_franka_presets.py b/source/isaaclab_tasks/test/core/test_reach_franka_presets.py
index b84a947bf124..1c6cc142eab8 100644
--- a/source/isaaclab_tasks/test/core/test_reach_franka_presets.py
+++ b/source/isaaclab_tasks/test/core/test_reach_franka_presets.py
@@ -8,14 +8,23 @@
 import pytest
 import torch
 from gymnasium.envs.registration import registry
+from isaaclab_newton.ik.newton_ik_objectives_cfg import NewtonIKPoseObjectiveCfg
+from isaaclab_newton.sim.schemas import MujocoRigidBodyCfg
+from isaaclab_physx.sim.schemas import PhysxRigidBodyCfg
 
 import isaaclab.envs.mdp as mdp
+from isaaclab.actuators import IdealPDActuatorCfg
 
 import isaaclab_tasks  # noqa: F401
-from isaaclab_tasks.utils.hydra import resolve_presets
+from isaaclab_tasks.utils.hydra import PresetCfg, resolve_presets
 from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry
+from isaaclab_tasks.utils.preset_cli import enumerate_task_presets
+from isaaclab_tasks.utils.preset_target import PresetTarget
+
+from isaaclab_assets import FRANKA_PANDA_MENAGERIE_CFG
 
 _TASK = "Isaac-Reach-Franka"
+_OSC_TASK = "Isaac-Reach-Franka-OSC"
 _CONTRIB_DIFFIK_ABS_TASK = "IsaacContrib-Reach-Franka-IK-Abs"
 
 
@@ -28,9 +37,13 @@ def _load_reach_env_cfg(task: str, *presets: str):
     return resolve_presets(cfg, selected=presets)
 
 
-def _without_actions(cfg):
+def _without_controller_dependent_cfg(cfg):
     cfg_dict = cfg.to_dict()
     cfg_dict.pop("actions")
+    cfg_dict.pop("teleop_devices")
+    for rigid_props in cfg_dict["scene"]["robot"]["spawn"]["rigid_props"]:
+        rigid_props.pop("disable_gravity", None)
+        rigid_props.pop("gravcomp", None)
     return cfg_dict
 
 
@@ -58,6 +71,9 @@ def test_reach_diffik_abs_legacy_task_is_a_deprecated_alias():
     (_TASK, ("diffik_abs", "newton_mjwarp"), "DifferentialInverseKinematicsActionCfg", "NewtonCfg"),
     (_TASK, ("diffik_abs", "ovphysx"), "DifferentialInverseKinematicsActionCfg", "OvPhysxCfg"),
     (_TASK, ("newton_ik", "newton_mjwarp"), "NewtonInverseKinematicsActionCfg", "NewtonCfg"),
+    (_OSC_TASK, (), "OperationalSpaceControllerActionCfg", "NewtonCfg"),
+    (_OSC_TASK, ("isaacsim_physx",), "OperationalSpaceControllerActionCfg", "PhysxCfg"),
+    (_OSC_TASK, ("ovphysx",), "OperationalSpaceControllerActionCfg", "OvPhysxCfg"),
     ("Isaac-Reach-UR10", (), "JointPositionActionCfg", "NewtonCfg"),
     ("Isaac-Reach-UR10", ("isaacsim_physx",), "JointPositionActionCfg", "PhysxCfg"),
     ("Isaac-Reach-UR10", ("newton_mjwarp",), "JointPositionActionCfg", "NewtonCfg"),
@@ -88,7 +104,7 @@ def test_reach_ur10_physics_presets_change_only_physics():
     assert physx_cfg == newton_cfg
 
 
-def test_reach_action_presets_change_only_the_action_configuration():
+def test_reach_action_presets_preserve_controller_independent_configuration():
     joint_pos_physx = _load_env_cfg("joint_pos", "isaacsim_physx")
     diffik_physx = _load_env_cfg("diffik", "isaacsim_physx")
     joint_pos_newton = _load_env_cfg("joint_pos", "newton_mjwarp")
@@ -96,9 +112,60 @@ def test_reach_action_presets_change_only_the_action_configuration():
     newton_ik = _load_env_cfg("newton_ik", "newton_mjwarp")
 
     assert _load_env_cfg().actions.arm_action.to_dict() == joint_pos_newton.actions.arm_action.to_dict()
-    assert _without_actions(joint_pos_physx) == _without_actions(diffik_physx)
-    assert _without_actions(joint_pos_newton) == _without_actions(diffik_newton)
-    assert _without_actions(joint_pos_newton) == _without_actions(newton_ik)
+    assert _without_controller_dependent_cfg(joint_pos_physx) == _without_controller_dependent_cfg(diffik_physx)
+    assert _without_controller_dependent_cfg(joint_pos_newton) == _without_controller_dependent_cfg(diffik_newton)
+    assert _without_controller_dependent_cfg(joint_pos_newton) == _without_controller_dependent_cfg(newton_ik)
+
+
+@pytest.mark.parametrize(
+    ("action_preset", "physics_preset"),
+    [("diffik", "isaacsim_physx"), ("newton_ik", "newton_mjwarp")],
+)
+def test_reach_relative_ik_presets_configure_six_dof_native_teleop_devices(action_preset, physics_preset):
+    cfg = _load_env_cfg(action_preset, physics_preset)
+
+    cfg.validate()
+    assert set(cfg.teleop_devices.devices) == {"keyboard", "gamepad", "spacemouse"}
+    assert all(not device_cfg.gripper_term for device_cfg in cfg.teleop_devices.devices.values())
+
+
+def test_reach_diffik_physx_configures_teleop_physics():
+    cfg = _load_env_cfg("diffik", "isaacsim_physx")
+    rigid_props = cfg.scene.robot.spawn.rigid_props
+
+    physx_props = next(props for props in rigid_props if isinstance(props, PhysxRigidBodyCfg))
+    assert physx_props.disable_gravity
+    assert physx_props.max_depenetration_velocity == pytest.approx(5.0)
+    assert not cfg.scene.robot.spawn.make_uninstanceable
+    assert cfg.scene.robot.spawn.collision_props is None
+    assert cfg.scene.robot.spawn.usd_path.endswith("/FrankaEmika/Legacy/panda_instanceable.usd")
+
+
+def test_reach_newton_ik_configures_gravity_compensation():
+    cfg = _load_env_cfg("newton_ik", "newton_mjwarp")
+    rigid_props = cfg.scene.robot.spawn.rigid_props
+
+    mujoco_props = next(props for props in rigid_props if isinstance(props, MujocoRigidBodyCfg))
+    assert mujoco_props.gravcomp == pytest.approx(1.0)
+    assert cfg.scene.robot.spawn.usd_path.endswith("/FrankaEmika/franka_panda.usda")
+
+
+def test_reach_newton_ik_uses_native_se3_command_convention():
+    cfg = _load_env_cfg("newton_ik", "newton_mjwarp")
+    pose_objectives = [
+        objective for objective in cfg.actions.arm_action.objectives if isinstance(objective, NewtonIKPoseObjectiveCfg)
+    ]
+
+    assert len(pose_objectives) == 1
+    assert pose_objectives[0].command_type == "pose"
+    assert pose_objectives[0].use_relative_mode
+    assert len(pose_objectives[0].scale) == 6
+
+
+def test_reach_default_preset_does_not_configure_se3_teleop_devices():
+    cfg = _load_env_cfg()
+
+    assert cfg.teleop_devices.devices == {}
 
 
 def test_reach_success_requires_position_and_orientation():
@@ -153,6 +220,47 @@ def get_term(self, name):
     assert torch.equal(position_only_succeeded, torch.tensor([True, False, True]))
 
 
+def test_reach_osc_effort_actuator_keeps_menagerie_velocity_limit():
+    """The zero-gain effort actuator must keep the asset's solver velocity limit; the USD authors none."""
+    cfg = _load_reach_env_cfg(_OSC_TASK)
+    arm_actuator = cfg.scene.robot.actuators["panda_arm"]
+
+    assert isinstance(arm_actuator, IdealPDActuatorCfg)
+    assert arm_actuator.stiffness == 0.0 and arm_actuator.damping == 0.0
+    assert arm_actuator.joint_velocity_limit == FRANKA_PANDA_MENAGERIE_CFG.actuators["panda_arm"].joint_velocity_limit
+
+
+def test_reach_osc_resolves_controller_preset_values_to_defaults():
+    """The OSC action term replaces the arm-controller presets, so their side effects must not leak in."""
+    cfg = _load_reach_env_cfg(_OSC_TASK)
+    cfg.validate()
+
+    physx_props = next(props for props in cfg.scene.robot.spawn.rigid_props if isinstance(props, PhysxRigidBodyCfg))
+    mujoco_props = next(props for props in cfg.scene.robot.spawn.rigid_props if isinstance(props, MujocoRigidBodyCfg))
+    preset_map = enumerate_task_presets(_OSC_TASK)
+    domain_presets = set(preset_map[PresetTarget.DOMAIN]) - set(preset_map[PresetTarget.PHYSICS])
+
+    assert not isinstance(cfg.rewards.action_magnitude.weight, PresetCfg)
+    assert cfg.rewards.action_magnitude.weight == _load_env_cfg().rewards.action_magnitude.weight
+    assert physx_props.disable_gravity is True
+    assert mujoco_props.gravcomp == pytest.approx(1.0)
+    assert cfg.teleop_devices.devices == {}
+    assert domain_presets == {"diffik_abs"}
+
+
+def test_reach_osc_diffik_abs_is_a_deprecated_no_op_alias():
+    """``presets=diffik_abs`` keeps resolving on the OSC task but warns and changes nothing."""
+    default_cfg = _load_reach_env_cfg(_OSC_TASK, "ovphysx")
+    default_cfg.validate()
+    alias_cfg = _load_reach_env_cfg(_OSC_TASK, "diffik_abs", "ovphysx")
+
+    with pytest.warns(FutureWarning, match="presets=diffik_abs"):
+        alias_cfg.validate()
+
+    assert type(alias_cfg.rewards.action_magnitude.weight) is float
+    assert alias_cfg.to_dict() == default_cfg.to_dict()
+
+
 def test_reach_newton_ik_rejects_physx():
     cfg = _load_env_cfg("newton_ik", "isaacsim_physx")
 
diff --git a/source/isaaclab_tasks/test/core/test_shadow_hand_camera_presets.py b/source/isaaclab_tasks/test/core/test_shadow_hand_camera_presets.py
index 04443abf85fb..d89f0ac6ab7a 100644
--- a/source/isaaclab_tasks/test/core/test_shadow_hand_camera_presets.py
+++ b/source/isaaclab_tasks/test/core/test_shadow_hand_camera_presets.py
@@ -15,9 +15,13 @@
    :class:`ShadowHandTiledCameraCfg` and
    :class:`~isaaclab_tasks.utils.renderer_cfg.RendererPresetCfg` resolves to the expected
    concrete config class and data types, using the real config classes.
+
+3. **Checkpoint tests** — verify that published policies resolve to their matching
+   feature-extractor checkpoints.
 """
 
 import types
+from pathlib import Path
 
 import pytest
 from isaaclab_newton.renderers import NewtonWarpRendererCfg
@@ -25,11 +29,17 @@
 
 from isaaclab.renderers import RendererCfg
 from isaaclab.sensors import CameraCfg
+from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
+from isaaclab_tasks.core.reorient.config.shadow_hand import feature_extractor as feature_extractor_module
+from isaaclab_tasks.core.reorient.config.shadow_hand.feature_extractor import FeatureExtractor, FeatureExtractorCfg
+from isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_camera_manager_env_cfg import (
+    ShadowHandCameraManagerEnvCfg,
+)
 from isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_direct_camera_env_cfg import (
     ShadowHandCameraEnvCfg,
 )
-from isaaclab_tasks.utils.hydra import collect_presets
+from isaaclab_tasks.utils.hydra import collect_presets, resolve_presets
 
 # ---------------------------------------------------------------------------
 # Helpers
@@ -243,3 +253,133 @@ def test_warp_camera_preset_compatibility(shadow_hand_camera_presets, camera_pre
             cfg.validate_config()
     else:
         cfg.validate_config()
+
+
+@pytest.mark.parametrize(
+    "env_cfg_type,presets,checkpoint_filename",
+    [
+        (
+            ShadowHandCameraManagerEnvCfg,
+            ("newton_mjwarp", "newton_renderer"),
+            "Isaac-Reorient-Cube-Shadow-Camera_newtonmjwarp_newton_rsl_rl_feature_extractor.pth",
+        ),
+        (
+            ShadowHandCameraManagerEnvCfg,
+            ("isaacsim_physx", "isaacsim_rtx"),
+            "Isaac-Reorient-Cube-Shadow-Camera_physx_rtx_rsl_rl_feature_extractor.pth",
+        ),
+        (
+            ShadowHandCameraManagerEnvCfg,
+            ("ovphysx", "ovrtx"),
+            "Isaac-Reorient-Cube-Shadow-Camera_physx_rtx_rsl_rl_feature_extractor.pth",
+        ),
+        (
+            ShadowHandCameraEnvCfg,
+            ("newton_mjwarp", "newton_renderer"),
+            "Isaac-Reorient-Cube-Shadow-Camera-Direct_newtonmjwarp_newton_rsl_rl_feature_extractor.pth",
+        ),
+        (
+            ShadowHandCameraEnvCfg,
+            ("isaacsim_physx", "isaacsim_rtx"),
+            "Isaac-Reorient-Cube-Shadow-Camera-Direct_physx_rtx_rsl_rl_feature_extractor.pth",
+        ),
+        (
+            ShadowHandCameraEnvCfg,
+            ("ovphysx", "ovrtx"),
+            "Isaac-Reorient-Cube-Shadow-Camera-Direct_physx_rtx_rsl_rl_feature_extractor.pth",
+        ),
+    ],
+)
+def test_task_presets_select_published_feature_extractor_checkpoint(
+    env_cfg_type: type,
+    presets: tuple[str, str],
+    checkpoint_filename: str,
+) -> None:
+    """Each task/backend combination must select its published feature-extractor checkpoint."""
+    env_cfg = resolve_presets(env_cfg_type(), presets)
+
+    expected_path = f"{ISAACLAB_NUCLEUS_DIR}/PretrainedCheckpoints/rsl_rl/{checkpoint_filename}"
+    assert env_cfg.feature_extractor.pretrained_checkpoint == expected_path
+
+
+@pytest.fixture
+def mocked_feature_extractor_loading(monkeypatch: pytest.MonkeyPatch) -> tuple[list[str], list[str]]:
+    """Replace the CNN and checkpoint deserializer with lightweight recording doubles."""
+    loaded_paths: list[str] = []
+    loaded_checkpoints: list[str] = []
+
+    class _FeatureExtractorNetwork:
+        def to(self, device: str) -> None:
+            pass
+
+        def load_state_dict(self, checkpoint) -> None:
+            loaded_checkpoints.append(checkpoint)
+
+        def eval(self) -> None:
+            pass
+
+    monkeypatch.setattr(
+        feature_extractor_module, "FeatureExtractorNetwork", lambda **kwargs: _FeatureExtractorNetwork()
+    )
+    monkeypatch.setattr(
+        feature_extractor_module.torch,
+        "load",
+        lambda path, weights_only: loaded_paths.append(path) or "feature extractor weights",
+    )
+    return loaded_paths, loaded_checkpoints
+
+
+def test_feature_extractor_fetches_task_configured_pretrained_checkpoint(
+    monkeypatch: pytest.MonkeyPatch,
+    tmp_path: Path,
+    mocked_feature_extractor_loading: tuple[list[str], list[str]],
+) -> None:
+    """The feature extractor must retrieve its own configured checkpoint."""
+    retrieved_paths: list[str] = []
+    checkpoint_path = tmp_path / "feature_extractor.pth"
+    checkpoint_path.touch()
+
+    def _retrieve_file_path(path: str) -> str:
+        retrieved_paths.append(path)
+        return str(checkpoint_path)
+
+    monkeypatch.setattr(feature_extractor_module, "retrieve_file_path", _retrieve_file_path)
+    published_checkpoint = "omniverse://IsaacLab/feature_extractor.pth"
+    cfg = FeatureExtractorCfg(
+        train=False,
+        load_checkpoint=True,
+        pretrained_checkpoint=published_checkpoint,
+    )
+
+    FeatureExtractor(cfg, "cpu", ["rgb"], str(tmp_path / "logs"))
+
+    loaded_paths, loaded_checkpoints = mocked_feature_extractor_loading
+    assert retrieved_paths == [published_checkpoint]
+    assert loaded_paths == [str(checkpoint_path)]
+    assert loaded_checkpoints == ["feature extractor weights"]
+
+
+def test_feature_extractor_prefers_local_training_checkpoint(
+    monkeypatch: pytest.MonkeyPatch,
+    tmp_path: Path,
+    mocked_feature_extractor_loading: tuple[list[str], list[str]],
+) -> None:
+    """Local playback must keep loading the CNN checkpoint saved with the training run."""
+    local_checkpoint = tmp_path / "cnn_100_loss.pth"
+    local_checkpoint.touch()
+    monkeypatch.setattr(
+        feature_extractor_module,
+        "retrieve_file_path",
+        lambda path: pytest.fail("The pretrained checkpoint must not be fetched when a local CNN checkpoint exists."),
+    )
+    cfg = FeatureExtractorCfg(
+        train=False,
+        load_checkpoint=True,
+        pretrained_checkpoint="omniverse://IsaacLab/feature_extractor.pth",
+    )
+
+    FeatureExtractor(cfg, "cpu", ["rgb"], str(tmp_path))
+
+    loaded_paths, loaded_checkpoints = mocked_feature_extractor_loading
+    assert loaded_paths == [str(local_checkpoint)]
+    assert loaded_checkpoints == ["feature extractor weights"]
diff --git a/source/isaaclab_tasks/test/core/test_video_recording.py b/source/isaaclab_tasks/test/core/test_video_recording.py
index cb9f189bd88a..bb7fa1d6255b 100644
--- a/source/isaaclab_tasks/test/core/test_video_recording.py
+++ b/source/isaaclab_tasks/test/core/test_video_recording.py
@@ -189,6 +189,39 @@ def test_kit_physx_records_moving_clip():
         _assert_clip_has_content(os.path.join(output_dir, "kit_0000.mp4"), "kit-physx")
 
 
+def test_multiple_headless_kit_recorders_simultaneous(monkeypatch):
+    """Multiple capture-only Kit recorders can share one visualizer."""
+    from isaaclab_visualizers.kit import KitVisualizerCfg
+
+    captured_clips: dict[str, list[np.ndarray]] = {}
+
+    class _FrameCaptureClip:
+        def __init__(self, frames: list[np.ndarray], fps: int):
+            self.frames = [frame.copy() for frame in frames]
+            self.fps = fps
+
+        def write_videofile(self, path: str, **_kwargs) -> None:
+            captured_clips[os.path.basename(path)] = self.frames
+
+    monkeypatch.setattr("isaaclab.envs.utils.video_recorder.ImageSequenceClip", _FrameCaptureClip)
+
+    with tempfile.TemporaryDirectory() as output_dir:
+        env_cfg = _cartpole_cfg(num_envs=1)
+        env_cfg.sim.visualizer_cfgs = [KitVisualizerCfg(headless=True, window_width=320, window_height=240)]
+        env_cfg.video_recorders = [
+            _recorder_cfg(output_dir, "visualizer:kit", prefix="first"),
+            _recorder_cfg(output_dir, "visualizer:kit", prefix="second"),
+        ]
+        _run_cartpole(env_cfg)
+
+    assert set(captured_clips) == {"first_0000.mp4", "second_0000.mp4"}
+    for frames in captured_clips.values():
+        stack = np.stack(frames).astype(np.float32)
+        assert len(frames) == _CLIP
+        assert max(np.count_nonzero(frame) / frame.size for frame in stack) >= _MIN_NONZERO_RATIO
+        assert stack.std(axis=0).mean() >= _MIN_MOTION_STD
+
+
 def test_kit_newton_logs_warning_on_capture(caplog):
     """source='visualizer:kit' + Newton → logs a warning and capture proceeds.
 
diff --git a/source/isaaclab_tasks/test/core/test_xr_camera_feed_presets.py b/source/isaaclab_tasks/test/core/test_xr_camera_feed_presets.py
index f128f7f47c64..cc3e5a180ddc 100644
--- a/source/isaaclab_tasks/test/core/test_xr_camera_feed_presets.py
+++ b/source/isaaclab_tasks/test/core/test_xr_camera_feed_presets.py
@@ -7,37 +7,32 @@
 from isaaclab_ov.renderers import OVRTXRendererCfg
 from isaaclab_physx.renderers import IsaacRtxRendererCfg
 
+from isaaclab_tasks.contrib.locomanip_pick_place.fixed_base_upper_body_ik_g1_env_cfg import (
+    FixedBaseUpperBodyIKG1EnvCfg,
+)
 from isaaclab_tasks.contrib.locomanip_pick_place.locomanipulation_g1_env_cfg import LocomanipulationG1EnvCfg
 from isaaclab_tasks.contrib.pick_place.pickplace_gr1t2_env_cfg import PickPlaceGR1T2EnvCfg
 from isaaclab_tasks.utils.hydra import resolve_presets
 from isaaclab_tasks.utils.presets import MultiBackendRendererCfg
 
 
-@pytest.mark.parametrize(
-    ("env_cfg_type", "camera_prim_path"),
-    [
-        (PickPlaceGR1T2EnvCfg, "{ENV_REGEX_NS}/Robot/base_link/RobotPOVCam"),
-        (LocomanipulationG1EnvCfg, "{ENV_REGEX_NS}/Robot/torso_link/head_link/RobotHeadCam"),
-    ],
-)
-def test_xr_camera_reference_tasks_select_recorded_camera(env_cfg_type, camera_prim_path):
+def test_xr_camera_reference_task_selects_recorded_camera():
     """Reference tasks use a camera beneath a prim that inherits physical-body motion."""
-    cfg = env_cfg_type()
+    cfg = PickPlaceGR1T2EnvCfg()
 
     assert cfg.isaac_teleop.xr_camera_feeds[0].camera_name == "robot_pov_cam"
     assert hasattr(cfg.observations.policy, "robot_pov_cam")
-    assert cfg.scene.robot_pov_cam.prim_path == camera_prim_path
+    assert cfg.scene.robot_pov_cam.prim_path == "{ENV_REGEX_NS}/Robot/base_link/RobotPOVCam"
     assert isinstance(cfg.scene.robot_pov_cam.renderer_cfg, MultiBackendRendererCfg)
     assert cfg.isaac_teleop.xr_camera_feeds[0].enable_dlss_ray_reconstruction is True
     assert cfg.isaac_teleop.xr_camera_feeds[0].dlss_exec_mode == "quality"
     assert cfg.num_rerenders_on_reset == 3
 
 
-def test_g1_xr_camera_uses_calibration_and_viewer_start_panel():
-    """G1 uses its calibrated head camera and the GR1T2-style panel placement."""
+def test_locomanipulation_g1_recorded_camera_uses_calibration():
+    """Locomanipulation G1 retains its calibrated camera for recorded observations."""
     cfg = LocomanipulationG1EnvCfg()
     camera_cfg = cfg.scene.robot_pov_cam
-    feed_cfg = cfg.isaac_teleop.xr_camera_feeds[0]
 
     assert camera_cfg.prim_path == "{ENV_REGEX_NS}/Robot/torso_link/head_link/RobotHeadCam"
     assert (camera_cfg.width, camera_cfg.height) == (640, 480)
@@ -47,19 +42,34 @@ def test_g1_xr_camera_uses_calibration_and_viewer_start_panel():
     assert camera_cfg.offset.pos == (0.04485, 0.0, 0.35325)
     assert camera_cfg.offset.rot == (-0.62721, 0.62721, -0.32651, 0.32651)
     assert camera_cfg.offset.convention == "ros"
-    assert cfg.isaac_teleop.xr_camera_feed_layout.placement == "viewer_start"
-    assert feed_cfg.offset_m == (0.0, -0.15)
 
 
-@pytest.mark.parametrize("env_cfg_type", [PickPlaceGR1T2EnvCfg, LocomanipulationG1EnvCfg])
-def test_xr_camera_reference_renderer_resolves_for_supported_backends(env_cfg_type):
+@pytest.mark.parametrize("env_cfg_type", [LocomanipulationG1EnvCfg, FixedBaseUpperBodyIKG1EnvCfg])
+def test_g1_tasks_do_not_enable_xr_camera_pip(env_cfg_type):
+    """G1 tasks do not present a robot camera in XR."""
+    cfg = env_cfg_type()
+
+    assert cfg.isaac_teleop.xr_camera_feeds == []
+
+
+def test_locomanipulation_g1_retains_recorded_camera():
+    """Locomanipulation retains its recorded camera without presenting it in XR."""
+    cfg = LocomanipulationG1EnvCfg()
+
+    assert hasattr(cfg.scene, "robot_pov_cam")
+    assert hasattr(cfg.observations.policy, "robot_pov_cam")
+    assert cfg.image_obs_list == ["robot_pov_cam"]
+
+
+def test_xr_camera_reference_renderer_resolves_for_supported_backends():
     """Reference cameras retain Isaac RTX defaults and OVRTX compatibility."""
-    default = resolve_presets(env_cfg_type().scene.robot_pov_cam.renderer_cfg)
+    camera_renderer_cfg = PickPlaceGR1T2EnvCfg().scene.robot_pov_cam.renderer_cfg
+    default = resolve_presets(camera_renderer_cfg)
     isaacsim_rtx = resolve_presets(
-        env_cfg_type().scene.robot_pov_cam.renderer_cfg,
+        camera_renderer_cfg,
         selected=("isaacsim_rtx",),
     )
-    ovrtx = resolve_presets(env_cfg_type().scene.robot_pov_cam.renderer_cfg, selected=("ovrtx",))
+    ovrtx = resolve_presets(camera_renderer_cfg, selected=("ovrtx",))
     expected_rtx = IsaacRtxRendererCfg()
 
     assert default == expected_rtx
diff --git a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-isaacsim_rtx_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/franka_cable/newton-isaacsim_rtx_renderer-rgb.png
index 941b453835ff..0da7f0290ac0 100644
--- a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-isaacsim_rtx_renderer-rgb.png
+++ b/source/isaaclab_tasks/test/golden_images/franka_cable/newton-isaacsim_rtx_renderer-rgb.png
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diff --git a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-isaacsim_rtx_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/franka_cable/newton-isaacsim_rtx_renderer-rgba.png
index b28d4eb5e604..7fdb25697de0 100644
--- a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-isaacsim_rtx_renderer-rgba.png
+++ b/source/isaaclab_tasks/test/golden_images/franka_cable/newton-isaacsim_rtx_renderer-rgba.png
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diff --git a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-depth.png b/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-depth.png
index 947c36d58624..39ab206ff971 100644
--- a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-depth.png
+++ b/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-depth.png
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diff --git a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-distance_to_camera.png b/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-distance_to_camera.png
index 9239ad067efb..fdd4cabe3885 100644
--- a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-distance_to_camera.png
+++ b/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-distance_to_camera.png
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diff --git a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-distance_to_image_plane.png b/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-distance_to_image_plane.png
index 947c36d58624..39ab206ff971 100644
--- a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-distance_to_image_plane.png
+++ b/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-distance_to_image_plane.png
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diff --git a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-instance_segmentation.png b/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-instance_segmentation.png
index d0b6539cfff0..1bcf36627716 100644
--- a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-instance_segmentation.png
+++ b/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-instance_segmentation.png
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index a1ac20306e4c..d63585ffde45 100644
--- a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-normals.png
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diff --git a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-semantic_segmentation.png b/source/isaaclab_tasks/test/golden_images/franka_cable/newton-newton_renderer-semantic_segmentation.png
index d0b6539cfff0..1bcf36627716 100644
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diff --git a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-ovrtx_renderer-albedo.png b/source/isaaclab_tasks/test/golden_images/franka_cable/newton-ovrtx_renderer-albedo.png
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diff --git a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-ovrtx_renderer-distance_to_camera.png b/source/isaaclab_tasks/test/golden_images/franka_cable/newton-ovrtx_renderer-distance_to_camera.png
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diff --git a/source/isaaclab_tasks/test/golden_images/franka_cable/newton-ovrtx_renderer-distance_to_image_plane.png b/source/isaaclab_tasks/test/golden_images/franka_cable/newton-ovrtx_renderer-distance_to_image_plane.png
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diff --git a/source/isaaclab_tasks/test/golden_images/lift_kuka_homo/physx-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png b/source/isaaclab_tasks/test/golden_images/lift_kuka_homo/physx-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
index a0276913aa56..7cfa183f8e9b 100644
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+++ b/source/isaaclab_tasks/test/golden_images/lift_kuka_homo/physx-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
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diff --git a/source/isaaclab_tasks/test/golden_images/lift_kuka_homo/physx-newton_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/lift_kuka_homo/physx-newton_renderer-rgb.png
index 4917ff08b6e1..fbc09d988abb 100644
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index 7dcd3443275d..66544ff5a723 100644
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diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/ovphysx-ovrtx_renderer-motion_vectors.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/ovphysx-ovrtx_renderer-motion_vectors.png
index 8586844cf710..85f602ac2d2a 100644
--- a/source/isaaclab_tasks/test/golden_images/shadow_hand/ovphysx-ovrtx_renderer-motion_vectors.png
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diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/newton-isaacsim_rtx_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/newton-isaacsim_rtx_renderer-rgb.png
index b88221206d1c..408e96fcb145 100644
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diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/newton-isaacsim_rtx_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/newton-isaacsim_rtx_renderer-rgba.png
index 1994bce0c543..68daf47b8eec 100644
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diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/newton-ovrtx-rgb.png b/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/newton-ovrtx-rgb.png
index 176aa62948d7..b0d901601f28 100644
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diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/newton-ovrtx-rgba.png b/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/newton-ovrtx-rgba.png
index 8a25ec7a0e7a..66159c7a51fb 100644
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diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/physx-isaacsim_rtx_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/physx-isaacsim_rtx_renderer-rgb.png
index 3378b86c0228..456445ff7dd7 100644
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diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/physx-isaacsim_rtx_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/physx-isaacsim_rtx_renderer-rgba.png
index f268f438cb09..8d313a5e53dc 100644
--- a/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/physx-isaacsim_rtx_renderer-rgba.png
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diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/physx-newton_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/physx-newton_renderer-rgb.png
index 8ddbc88bc95a..522edad3295e 100644
--- a/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/physx-newton_renderer-rgb.png
+++ b/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/physx-newton_renderer-rgb.png
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diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/physx-newton_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/physx-newton_renderer-rgba.png
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--- a/source/isaaclab_tasks/test/golden_images/shadow_hand_yellow_bg/physx-newton_renderer-rgba.png
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diff --git a/source/isaaclab_tasks/test/golden_stages/registered_tasks_Isaac-Reorient-Cube-Shadow-Camera-Direct/default_physics-default_renderer-stage.usda b/source/isaaclab_tasks/test/golden_stages/registered_tasks_Isaac-Reorient-Cube-Shadow-Camera-Direct/default_physics-default_renderer-stage.usda
index bac909071fa2..17db1a351a16 100644
--- a/source/isaaclab_tasks/test/golden_stages/registered_tasks_Isaac-Reorient-Cube-Shadow-Camera-Direct/default_physics-default_renderer-stage.usda
+++ b/source/isaaclab_tasks/test/golden_stages/registered_tasks_Isaac-Reorient-Cube-Shadow-Camera-Direct/default_physics-default_renderer-stage.usda
@@ -1,3 +1,3 @@
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diff --git a/source/isaaclab_tasks/test/rendering_test_utils.py b/source/isaaclab_tasks/test/rendering_test_utils.py
index ae9e85e82028..e3f6eba486ba 100644
--- a/source/isaaclab_tasks/test/rendering_test_utils.py
+++ b/source/isaaclab_tasks/test/rendering_test_utils.py
@@ -1556,7 +1556,7 @@ def rendering_test_shadow_hand(
     for data_type in data_types:
         _skip_if_newton_motion_vectors(physics_backend, data_type)
 
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
 
     from isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_direct_camera_env import ShadowHandCameraEnv
     from isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_direct_camera_env_cfg import (
@@ -1650,7 +1650,7 @@ def rendering_test_shadow_hand_yellow_bg(
     comparison_scores: list[dict],
 ) -> None:
     """Golden render test for the Shadow Hand environment with a yellow camera background (RGB only)."""
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
 
     from isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_direct_camera_env import ShadowHandCameraEnv
     from isaaclab_tasks.core.reorient.config.shadow_hand.shadow_hand_direct_camera_env_cfg import (
@@ -1708,7 +1708,7 @@ def rendering_test_cartpole(
     for data_type in data_types:
         _skip_if_newton_motion_vectors(physics_backend, data_type)
 
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
 
     from isaaclab_tasks.core.cartpole.cartpole_direct_camera_env_cfg import CartpoleCameraEnvCfg, CartpoleTiledCameraCfg
 
@@ -1857,7 +1857,7 @@ def rendering_test_lift_kuka(
 
     from isaaclab.envs import ManagerBasedRLEnv
     from isaaclab.sensors import CameraCfg
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
 
     from isaaclab_tasks.core.lift.config.kuka_allegro.camera_cfg import (
         BASE_CAMERA_CFG,
@@ -2120,7 +2120,7 @@ def _apply_franka_camera_golden_scene_overrides(env_cfg: Any, data_types: list[s
     from isaaclab.managers import ObservationGroupCfg as ObsGroup
     from isaaclab.managers import ObservationTermCfg as ObsTerm
     from isaaclab.managers import SceneEntityCfg
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
 
     @configclass
     class TestFrankaCameraObservationsCfg:
@@ -2357,7 +2357,7 @@ def rendering_test_mpm_particles(
 
     import isaaclab.sim as sim_utils
     from isaaclab.sensors import CameraCfg
-    from isaaclab.utils.configclass import configclass
+    from isaaclab.utils import configclass
 
     # The reset event calls back into UR10ParticlePushEnv.randomize_push_scene, which places the
     # pile, so the task's own env class is required here rather than a plain ManagerBasedRLEnv.
diff --git a/source/isaaclab_teleop/docs/CHANGELOG.rst b/source/isaaclab_teleop/docs/CHANGELOG.rst
index d6109587dbcc..4d6f585629fa 100644
--- a/source/isaaclab_teleop/docs/CHANGELOG.rst
+++ b/source/isaaclab_teleop/docs/CHANGELOG.rst
@@ -1,6 +1,21 @@
 Changelog
 ---------
 
+0.9.0 (2026-09-10)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added the ``ISAACLAB_CXR_ACCEPT_EULA=1`` environment variable, which accepts the NVIDIA
+  CloudXR license up front wherever Isaac Lab launches the CloudXR runtime -- both the teleop
+  session lifecycle and the process-scoped launcher in ``teleop_replay_agent.py``, which share
+  one :func:`~isaaclab_teleop.cloudxr_eula_accepted` helper. The license is separate from the
+  Omniverse one and was otherwise only ever prompted for on stdin, so headless, container and
+  CI runs aborted with
+  ``RuntimeError: CloudXR EULA was not accepted; cannot start the runtime``.
+
+
 0.8.4 (2026-09-05)
 ~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab_teleop/isaaclab_teleop/__init__.pyi b/source/isaaclab_teleop/isaaclab_teleop/__init__.pyi
index 5e07ed1c48fd..eb5c4f82838b 100644
--- a/source/isaaclab_teleop/isaaclab_teleop/__init__.pyi
+++ b/source/isaaclab_teleop/isaaclab_teleop/__init__.pyi
@@ -27,6 +27,7 @@ __all__ = [
     "XrCfg",
     "create_haptic_feedback_driver",
     "check_system_requirements",
+    "cloudxr_eula_accepted",
     "create_isaac_teleop_device",
     "poll_control_events",
     "remove_camera_configs",
@@ -51,6 +52,7 @@ from .isaac_teleop_cfg import (
     XrCameraFeedLayoutCfg,
 )
 from .isaac_teleop_device import IsaacTeleopDevice, create_isaac_teleop_device
+from .session_lifecycle import cloudxr_eula_accepted
 from .system_check import SystemCheckItem, SystemCheckResult, check_system_requirements
 from .xr_anchor_utils import XrAnchorSynchronizer
 from .xr_cfg import XrAnchorRotationMode, XrCfg, remove_camera_configs
diff --git a/source/isaaclab_teleop/isaaclab_teleop/haptic_feedback.py b/source/isaaclab_teleop/isaaclab_teleop/haptic_feedback.py
index 9ccb8c037412..cc2ce6085e9a 100644
--- a/source/isaaclab_teleop/isaaclab_teleop/haptic_feedback.py
+++ b/source/isaaclab_teleop/isaaclab_teleop/haptic_feedback.py
@@ -37,7 +37,7 @@
 import numpy as np
 import torch
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from isaaclab.envs import ManagerBasedRLEnv
diff --git a/source/isaaclab_teleop/isaaclab_teleop/isaac_teleop_cfg.py b/source/isaaclab_teleop/isaaclab_teleop/isaac_teleop_cfg.py
index f48be92bde84..a673d85187aa 100644
--- a/source/isaaclab_teleop/isaaclab_teleop/isaac_teleop_cfg.py
+++ b/source/isaaclab_teleop/isaaclab_teleop/isaac_teleop_cfg.py
@@ -12,7 +12,7 @@
 from pathlib import Path
 from typing import TYPE_CHECKING, Literal
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from .control_events import TELEOP_CONTROL_CHANNEL_UUID
 from .xr_cfg import XrCfg
diff --git a/source/isaaclab_teleop/isaaclab_teleop/session_lifecycle.py b/source/isaaclab_teleop/isaaclab_teleop/session_lifecycle.py
index 2f17c435eac5..16e7c241b8f0 100644
--- a/source/isaaclab_teleop/isaaclab_teleop/session_lifecycle.py
+++ b/source/isaaclab_teleop/isaaclab_teleop/session_lifecycle.py
@@ -29,6 +29,33 @@
 from .isaac_teleop_cfg import IsaacTeleopCfg
 from .teleop_message_processor import TeleopMessageProcessor
 
+# Opt-in acceptance of the NVIDIA CloudXR license, mirroring the ``OMNI_KIT_ACCEPT_EULA``
+# escape hatch Kit offers for the Omniverse license.
+_CXR_ACCEPT_EULA_ENV = "ISAACLAB_CXR_ACCEPT_EULA"
+# The spellings ``OMNI_KIT_ACCEPT_EULA`` and the CloudXR prompt itself both accept.
+_CXR_ACCEPT_EULA_VALUES = frozenset({"y", "yes", "1"})
+
+
+def cloudxr_eula_accepted() -> bool:
+    """Whether ``ISAACLAB_CXR_ACCEPT_EULA`` opts into the NVIDIA CloudXR license.
+
+    The CloudXR license is separate from the Omniverse one. Without this opt-in the
+    runtime prompts for it on stdin, which fails outright when no terminal is attached,
+    so headless, container and CI runs cannot start. ``y``, ``yes`` and ``1`` accept it,
+    case-insensitively and ignoring surrounding whitespace -- the spellings
+    ``OMNI_KIT_ACCEPT_EULA`` and the CloudXR prompt itself both take. Leaving the
+    variable unset, or setting any other value, keeps the interactive prompt.
+
+    Every CloudXR launch path shares this helper -- the session lifecycle here and the
+    process-scoped launcher in ``teleop_replay_agent.py`` -- so the variable behaves the
+    same whichever script starts the runtime.
+
+    Returns:
+        Whether the CloudXR license has been accepted up front.
+    """
+    return os.environ.get(_CXR_ACCEPT_EULA_ENV, "").strip().lower() in _CXR_ACCEPT_EULA_VALUES
+
+
 # The CloudXR runtime accepts at most one of these; setting both is rejected outright.
 _CXR_GPU_INDEX_ENV_VARS = ("NV_CXR_GPU_INDEX_CUDA", "NV_CXR_GPU_INDEX_VULKAN")
 
@@ -1323,6 +1350,11 @@ def _ensure_cloudxr_runtime(self) -> None:
         Auto-launch is skipped when ``auto_launch_cloudxr`` is ``False``
         or the ``ISAACLAB_CXR_SKIP_AUTOLAUNCH=1`` environment variable is
         set (the env var takes precedence).
+
+        The NVIDIA CloudXR license is separate from the Omniverse one and is
+        otherwise prompted for on stdin, which fails outright when no terminal
+        is attached. ``ISAACLAB_CXR_ACCEPT_EULA=1`` accepts it up front so
+        headless, container and CI runs can start.
         """
         if self._cloudxr_launcher is not None:
             return
@@ -1344,7 +1376,7 @@ def _ensure_cloudxr_runtime(self) -> None:
         self._cloudxr_launcher = _CloudXRLauncher(
             install_dir=str(Path.home() / ".cloudxr"),
             env_config=self._cloudxr_env_file,
-            accept_eula=False,
+            accept_eula=cloudxr_eula_accepted(),
         )
         logger.info("CloudXR runtime auto-launched")
 
diff --git a/source/isaaclab_teleop/isaaclab_teleop/xr_cfg.py b/source/isaaclab_teleop/isaaclab_teleop/xr_cfg.py
index 3a9997a3737e..7382f8570252 100644
--- a/source/isaaclab_teleop/isaaclab_teleop/xr_cfg.py
+++ b/source/isaaclab_teleop/isaaclab_teleop/xr_cfg.py
@@ -13,7 +13,7 @@
 
 import numpy as np
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 class XrAnchorRotationMode(enum.Enum):
diff --git a/source/isaaclab_teleop/pyproject.toml b/source/isaaclab_teleop/pyproject.toml
index 4c4bed7d2e49..fd039dc7b861 100644
--- a/source/isaaclab_teleop/pyproject.toml
+++ b/source/isaaclab_teleop/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab_teleop"
-version = "0.8.4"
+version = "0.9.0"
 description = "Extension providing IsaacTeleop-based teleoperation device for Isaac Lab."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]
diff --git a/source/isaaclab_teleop/test/test_cloudxr_lifecycle.py b/source/isaaclab_teleop/test/test_cloudxr_lifecycle.py
index c2a67f65d3af..18dfd52631b2 100644
--- a/source/isaaclab_teleop/test/test_cloudxr_lifecycle.py
+++ b/source/isaaclab_teleop/test/test_cloudxr_lifecycle.py
@@ -112,7 +112,7 @@ def _restore_stubs():
     CLOUDXR_JS_ENV,
     IsaacTeleopCfg,
 )
-from isaaclab_teleop.session_lifecycle import TeleopSessionLifecycle  # noqa: E402
+from isaaclab_teleop.session_lifecycle import TeleopSessionLifecycle, cloudxr_eula_accepted  # noqa: E402
 
 _restore_stubs()
 
@@ -295,6 +295,7 @@ def test_launches_with_correct_args(self):
             patch.dict(sys.modules, {"isaacteleop.cloudxr": fake_module}),
         ):
             os.environ.pop("ISAACLAB_CXR_SKIP_AUTOLAUNCH", None)
+            os.environ.pop("ISAACLAB_CXR_ACCEPT_EULA", None)
             lifecycle._ensure_cloudxr_runtime()
 
         mock_cls.assert_called_once_with(
@@ -317,6 +318,68 @@ def test_env_var_takes_precedence_over_auto_launch(self):
         assert lifecycle._cloudxr_launcher is None
 
 
+# ============================================================================
+# CloudXR EULA acceptance
+# ============================================================================
+
+
+class TestCloudXREulaAcceptance:
+    """Tests for the ``ISAACLAB_CXR_ACCEPT_EULA`` opt-in."""
+
+    @staticmethod
+    def _accept_eula_passed_to_launcher() -> bool:
+        """Run ``_ensure_cloudxr_runtime`` and return the ``accept_eula`` it passed."""
+        mock_cls = MagicMock()
+        fake_module = MagicMock()
+        fake_module.CloudXRLauncher = mock_cls
+        lifecycle = _make_lifecycle(cloudxr_env_file="/etc/cxr.env")
+
+        with patch.dict(sys.modules, {"isaacteleop.cloudxr": fake_module}):
+            lifecycle._ensure_cloudxr_runtime()
+
+        return mock_cls.call_args.kwargs["accept_eula"]
+
+    @pytest.mark.parametrize("value", ["1", " 1 ", "\t1\n", "y", "Y", "yes", "Yes", "YES"])
+    def test_accepts_affirmative_values(self, value):
+        """``y``/``yes``/``1`` accept the license, case- and whitespace-insensitively.
+
+        These are the spellings ``OMNI_KIT_ACCEPT_EULA`` takes, so a user who accepts the
+        Omniverse license the documented way can spell the CloudXR one the same.
+        """
+        with patch.dict(os.environ, {"ISAACLAB_CXR_ACCEPT_EULA": value}):
+            os.environ.pop("ISAACLAB_CXR_SKIP_AUTOLAUNCH", None)
+            assert cloudxr_eula_accepted() is True
+            assert self._accept_eula_passed_to_launcher() is True
+
+    @pytest.mark.parametrize("value", ["0", "n", "no", "true", "", "11", "1 1"])
+    def test_does_not_accept_for_other_values(self, value):
+        """Anything not affirmative leaves the interactive prompt in place."""
+        with patch.dict(os.environ, {"ISAACLAB_CXR_ACCEPT_EULA": value}):
+            os.environ.pop("ISAACLAB_CXR_SKIP_AUTOLAUNCH", None)
+            assert cloudxr_eula_accepted() is False
+            assert self._accept_eula_passed_to_launcher() is False
+
+    def test_does_not_accept_when_unset(self):
+        """Unset keeps the pre-existing behaviour."""
+        with patch.dict(os.environ, {}, clear=False):
+            os.environ.pop("ISAACLAB_CXR_ACCEPT_EULA", None)
+            os.environ.pop("ISAACLAB_CXR_SKIP_AUTOLAUNCH", None)
+            assert cloudxr_eula_accepted() is False
+            assert self._accept_eula_passed_to_launcher() is False
+
+    def test_independent_of_skip_autolaunch(self):
+        """The two CloudXR variables do not read each other's value."""
+        with patch.dict(os.environ, {"ISAACLAB_CXR_SKIP_AUTOLAUNCH": "1"}):
+            os.environ.pop("ISAACLAB_CXR_ACCEPT_EULA", None)
+            assert cloudxr_eula_accepted() is False
+
+    def test_exported_from_package_root(self):
+        """``teleop_replay_agent.py`` imports the helper from the package root, not the submodule."""
+        import isaaclab_teleop
+
+        assert isaaclab_teleop.cloudxr_eula_accepted is cloudxr_eula_accepted
+
+
 # ============================================================================
 # Lifecycle start/stop integration with CloudXR
 # ============================================================================
diff --git a/source/isaaclab_teleop/test/test_oxr_device.py b/source/isaaclab_teleop/test/test_oxr_device.py
index b574dc5d039e..be2a604a6489 100644
--- a/source/isaaclab_teleop/test/test_oxr_device.py
+++ b/source/isaaclab_teleop/test/test_oxr_device.py
@@ -30,7 +30,7 @@
 from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
 from isaaclab.envs import ManagerBasedEnv, ManagerBasedEnvCfg
 from isaaclab.scene import InteractiveSceneCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 
 class NoOpRetargeter(RetargeterBase):
diff --git a/source/isaaclab_visualizers/docs/CHANGELOG.rst b/source/isaaclab_visualizers/docs/CHANGELOG.rst
index 0b6c93d46436..5b2424c39d92 100644
--- a/source/isaaclab_visualizers/docs/CHANGELOG.rst
+++ b/source/isaaclab_visualizers/docs/CHANGELOG.rst
@@ -1,6 +1,70 @@
 Changelog
 ---------
 
+1.11.0 (2026-09-11)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added dynamic mesh logging through the public Newton visualizer interface.
+
+Changed
+^^^^^^^
+
+* Made Kit, Newton GL, and Newton RTX honor ``VisualizerCfg.background_color`` and use its solid
+  sky-blue default. Setting it to ``None`` preserved each backend's native background.
+
+Fixed
+^^^^^
+
+* Fixed :class:`~isaaclab_visualizers.newton.NewtonRTXVisualizer` so it honored its configured particle color.
+
+
+1.10.5 (2026-09-10)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed ``NewtonVisualizationMarkers.render`` and ``_ensure_mesh_registered`` allocating Warp
+  marker/mesh arrays on Warp's process-global default device instead of the viewer device.
+  Combined with ``--device cpu`` on a machine that also has a CUDA device present, this caused a
+  CUDA illegal memory access when the ``newton_gl`` visualizer rendered marker overlays.
+
+
+1.10.4 (2026-09-09)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed :class:`~isaaclab_visualizers.kit.kit_visualization_markers.KitVisualizationMarkers`
+  rebuilding its scene-partition tokens on every frame. Marker ownership is now cached and the
+  ``primvars:omni:scenePartition`` primvar is only re-authored when the environment IDs change,
+  avoiding a device-to-host copy and one token string per marker on unchanged frames. A device
+  synchronization from comparing the cached and incoming environment IDs still occurs every call.
+  This noticeably improves throughput for camera tasks at high environment counts.
+* Fixed :class:`~isaaclab_visualizers.newton.NewtonRTXVisualizer` hanging the process when
+  combined with the Kit-based ``physx`` physics backend (i.e. ``presets=isaacsim_physx``).
+  OVRTX is a kitless renderer and previously crashed inside the render thread on the first
+  ``step()``, which left the process stuck instead of exiting. It now raises a clear
+  ``RuntimeError`` from ``initialize()`` naming the incompatible combination and the supported
+  alternatives. The kitless ``ovphysx`` backend is unaffected and remains supported.
+
+
+1.10.3 (2026-09-08)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed :class:`~isaaclab_visualizers.newton.newton_visualizer.NewtonRTXVisualizer` releasing its viewer
+  without first neutralizing picking callbacks and calling the viewer's :meth:`close`, which left its ordered
+  GPU teardown to the garbage collector and intermittently leaked render step results and attribute bindings
+  on shutdown.
+
+
 1.10.2 (2026-09-04)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualization_markers.py b/source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualization_markers.py
index 7aca82d5f029..0a08a12db7b4 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualization_markers.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualization_markers.py
@@ -41,6 +41,14 @@ class KitVisualizationMarkers:
     .. _UsdGeom.PointInstancer: https://graphics.pixar.com/usd/dev/api/class_usd_geom_point_instancer.html
     """
 
+    # Marker ownership is static in most tasks, but ``visualize`` runs every frame. These memoize
+    # the resolved partition tokens, the tensor they came from, and the tokens currently authored,
+    # so unchanged environment IDs skip the device-to-host copy, token rebuild, and USD write. The
+    # cached-vs-incoming tensor comparison itself still synchronizes the device every call.
+    _environment_ids_source: torch.Tensor | None = None
+    _authored_environment_ids: tuple[int, ...] | None = None
+    _scene_partitioning_active: bool = False
+
     def __init__(self, cfg: VisualizationMarkersCfg, visible: bool = True):
         """Initialize the USD point instancer and register marker prototypes.
 
@@ -146,11 +154,14 @@ def visualize(
                 # changes and explicit marker indices are not provided.
                 self._instancer_manager.GetProtoIndicesAttr().Set([0] * num_markers)
         if environment_ids is not None:
-            self._environment_ids = tuple(int(env_id) for env_id in environment_ids.detach().cpu().tolist())
+            if not self._matches_cached_environment_ids(environment_ids):
+                self._environment_ids_source = environment_ids.detach().clone()
+                self._environment_ids = tuple(int(env_id) for env_id in self._environment_ids_source.cpu().tolist())
             if num_markers == 0:
                 num_markers = len(self._environment_ids)
         elif num_markers != 0 and num_markers != previous_count:
             self._environment_ids = None
+            self._environment_ids_source = None
         if num_markers != 0:
             self._count = num_markers
         self._sync_scene_partition_primvar()
@@ -164,12 +175,20 @@ def _sync_scene_partition_primvar(self) -> None:
         """
         from pxr import Sdf, UsdGeom, Vt  # noqa: PLC0415
 
+        target_ids = self._environment_ids if self._scene_partitioning_is_active() else None
+        # The tuple is rebuilt only when marker ownership changes, so identity is enough to tell
+        # that the authored tokens are still current. Skipping the write keeps the renderer from
+        # rebuilding its partition data on frames where nothing moved between environments.
+        if target_ids is self._authored_environment_ids:
+            return
+
         primvars_api = UsdGeom.PrimvarsAPI(self._instancer_manager.GetPrim())
         # PrimvarsAPI adds the ``primvars:`` namespace, matching the env-root attribute.
         primvar = primvars_api.GetPrimvar("omni:scenePartition")
-        if self._environment_ids is None or not self._scene_partitioning_is_active():
+        if target_ids is None:
             if primvar:
                 primvar.GetAttr().Clear()
+            self._authored_environment_ids = None
             return
 
         if not primvar:
@@ -184,7 +203,19 @@ def _sync_scene_partition_primvar(self) -> None:
             raise RuntimeError(
                 f"Expected '{primvar.GetAttr().GetPath()}' to have type TokenArray. Received: {primvar.GetTypeName()}."
             )
-        primvar.Set(Vt.TokenArray([f"env_{env_id}" for env_id in self._environment_ids]))
+        primvar.Set(Vt.TokenArray([f"env_{env_id}" for env_id in target_ids]))
+        self._authored_environment_ids = target_ids
+
+    def _matches_cached_environment_ids(self, environment_ids: torch.Tensor) -> bool:
+        """Return whether ``environment_ids`` still describes the cached marker ownership."""
+        cached = self._environment_ids_source
+        return (
+            cached is not None
+            and cached.shape == environment_ids.shape
+            and cached.dtype == environment_ids.dtype
+            and cached.device == environment_ids.device
+            and bool(torch.equal(cached, environment_ids))
+        )
 
     def _scene_partitioning_is_active(self) -> bool:
         """Return whether renderer stage preparation authored environment partitions.
@@ -192,11 +223,16 @@ def _scene_partitioning_is_active(self) -> bool:
         Renderer preparation always starts with ``env_0``, so its root is the
         canonical stage-level signal regardless of which environments own markers.
         """
+        # Markers can be created before the renderer prepares the stage, so a negative result is
+        # re-checked. Partitions are never withdrawn from a stage, so a positive one is cached.
+        if self._scene_partitioning_active:
+            return True
         env_prim = self.stage.GetPrimAtPath("/World/envs/env_0")
         if not env_prim.IsValid():
             return False
         attr = env_prim.GetAttribute("primvars:omni:scenePartition")
-        return attr.IsValid() and attr.Get() is not None
+        self._scene_partitioning_active = attr.IsValid() and attr.Get() is not None
+        return self._scene_partitioning_active
 
     def _add_markers_prototypes(self, markers_cfg: dict[str, sim_utils.SpawnerCfg]) -> None:
         """Add marker prototypes to the scene and register them with the point instancer."""
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer.py b/source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer.py
index c5993222c711..fe7df906686c 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer.py
@@ -161,6 +161,8 @@ def initialize(self, scene_data_provider: SceneDataProvider) -> None:
 
         self._ensure_simulation_app()
         self._setup_viewport()
+        if self._viewport_api is not None:
+            self._apply_render_product_background(usd_stage, self._viewport_api.render_product_path)
 
         self._env_ids = self._compute_visualized_env_ids()
         self._resolved_visible_env_ids = resolve_visible_env_indices(self._env_ids, self.cfg.max_visible_envs, num_envs)
@@ -179,6 +181,7 @@ def initialize(self, scene_data_provider: SceneDataProvider) -> None:
             rows=[
                 ("eye", self.cfg.eye),
                 ("lookat", self.cfg.lookat),
+                ("background_color", self.cfg.background_color),
                 ("streaming_view", self.cfg.streaming_view),
                 ("streaming_gt_types", list(self.cfg.streaming_gt_types)),
                 ("max_visible_envs", self.cfg.max_visible_envs),
@@ -287,6 +290,7 @@ def render_rgb_array(self) -> np.ndarray:
         # captured frame contains real rendered output, not empty/blank data.
         if self._rgb_annotator is None:
             self._rgb_render_product = rep.create.render_product(camera_path, (w, h))
+            self._apply_render_product_background(self._scene_data_provider.usd_stage, self._rgb_render_product.path)
             self._rgb_annotator = rep.AnnotatorRegistry.get_annotator("rgb", device="cpu")
             self._rgb_annotator.attach([self._rgb_render_product])
         elif self._runtime_headless and self._rgb_render_product is not None:
@@ -574,6 +578,24 @@ def _ensure_simulation_app(self) -> None:
         except ImportError:
             pass
 
+    def _apply_render_product_background(self, stage: Usd.Stage, render_product_path: str | Sdf.Path) -> None:
+        """Apply the configured solid background to an Isaac RTX render product."""
+        if self.cfg.background_color is None:
+            return
+        render_product = stage.GetPrimAtPath(render_product_path)
+        if not render_product.IsValid():
+            logger.warning(
+                "[KitVisualizer] Render product '%s' was not found; background was not applied.",
+                render_product_path,
+            )
+            return
+
+        with Usd.EditContext(stage, stage.GetSessionLayer()), Sdf.ChangeBlock():
+            render_product.CreateAttribute("omni:rtx:background:source:type", Sdf.ValueTypeNames.Token).Set("color")
+            render_product.CreateAttribute("omni:rtx:background:source:color", Sdf.ValueTypeNames.Float3).Set(
+                Gf.Vec3f(*self.cfg.background_color)
+            )
+
     def _setup_viewport(self) -> None:
         """Create/resolve viewport and configure initial camera."""
         if self._runtime_headless:
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer_cfg.py b/source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer_cfg.py
index c43495d230a0..f04a0c23d7a4 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer_cfg.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/kit/kit_visualizer_cfg.py
@@ -9,7 +9,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers.visualizer_cfg import VisualizerCfg
 
 if TYPE_CHECKING:
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualization_markers.py b/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualization_markers.py
index 1023ca1ad5a9..7165e80fc61b 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualization_markers.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualization_markers.py
@@ -163,6 +163,8 @@ def render(self, viewer: ViewerBase, visible_env_ids: list[int] | None, num_envs
         if translations is None:
             return
 
+        device = viewer.device
+
         for proto_index, (name, marker_cfg) in enumerate(self.cfg.markers.items()):
             newton_cfg = self._marker_specs[name]
             batch_name = f"{self.group_id}/{name}"
@@ -215,10 +217,10 @@ def render(self, viewer: ViewerBase, visible_env_ids: list[int] | None, num_envs
                 viewer.log_instances(
                     batch_name,
                     mesh_name,
-                    wp.array(xforms.astype(np.float32), dtype=wp.transform),
-                    wp.array(selected_scales.detach().cpu().numpy().astype(np.float32), dtype=wp.vec3),
-                    wp.array(colors.detach().cpu().numpy().astype(np.float32), dtype=wp.vec3),
-                    wp.array(materials.detach().cpu().numpy().astype(np.float32), dtype=wp.vec4),
+                    wp.array(xforms.astype(np.float32), dtype=wp.transform, device=device),
+                    wp.array(selected_scales.detach().cpu().numpy().astype(np.float32), dtype=wp.vec3, device=device),
+                    wp.array(colors.detach().cpu().numpy().astype(np.float32), dtype=wp.vec3, device=device),
+                    wp.array(materials.detach().cpu().numpy().astype(np.float32), dtype=wp.vec4, device=device),
                     hidden=False,
                 )
             elif newton_cfg.renderer == "frame":
@@ -226,9 +228,9 @@ def render(self, viewer: ViewerBase, visible_env_ids: list[int] | None, num_envs
                 width = max(float(selected_scales.mean().item()) * 0.05, 0.0025)
                 viewer.log_lines(
                     batch_name,
-                    wp.array(starts.detach().cpu().numpy().astype(np.float32), dtype=wp.vec3),
-                    wp.array(ends.detach().cpu().numpy().astype(np.float32), dtype=wp.vec3),
-                    wp.array(colors.detach().cpu().numpy().astype(np.float32), dtype=wp.vec3),
+                    wp.array(starts.detach().cpu().numpy().astype(np.float32), dtype=wp.vec3, device=device),
+                    wp.array(ends.detach().cpu().numpy().astype(np.float32), dtype=wp.vec3, device=device),
+                    wp.array(colors.detach().cpu().numpy().astype(np.float32), dtype=wp.vec3, device=device),
                     width=width,
                     hidden=False,
                 )
@@ -252,14 +254,17 @@ def _ensure_mesh_registered(self, viewer: ViewerBase, mesh_name: str, newton_cfg
         mesh = _create_mesh(newton_cfg)
         normals_arr = mesh.normals
         uvs_arr = mesh.uvs
+        device = viewer.device
         viewer.log_mesh(
             mesh_name,
-            wp.array(mesh.vertices.astype(np.float32), dtype=wp.vec3),
-            wp.array(mesh.indices.astype(np.int32), dtype=wp.int32),
-            normals=wp.array(normals_arr.astype(np.float32), dtype=wp.vec3)
+            wp.array(mesh.vertices.astype(np.float32), dtype=wp.vec3, device=device),
+            wp.array(mesh.indices.astype(np.int32), dtype=wp.int32, device=device),
+            normals=wp.array(normals_arr.astype(np.float32), dtype=wp.vec3, device=device)
             if normals_arr is not None and normals_arr.size
             else None,
-            uvs=wp.array(uvs_arr.astype(np.float32), dtype=wp.vec2) if uvs_arr is not None and uvs_arr.size else None,
+            uvs=wp.array(uvs_arr.astype(np.float32), dtype=wp.vec2, device=device)
+            if uvs_arr is not None and uvs_arr.size
+            else None,
             texture=newton_cfg.texture,
             hidden=True,
         )
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py b/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py
index 4932332aa3da..4f70bf5e20ce 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer.py
@@ -12,6 +12,7 @@
 import math
 import os
 import sys
+from dataclasses import dataclass
 from typing import TYPE_CHECKING, Any
 
 import numpy as np  # noqa: F401 — used in type hints and colorization helpers
@@ -85,6 +86,26 @@ def _newton_scalar_base_name(name: str) -> str:
 CONTACT_ARROW_LENGTH = 0.1
 """Length of synthesized contact arrows in meters."""
 
+
+@dataclass(frozen=True)
+class _MeshSubmission:
+    """Mesh data staged for the next Newton viewer frame."""
+
+    name: str
+    points: wp.array
+    indices: wp.array
+    normals: wp.array | None
+    uvs: wp.array | None
+    texture: np.ndarray | str | None
+    hidden: bool
+    backface_culling: bool
+    color: tuple[float, float, float] | None
+    roughness: float | None
+    metallic: float | None
+    dynamic: bool
+    opacity: float | None
+
+
 if TYPE_CHECKING:
     from newton import State
 
@@ -615,6 +636,7 @@ def __init__(
         *args,
         metadata: dict | None = None,
         update_frequency: int = 1,
+        background_color: tuple[float, float, float] | None = None,
         render_settings: dict[str, Any] | None = None,
         **kwargs,
     ):
@@ -624,31 +646,17 @@ def __init__(
             *args: Positional arguments forwarded to ``ViewerRTX``.
             metadata: Optional metadata shown in viewer panels.
             update_frequency: Viewer refresh cadence in simulation frames.
+            background_color: Optional solid background color RGB [0, 1].
             render_settings: Extra RTX attributes to author on the render product. See
                 :attr:`~isaaclab_visualizers.newton.NewtonRTXVisualizerCfg.render_settings`.
             **kwargs: Keyword arguments forwarded to ``ViewerRTX``.
         """
-        # Patch environment so OVRTX's CRenderApiLibLoader can find libovrtx.dylib.so.
-        # libovrtx-dynamic.so's built-in RPATH uses paths from the original deploy layout
-        # which don't match the pip install layout. LD_LIBRARY_PATH (read by glibc at each
-        # dlopen call) and OMNI_USD_PLUGINS_BASE_PATH (read by CRenderApiLibLoader) redirect
-        # the search to the correct location.
-        if sys.platform.startswith("linux"):
-            import importlib.util as _ilu
-            import pathlib as _pl
-
-            _spec = _ilu.find_spec("ovrtx")
-            if _spec is not None:
-                _bin = _pl.Path(_spec.origin).parent / "bin"
-                _extra = os.pathsep.join([str(_bin / "plugins" / "rtx"), str(_bin / "plugins"), str(_bin)])
-                _ld = os.environ.get("LD_LIBRARY_PATH", "")
-                if str(_bin / "plugins" / "rtx") not in _ld:
-                    os.environ["LD_LIBRARY_PATH"] = _extra + (os.pathsep + _ld if _ld else "")
-                os.environ.setdefault("OMNI_USD_PLUGINS_BASE_PATH", str(_bin))
-
         # Assigned before super().__init__(): ViewerRTX reaches
         # _add_camera_lights_and_render_product() during initialization, and the override reads
-        # this. Copied so a caller's dict cannot mutate the viewer's settings afterwards.
+        # these values. The render settings are copied so a caller cannot mutate them afterwards.
+        self._background_color = (
+            tuple(float(value) for value in background_color) if background_color is not None else None
+        )
         self._render_settings = dict(render_settings or {})
 
         super().__init__(*args, **kwargs)
@@ -658,6 +666,7 @@ def __init__(
         self._metadata = metadata or {}
         self._update_frequency = update_frequency
         self._color_edit3_prefers_sequence: bool | None = None
+        self.particle_color: tuple[float, float, float] | None = None
 
         from isaaclab.utils.backend_utils import FactoryBase
 
@@ -671,6 +680,12 @@ def __init__(
         # the GUI is available); the panel patch is applied in _init_window() below.
         self.register_ui_callback(self._render_training_controls, position="side")
 
+    def log_points(self, name, points, radii=None, colors=None, hidden=False):
+        """Apply the configured color to Newton's canonical particle batch."""
+        if name == "/model/particles" and points is not None and self.particle_color is not None:
+            colors = self.particle_color
+        return super().log_points(name, points, radii, colors, hidden)
+
     def _add_camera_lights_and_render_product(self) -> None:
         """Author the configured RTX attributes onto the render product.
 
@@ -678,11 +693,16 @@ def _add_camera_lights_and_render_product(self) -> None:
         reads that export, so later edits are ignored.
         """
         super()._add_camera_lights_and_render_product()
-        if not self._render_settings:
+        if self._background_color is None and not self._render_settings:
             return
-        from pxr import Sdf
+        from pxr import Gf, Sdf
 
         prim = self.stage.GetPrimAtPath(self._render_product_path)
+        if self._background_color is not None:
+            prim.CreateAttribute("omni:rtx:background:source:type", Sdf.ValueTypeNames.Token).Set("color")
+            prim.CreateAttribute("omni:rtx:background:source:color", Sdf.ValueTypeNames.Color3f).Set(
+                Gf.Vec3f(*self._background_color)
+            )
         for name, (type_name, value) in self._render_settings.items():
             value_type = getattr(Sdf.ValueTypeNames, type_name, None)
             if value_type is None:
@@ -1008,6 +1028,7 @@ def __init__(self, cfg: NewtonVisualizerCfg):
         self._scene_cameras: dict = {}
         self._scene_camera_names: list[str] = []
         self._active_camera_idx: int = 0
+        self._pending_mesh_submissions: dict[str, _MeshSubmission] = {}
 
     # ------------------------------------------------------------------
     # Shared lifecycle
@@ -1027,6 +1048,22 @@ def initialize(self, scene_data_provider: SceneDataProvider) -> None:
             return
 
         scene_data_provider = self._set_scene_data_provider(scene_data_provider)
+        if isinstance(self, NewtonRTXVisualizer) and self.physics_backend in ("physx", "isaacsim_physx"):
+            # OVRTX is a kitless renderer and cannot share a process with Kit. "physx" is the
+            # runtime name FactoryBase._get_backend() reports for the resolved PhysxManager
+            # (covers both an explicit `physics=isaacsim_physx` and the `physics=physx` auto
+            # selector once it resolves to Kit); "isaacsim_physx" is checked too in case a
+            # future/alternate backend-name source reports the explicit selector string
+            # instead. ovphysx is itself kitless, so it is not affected. Left unchecked,
+            # OVRTX's native loader crashes inside the render thread on first step() instead
+            # of failing here, which hangs the process instead of exiting.
+            raise RuntimeError(
+                f"[{type(self).__name__}] Newton RTX (OVRTX) cannot be used with physics backend"
+                f" {self.physics_backend!r}. It is a kitless renderer and cannot run in the same process as Kit"
+                " (isaacsim_physx). Use `presets=newton_mjwarp,ovrtx` or `presets=ovphysx,ovrtx` with"
+                " `--viz newton_rtx`, or switch to `--viz newton_gl`, `--viz viser`, `--viz rerun`, or"
+                " `--viz kit` with a Kit-compatible physics backend."
+            )
         newton_backend_active = self.physics_backend == "newton"
         physics_manager = SimulationContext.instance().physics_manager
         picking_supported = newton_backend_active and bool(
@@ -1102,6 +1139,7 @@ def initialize(self, scene_data_provider: SceneDataProvider) -> None:
                 ("eye", current_eye),
                 ("lookat", self._last_camera_pose[1] if self._last_camera_pose else self.cfg.lookat),
                 ("focal_length", self.cfg.focal_length),
+                ("background_color", self.cfg.background_color),
                 ("streaming_view", self.cfg.streaming_view),
                 ("streaming_gt_types", list(self.cfg.streaming_gt_types)),
                 ("num_visualized_envs", num_visualized_envs),
@@ -1175,6 +1213,7 @@ def step(self, dt: float) -> None:
                     if self._state is not None:
                         body_q = getattr(self._state, "body_q", None)
                         if hasattr(body_q, "shape") and body_q.shape[0] == 0:
+                            self._log_pending_meshes()
                             return
                         self._viewer.log_state(self._state)
                         contacts = NewtonManager.get_contacts()
@@ -1190,6 +1229,7 @@ def step(self, dt: float) -> None:
                             )
                         self._log_streaming_image()
                         self._render_live_plots()
+                    self._log_pending_meshes()
                 finally:
                     self._viewer.end_frame()
                     if not self._viewer.is_running():
@@ -1208,7 +1248,13 @@ def step(self, dt: float) -> None:
                     "[%s] Permanently disabling viewer after unrecoverable initialization failure.",
                     type(self).__name__,
                 )
-                self._viewer = None
+                try:
+                    self._release_viewer()
+                except Exception:
+                    # This handler exists so an unusable viewer disables itself
+                    # instead of aborting training, so a viewer that also fails
+                    # to close must not escape it either.
+                    logger.exception("[%s] Viewer teardown failed.", type(self).__name__)
 
     def is_reset_requested(self) -> bool:
         """Return whether an episode reset was requested via the viewer UI."""
@@ -1244,21 +1290,54 @@ def reset(self, soft: bool = False) -> None:
             if self._picking_enabled:
                 self._viewer_picking_binding.bind(self._viewer)
 
+    def _release_viewer(self) -> None:
+        """Release the viewer this visualizer owns and drop the reference to it.
+
+        The visualizer owns the viewer it creates. Before closing it, the
+        stable picking callback is neutralized so it cannot retain or call the
+        viewer after release. The RTX viewer owns GPU resources that it
+        releases in a fixed order:
+        ``ViewerRTX.close()`` waits on the in-flight render, drops the retained
+        step results, unbinds the transform attribute binding and only then
+        releases the ``ovrtx.Renderer``.  Dropping the reference without
+        closing leaves that ordering to the garbage collector, which does not
+        guarantee one; when the renderer is finalized before the resources
+        bound to it, it tears itself down with them still live and leaks them.
+
+        The reference is cleared in a ``finally`` block so an unusable viewer
+        is never retained, while the teardown failure itself still reaches the
+        caller. ``ViewerGL.close()`` is intentionally not called because its
+        renderer cannot be recreated reliably in the same Kit process.
+        """
+        viewer = self._viewer
+        if viewer is None:
+            return
+        try:
+            if self._picking_enabled:
+                # Keep the stable callback registered: captured graphs replay
+                # its now-neutral device inputs without retaining the viewer.
+                self._viewer_picking_binding.deactivate()
+            if isinstance(viewer, NewtonViewerRTX):
+                viewer.close()
+        finally:
+            self._viewer = None
+
     def close(self) -> None:
         """Release viewer resources."""
         if self._is_closed:
             return
-        if self._picking_enabled:
-            # Keep the stable callback registered: captured graphs replay its
-            # now-neutral device inputs without retaining the viewer.
-            self._viewer_picking_binding.deactivate()
-        if self._viewer is not None:
-            self._viewer = None
-        if self._camera_sensor is not None and self._camera_is_owned:
-            evict_visualizer_camera(self._streaming_camera_key)
-            remove_generated_prims(self._generated_camera_prim_paths)
-        self._camera_sensor = None
-        self._is_closed = True
+        try:
+            self._release_viewer()
+        finally:
+            self._pending_mesh_submissions.clear()
+            # A viewer that fails to close must not strand the camera prims or
+            # leave the visualizer looking open; the failure still propagates
+            # to the caller, which logs it and drops the visualizer.
+            if self._camera_sensor is not None and self._camera_is_owned:
+                evict_visualizer_camera(self._streaming_camera_key)
+                remove_generated_prims(self._generated_camera_prim_paths)
+            self._camera_sensor = None
+            self._is_closed = True
 
     def is_running(self) -> bool:
         """Return whether the visualizer should continue stepping."""
@@ -1305,6 +1384,88 @@ def set_camera_view(
         self.cfg.lookat = target_t
         self._apply_camera_pose((eye_t, target_t))
 
+    def log_mesh(
+        self,
+        name: str,
+        points: wp.array[wp.vec3],
+        indices: wp.array[wp.int32] | wp.array[wp.uint32],
+        normals: wp.array[wp.vec3] | None = None,
+        uvs: wp.array[wp.vec2] | None = None,
+        texture: np.ndarray | str | None = None,
+        hidden: bool = False,
+        backface_culling: bool = True,
+        color: tuple[float, float, float] | None = None,
+        roughness: float | None = None,
+        metallic: float | None = None,
+        dynamic: bool = False,
+        opacity: float | None = None,
+    ) -> None:
+        """Stage a mesh registration or update for the next Newton viewer frame.
+
+        Newton viewers require geometry updates between ``begin_frame()`` and
+        ``end_frame()``. Staging here keeps that lifecycle internal to the
+        visualizer and lets callers submit meshes before :meth:`step`.
+
+        Args:
+            name: Unique viewer path for the mesh.
+            points: Vertex positions [m].
+            indices: Flattened triangle vertex indices.
+            normals: Optional per-vertex normals.
+            uvs: Optional per-vertex texture coordinates.
+            texture: Optional texture path or image.
+            hidden: Whether to hide the mesh.
+            backface_culling: Whether to cull back-facing triangles.
+            color: Optional RGB base color in ``[0, 1]``.
+            roughness: Optional surface roughness in ``[0, 1]``.
+            metallic: Optional surface metallic value in ``[0, 1]``.
+            dynamic: Whether the mesh topology may change between updates.
+            opacity: Optional surface opacity in ``[0, 1]``.
+
+        Raises:
+            RuntimeError: If the Newton viewer has not been initialized.
+        """
+        if not self._is_initialized or self._viewer is None:
+            raise RuntimeError("Newton visualizer must be initialized before logging meshes.")
+        self._pending_mesh_submissions[name] = _MeshSubmission(
+            name=name,
+            points=points,
+            indices=indices,
+            normals=normals,
+            uvs=uvs,
+            texture=texture,
+            hidden=hidden,
+            backface_culling=backface_culling,
+            color=color,
+            roughness=roughness,
+            metallic=metallic,
+            dynamic=dynamic,
+            opacity=opacity,
+        )
+
+    def _log_pending_meshes(self) -> None:
+        """Publish staged meshes inside the active viewer frame."""
+        if self._viewer is None or not self._pending_mesh_submissions:
+            return
+
+        submissions = tuple(self._pending_mesh_submissions.values())
+        self._pending_mesh_submissions.clear()
+        for mesh in submissions:
+            self._viewer.log_mesh(
+                mesh.name,
+                mesh.points,
+                mesh.indices,
+                normals=mesh.normals,
+                uvs=mesh.uvs,
+                texture=mesh.texture,
+                hidden=mesh.hidden,
+                backface_culling=mesh.backface_culling,
+                color=mesh.color,
+                roughness=mesh.roughness,
+                metallic=mesh.metallic,
+                dynamic=mesh.dynamic,
+                opacity=mesh.opacity,
+            )
+
     # ------------------------------------------------------------------
     # Hook methods — override in subclasses
     # ------------------------------------------------------------------
@@ -2000,11 +2161,17 @@ def _apply_viewer_post_init(self) -> None:
         self._viewer.scaling = 1.0
         self._viewer.particle_color = self.cfg.particle_color
         self._viewer.renderer.draw_shadows = self.cfg.enable_shadows
-        self._viewer.renderer.draw_sky = self.cfg.enable_sky
         self._viewer.renderer.draw_wireframe = self.cfg.enable_wireframe
         # Accept list/tuple/array-like config colors; provide a stable tuple for nanobind conversion.
-        self._viewer.renderer.sky_upper = self._viewer._coerce_color3(self.cfg.sky_upper_color)
-        self._viewer.renderer.sky_lower = self._viewer._coerce_color3(self.cfg.sky_lower_color)
+        if self.cfg.background_color is None:
+            self._viewer.renderer.draw_sky = self.cfg.enable_sky
+            upper_color = self.cfg.sky_upper_color
+            lower_color = self.cfg.sky_lower_color
+        else:
+            self._viewer.renderer.draw_sky = False
+            upper_color = lower_color = self.cfg.background_color
+        self._viewer.renderer.sky_upper = self._viewer._coerce_color3(upper_color)
+        self._viewer.renderer.sky_lower = self._viewer._coerce_color3(lower_color)
         self._viewer.renderer._light_color = self._viewer._coerce_color3(self.cfg.light_color)
 
     def _apply_camera_pose(
@@ -2025,7 +2192,11 @@ def _apply_camera_focal_length(self) -> None:
         self._viewer.camera.fov = self._focal_length_to_vertical_fov_degrees()
 
     def _pump_paused(self) -> None:
-        self._viewer._update()
+        self._viewer.begin_frame(self._sim_time)
+        try:
+            self._log_pending_meshes()
+        finally:
+            self._viewer.end_frame()
 
     def render_rgb_array(self) -> np.ndarray:
         """Return the latest RGB frame rendered by the Newton GL viewer.
@@ -2054,6 +2225,7 @@ def render_rgb_array(self) -> np.ndarray:
                         self._resolved_visible_env_ids,
                         num_envs=NewtonManager.get_num_envs(),
                     )
+                self._log_pending_meshes()
             finally:
                 self._viewer.end_frame()
         return self._viewer.get_frame().numpy()
@@ -2133,10 +2305,8 @@ class NewtonRTXVisualizer(NewtonVisualizer):
     The tiled camera panel remains disabled because ``ViewerRTX.log_image`` has no
     display sink.
 
-    .. note::
-        RTX render quality settings (fps, lighting environment, denoiser, etc.)
-        use ``ViewerRTX`` defaults. These will be exposed in a future revision
-        consistently with other RTX-capable renderers.
+    A solid background can be configured through :class:`NewtonRTXVisualizerCfg`. Other RTX
+    settings use ``ViewerRTX`` defaults unless supplied through ``render_settings``.
     """
 
     def __init__(self, cfg: NewtonRTXVisualizerCfg):
@@ -2161,9 +2331,14 @@ def _create_viewer(self, runtime_headless: bool, metadata: dict) -> NewtonViewer
             metadata=metadata,
             update_frequency=self.cfg.update_frequency,
             environment=self.cfg.rtx_environment,
+            background_color=self.cfg.background_color,
             render_settings=self.cfg.render_settings,
         )
 
+    def _apply_viewer_post_init(self) -> None:
+        """Apply RTX-specific renderer settings after viewer construction."""
+        self._viewer.particle_color = self.cfg.particle_color
+
     def _apply_camera_pose(
         self,
         pose: tuple[tuple[float, float, float], tuple[float, float, float]],
@@ -2199,7 +2374,10 @@ def _pump_paused(self) -> None:
         # samples on it, producing a progressively cleaner image while paused.
         # Note: full RTX render cost is incurred every tick even while paused.
         self._viewer.begin_frame(self._sim_time)
-        self._viewer.end_frame()
+        try:
+            self._log_pending_meshes()
+        finally:
+            self._viewer.end_frame()
 
     def render_rgb_array(self) -> np.ndarray | None:
         """Return the latest RGB frame rendered by the Newton RTX viewer.
@@ -2218,6 +2396,7 @@ def render_rgb_array(self) -> np.ndarray | None:
             self._viewer.begin_frame(self._sim_time)
             try:
                 self._viewer.log_state(self._state)
+                self._log_pending_meshes()
             finally:
                 self._viewer.end_frame()
         return self._viewer.get_frame()
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer_cfg.py b/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer_cfg.py
index 78d2d093d3d7..b159d980f1be 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer_cfg.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/newton/newton_visualizer_cfg.py
@@ -10,7 +10,7 @@
 import warnings
 from typing import TYPE_CHECKING, Any
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers.visualizer_cfg import VisualizerCfg
 
 if TYPE_CHECKING:
@@ -32,7 +32,8 @@ class NewtonVisualizerCfg(VisualizerCfg):
     # Deprecated alias: "newton" routes to the GL backend via simulation_context._VISUALIZER_ALIASES.
     visualizer_type: str = "newton_gl"
 
-    def __post_init__(self):
+    def __post_init__(self) -> None:
+        super().__post_init__()
         if type(self) is NewtonVisualizerCfg:
             warnings.warn(
                 "NewtonVisualizerCfg is deprecated and will be removed in a future release. "
@@ -95,7 +96,7 @@ def __post_init__(self):
     """Enable shadow rendering."""
 
     enable_sky: bool = True
-    """Enable sky rendering."""
+    """Enable procedural sky rendering when ``background_color`` is ``None``."""
 
     enable_wireframe: bool = False
     """Enable wireframe rendering."""
@@ -145,10 +146,7 @@ class NewtonRTXVisualizerCfg(NewtonVisualizerCfg):
     ``begin_frame / log_state / end_frame`` step interface as the GL backend.
 
     .. note::
-        RTX render quality settings (fps, lighting environment, denoiser, etc.)
-        are not yet exposed here; ``ViewerRTX`` defaults are used. These will be
-        surfaced in a future revision in a way that is consistent across all
-        RTX-capable renderers.
+        Lighting environment and denoiser settings use ``ViewerRTX`` defaults.
 
     ``render_rgb_array()`` captures the path-traced LDR framebuffer at
     :attr:`window_width` by :attr:`window_height`. The tiled camera panel remains
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer_cfg.py b/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer_cfg.py
index 3b176b7fa779..f7c57e485fde 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer_cfg.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/rerun/rerun_visualizer_cfg.py
@@ -9,7 +9,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers.visualizer_cfg import VisualizerCfg
 
 if TYPE_CHECKING:
diff --git a/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer_cfg.py b/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer_cfg.py
index 7dfea16001ad..564c37188e2a 100644
--- a/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer_cfg.py
+++ b/source/isaaclab_visualizers/isaaclab_visualizers/viser/viser_visualizer_cfg.py
@@ -9,7 +9,7 @@
 
 from typing import TYPE_CHECKING
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers.visualizer_cfg import VisualizerCfg
 
 if TYPE_CHECKING:
diff --git a/source/isaaclab_visualizers/pyproject.toml b/source/isaaclab_visualizers/pyproject.toml
index 969cbed65af9..b09466bae007 100644
--- a/source/isaaclab_visualizers/pyproject.toml
+++ b/source/isaaclab_visualizers/pyproject.toml
@@ -9,7 +9,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "isaaclab-visualizers"
-version = "1.10.2"
+version = "1.11.0"
 description = "Visualizer backends for Isaac Lab (Kit, Newton, Rerun, Viser)."
 license = {text = "BSD-3-Clause"}
 authors = [{name = "Isaac Lab Project Developers"}]
diff --git a/source/isaaclab_visualizers/test/golden_images/anymal_d/newton-kit-tiled.png b/source/isaaclab_visualizers/test/golden_images/anymal_d/newton-kit-tiled.png
index e1490d8ea448..8abced6704ff 100644
Binary files a/source/isaaclab_visualizers/test/golden_images/anymal_d/newton-kit-tiled.png and b/source/isaaclab_visualizers/test/golden_images/anymal_d/newton-kit-tiled.png differ
diff --git a/source/isaaclab_visualizers/test/golden_images/anymal_d/newton-kit-viewport.png b/source/isaaclab_visualizers/test/golden_images/anymal_d/newton-kit-viewport.png
index 822b5779ae43..85cc3829913e 100644
Binary files a/source/isaaclab_visualizers/test/golden_images/anymal_d/newton-kit-viewport.png and b/source/isaaclab_visualizers/test/golden_images/anymal_d/newton-kit-viewport.png differ
diff --git a/source/isaaclab_visualizers/test/golden_images/anymal_d/newton-newton-tiled.png b/source/isaaclab_visualizers/test/golden_images/anymal_d/newton-newton-tiled.png
index 5f621887a8a2..d2154eddc960 100644
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diff --git a/source/isaaclab_visualizers/test/golden_images/anymal_d/newton-newton-viewport.png b/source/isaaclab_visualizers/test/golden_images/anymal_d/newton-newton-viewport.png
index 3f0b8afbd252..4705ece63afe 100644
Binary files a/source/isaaclab_visualizers/test/golden_images/anymal_d/newton-newton-viewport.png and b/source/isaaclab_visualizers/test/golden_images/anymal_d/newton-newton-viewport.png differ
diff --git a/source/isaaclab_visualizers/test/golden_images/anymal_d/physx-kit-tiled.png b/source/isaaclab_visualizers/test/golden_images/anymal_d/physx-kit-tiled.png
index 01caa8cc5e4f..d1fa5d07cc90 100644
Binary files a/source/isaaclab_visualizers/test/golden_images/anymal_d/physx-kit-tiled.png and b/source/isaaclab_visualizers/test/golden_images/anymal_d/physx-kit-tiled.png differ
diff --git a/source/isaaclab_visualizers/test/golden_images/anymal_d/physx-kit-viewport.png b/source/isaaclab_visualizers/test/golden_images/anymal_d/physx-kit-viewport.png
index 75d50b2ae8fd..0f815dcfecdb 100644
Binary files a/source/isaaclab_visualizers/test/golden_images/anymal_d/physx-kit-viewport.png and b/source/isaaclab_visualizers/test/golden_images/anymal_d/physx-kit-viewport.png differ
diff --git a/source/isaaclab_visualizers/test/golden_images/anymal_d/physx-newton-tiled.png b/source/isaaclab_visualizers/test/golden_images/anymal_d/physx-newton-tiled.png
index 246fc8beef60..3e89c5464c3c 100644
Binary files a/source/isaaclab_visualizers/test/golden_images/anymal_d/physx-newton-tiled.png and b/source/isaaclab_visualizers/test/golden_images/anymal_d/physx-newton-tiled.png differ
diff --git a/source/isaaclab_visualizers/test/golden_images/anymal_d/physx-newton-viewport.png b/source/isaaclab_visualizers/test/golden_images/anymal_d/physx-newton-viewport.png
index 63928b954bf4..23a77c9f3462 100644
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diff --git a/source/isaaclab_visualizers/test/test_kit_visualizer_scene_partitioning.py b/source/isaaclab_visualizers/test/test_kit_visualizer_scene_partitioning.py
index 8fd7304f10a5..8266291287b5 100644
--- a/source/isaaclab_visualizers/test/test_kit_visualizer_scene_partitioning.py
+++ b/source/isaaclab_visualizers/test/test_kit_visualizer_scene_partitioning.py
@@ -12,12 +12,35 @@
 import torch
 from isaaclab_visualizers.kit.kit_visualization_markers import KitVisualizationMarkers
 from isaaclab_visualizers.kit.kit_visualizer import KitVisualizer
+from isaaclab_visualizers.kit.kit_visualizer_cfg import KitVisualizerCfg
 
 from pxr import Sdf, Usd, UsdGeom
 
 from isaaclab.utils.renderers import ISAAC_RTX_SHOW_ALL_PARTITIONS_BY_DEFAULT_SETTING
 
 
+@pytest.mark.parametrize("color", [(0.1, 0.2, 0.3), None])
+def test_background_color_applies_to_render_product_session_layer(
+    color: tuple[float, float, float] | None,
+) -> None:
+    stage = Usd.Stage.CreateInMemory()
+    render_product = stage.DefinePrim("/Render/Viewport", "RenderProduct")
+    visualizer = KitVisualizer(KitVisualizerCfg(background_color=color))
+
+    visualizer._apply_render_product_background(stage, render_product.GetPath())
+
+    source_type = render_product.GetAttribute("omni:rtx:background:source:type")
+    source_color = render_product.GetAttribute("omni:rtx:background:source:color")
+    if color is None:
+        assert not source_type.IsValid()
+        assert not source_color.IsValid()
+    else:
+        assert source_type.Get() == "color"
+        assert tuple(source_color.Get()) == pytest.approx(color)
+        assert stage.GetRootLayer().GetAttributeAtPath("/Render/Viewport.omni:rtx:background:source:type") is None
+        assert stage.GetRootLayer().GetAttributeAtPath("/Render/Viewport.omni:rtx:background:source:color") is None
+
+
 @pytest.mark.parametrize(("show_global_view", "expected_partition"), [(True, None), (False, "env_2")])
 def test_viewport_camera_partition_follows_global_view_setting(
     monkeypatch: pytest.MonkeyPatch, show_global_view: bool, expected_partition: str | None
diff --git a/source/isaaclab_visualizers/test/test_newton_adapter.py b/source/isaaclab_visualizers/test/test_newton_adapter.py
index 334a3c021552..45828483ba05 100644
--- a/source/isaaclab_visualizers/test/test_newton_adapter.py
+++ b/source/isaaclab_visualizers/test/test_newton_adapter.py
@@ -22,7 +22,7 @@
 )
 from isaaclab_visualizers.newton import newton_visualization_markers as newton_markers
 from isaaclab_visualizers.newton import newton_visualizer as newton_visualizer_module
-from isaaclab_visualizers.newton.newton_visualizer import NewtonViewerGL, _eye_lookat_to_pitch_yaw
+from isaaclab_visualizers.newton.newton_visualizer import NewtonViewerGL, NewtonViewerRTX, _eye_lookat_to_pitch_yaw
 from isaaclab_visualizers.newton_adapter import (
     VISUALIZER_INFINITE_PLANE_SIZE,
     apply_viewer_visible_worlds,
@@ -125,6 +125,71 @@ def test_newton_visualizer_cfg_exposes_viewer_options():
     assert cfg.particle_color == (0.1, 0.2, 0.3)
 
 
+def test_newton_visualizer_log_mesh_stages_for_next_frame():
+    viewer = Mock()
+    visualizer = _make_newton_visualizer(None)
+    visualizer._viewer = viewer
+    points = wp.zeros(3, dtype=wp.vec3)
+    indices = wp.zeros(3, dtype=wp.int32)
+    normals = wp.zeros(3, dtype=wp.vec3)
+
+    visualizer.log_mesh(
+        "/surface",
+        points,
+        indices,
+        normals=normals,
+        color=(0.1, 0.2, 0.3),
+        roughness=0.2,
+        dynamic=True,
+        opacity=0.35,
+    )
+
+    viewer.log_mesh.assert_not_called()
+    visualizer._log_pending_meshes()
+
+    viewer.log_mesh.assert_called_once_with(
+        "/surface",
+        points,
+        indices,
+        normals=normals,
+        uvs=None,
+        texture=None,
+        hidden=False,
+        backface_culling=True,
+        color=(0.1, 0.2, 0.3),
+        roughness=0.2,
+        metallic=None,
+        dynamic=True,
+        opacity=0.35,
+    )
+    assert visualizer._pending_mesh_submissions == {}
+
+
+def test_newton_visualizer_log_mesh_keeps_latest_submission_per_name():
+    viewer = Mock()
+    visualizer = _make_newton_visualizer(None)
+    visualizer._viewer = viewer
+    points_0 = wp.zeros(3, dtype=wp.vec3)
+    points_1 = wp.zeros(6, dtype=wp.vec3)
+    indices = wp.zeros(3, dtype=wp.int32)
+
+    visualizer.log_mesh("/surface", points_0, indices, dynamic=True)
+    visualizer.log_mesh("/surface", points_1, indices, dynamic=True)
+    visualizer._log_pending_meshes()
+
+    viewer.log_mesh.assert_called_once()
+    assert viewer.log_mesh.call_args.args[:3] == ("/surface", points_1, indices)
+
+
+def test_newton_visualizer_log_mesh_requires_initialized_viewer():
+    visualizer = _make_newton_visualizer(None)
+    points = wp.zeros(3, dtype=wp.vec3)
+    indices = wp.zeros(3, dtype=wp.int32)
+
+    with pytest.raises(RuntimeError, match="must be initialized"):
+        visualizer.log_mesh("/surface", points, indices)
+
+
 def test_newton_marker_registry_lifecycle(monkeypatch: pytest.MonkeyPatch):
     """Construction caches the registry; close survives context teardown and is idempotent."""
 
@@ -421,6 +486,36 @@ def _log_points(self, name, points, radii=None, colors=None, hidden=False):
     assert colors is custom_colors
 
 
+def test_newton_rtx_viewer_particle_color_override(monkeypatch):
+    from newton.viewer import ViewerRTX
+
+    viewer = NewtonViewerRTX.__new__(NewtonViewerRTX)
+    viewer.particle_color = (0.1, 0.2, 0.3)
+    points = wp.zeros(4, dtype=wp.vec3, device="cpu")
+    calls = []
+
+    def _log_points(self, name, points, radii=None, colors=None, hidden=False):
+        calls.append((name, points, radii, colors, hidden))
+
+    monkeypatch.setattr(ViewerRTX, "log_points", _log_points)
+
+    viewer.log_points("/model/particles", points, colors=None)
+
+    name, _, _, colors, hidden = calls[-1]
+    assert name == "/model/particles"
+    assert hidden is False
+    assert colors == (0.1, 0.2, 0.3)
+
+
+def test_newton_rtx_visualizer_applies_particle_color():
+    visualizer = NewtonRTXVisualizer(NewtonRTXVisualizerCfg(particle_color=(0.1, 0.2, 0.3)))
+    visualizer._viewer = SimpleNamespace(particle_color=None)
+
+    visualizer._apply_viewer_post_init()
+
+    assert visualizer._viewer.particle_color == (0.1, 0.2, 0.3)
+
+
 def test_newton_viewer_fast_paths_all_active_mpm_particles(monkeypatch):
     import newton as nt
 
@@ -484,22 +579,31 @@ class _Viewer:
     def __init__(self):
         self.device = "cpu"
         self.show_contacts = False
+        self.paused = False
         self.logged_state = None
         self.logged_contacts = None
         self.logged_arrows = None
+        self.logged_mesh = None
+        self.events = []
+        self.closed = False
 
     def is_paused(self):
-        return False
+        return self.paused
 
     def is_running(self):
         return True
 
     def begin_frame(self, _time):
-        pass
+        self.events.append("begin_frame")
 
     def log_state(self, state):
+        self.events.append("log_state")
         self.logged_state = state
 
+    def log_mesh(self, name, points, indices, **kwargs):
+        self.events.append("log_mesh")
+        self.logged_mesh = (name, points, indices, kwargs)
+
     def log_contacts(self, contacts, state):
         self.logged_contacts = (contacts, state)
 
@@ -507,7 +611,11 @@ def log_arrows(self, name, starts, ends, colors):
         self.logged_arrows = (name, starts, ends, colors)
 
     def end_frame(self):
-        pass
+        self.events.append("end_frame")
+
+    def close(self):
+        # Mirrors ViewerBase.close(), which every real viewer inherits.
+        self.closed = True
 
     def get_frame(self):
         return SimpleNamespace(numpy=lambda: np.zeros((4, 6, 3), dtype=np.uint8))
@@ -634,6 +742,79 @@ def test_newton_visualizer_logs_native_contacts_when_available(monkeypatch):
     assert viewer.logged_contacts == (contacts, state)
 
 
+def test_newton_visualizer_logs_staged_mesh_inside_frame(monkeypatch):
+    from isaaclab_newton.physics import NewtonManager
+
+    state = SimpleNamespace(body_q=_BodyQ())
+    viewer = _Viewer()
+    visualizer = _make_newton_visualizer(viewer)
+    points = wp.zeros(3, dtype=wp.vec3)
+    indices = wp.zeros(3, dtype=wp.int32)
+
+    monkeypatch.setattr(NewtonManager, "get_state", lambda _scene_data_provider=None: state)
+    monkeypatch.setattr(NewtonManager, "get_contacts", lambda: None)
+    monkeypatch.setattr(NewtonManager, "get_num_envs", lambda: 1)
+
+    visualizer.log_mesh("/surface", points, indices, dynamic=True)
+    visualizer.step(0.1)
+
+    assert viewer.events == ["begin_frame", "log_state", "log_mesh", "end_frame"]
+    assert viewer.logged_mesh == (
+        "/surface",
+        points,
+        indices,
+        {
+            "normals": None,
+            "uvs": None,
+            "texture": None,
+            "hidden": False,
+            "backface_culling": True,
+            "color": None,
+            "roughness": None,
+            "metallic": None,
+            "dynamic": True,
+            "opacity": None,
+        },
+    )
+
+
+def test_newton_visualizer_logs_staged_mesh_for_bodyless_state(monkeypatch):
+    from isaaclab_newton.physics import NewtonManager
+
+    state = SimpleNamespace(body_q=SimpleNamespace(shape=(0,)))
+    viewer = _Viewer()
+    visualizer = _make_newton_visualizer(viewer)
+    points = wp.zeros(3, dtype=wp.vec3)
+    indices = wp.zeros(3, dtype=wp.int32)
+
+    monkeypatch.setattr(NewtonManager, "get_state", lambda _scene_data_provider=None: state)
+    monkeypatch.setattr(NewtonManager, "get_num_envs", lambda: 1)
+
+    visualizer.log_mesh("/surface", points, indices, dynamic=True)
+    visualizer.step(0.1)
+
+    assert viewer.events == ["begin_frame", "log_mesh", "end_frame"]
+    assert viewer.logged_state is None
+
+
+def test_newton_gl_visualizer_logs_staged_mesh_while_paused(monkeypatch):
+    from isaaclab_newton.physics import NewtonManager
+
+    viewer = _Viewer()
+    viewer.paused = True
+    visualizer = _make_newton_visualizer(viewer)
+    points = wp.zeros(3, dtype=wp.vec3)
+    indices = wp.zeros(3, dtype=wp.int32)
+
+    monkeypatch.setattr(NewtonManager, "get_num_envs", lambda: 1)
+
+    visualizer.log_mesh("/surface", points, indices, dynamic=True)
+    visualizer.step(0.1)
+
+    assert viewer.events == ["begin_frame", "log_mesh", "end_frame"]
+    assert viewer.logged_state is None
+
+
 def test_newton_visualizer_headless_renders_frame_on_demand(monkeypatch):
     """Headless EGL should defer rendering until a frame is requested."""
     from isaaclab_newton.physics import NewtonManager
@@ -759,6 +940,8 @@ def test_ensure_mesh_registered_handles_none_normals_and_uvs(monkeypatch):
     log_calls = []
 
     class _LoggingViewer:
+        device = "cpu"
+
         def log_mesh(self, name, vertices, indices, normals=None, uvs=None, texture=None, hidden=True):
             log_calls.append({"normals": normals, "uvs": uvs})
 
@@ -783,6 +966,44 @@ def test_newton_visualizer_cfg_distinct_types():
     # shared fields present on both
     assert NewtonGLVisualizerCfg().show_particles is False
     assert NewtonRTXVisualizerCfg().show_particles is False
+    assert NewtonGLVisualizerCfg().background_color == (0.3, 0.55, 0.82)
+    assert NewtonRTXVisualizerCfg().background_color == (0.3, 0.55, 0.82)
+    with pytest.raises(ValueError, match="three normalized RGB values"):
+        NewtonGLVisualizerCfg(background_color=(0.0, -0.1, 1.0))
+
+
+@pytest.mark.parametrize("color", [(0.1, 0.2, 0.3), None])
+def test_newton_gl_background_color(color: tuple[float, float, float] | None) -> None:
+    cfg = NewtonGLVisualizerCfg(background_color=color)
+    visualizer = NewtonGLVisualizer(cfg)
+    visualizer._viewer = SimpleNamespace(
+        renderer=SimpleNamespace(),
+        _coerce_color3=lambda value: tuple(value),
+    )
+
+    visualizer._apply_viewer_post_init()
+
+    assert visualizer._viewer.renderer.draw_sky == (color is None)
+    expected_upper = cfg.sky_upper_color if color is None else color
+    expected_lower = cfg.sky_lower_color if color is None else color
+    assert visualizer._viewer.renderer.sky_upper == expected_upper
+    assert visualizer._viewer.renderer.sky_lower == expected_lower
+
+
+@pytest.mark.parametrize("color", [(0.1, 0.2, 0.3), None])
+def test_newton_rtx_receives_background_color(
+    monkeypatch: pytest.MonkeyPatch, color: tuple[float, float, float] | None
+) -> None:
+    kwargs = {}
+    monkeypatch.setattr(
+        newton_visualizer_module,
+        "NewtonViewerRTX",
+        lambda **viewer_kwargs: kwargs.update(viewer_kwargs) or object(),
+    )
+
+    NewtonRTXVisualizer(NewtonRTXVisualizerCfg(background_color=color))._create_viewer(False, {})
+
+    assert kwargs["background_color"] == color
 
 
 def test_eye_lookat_to_pitch_yaw_horizontal():
@@ -946,6 +1167,37 @@ def test_newton_rtx_visualizer_streaming_view_enabled():
     assert visualizer_off._uses_streaming_view() is False
 
 
+@pytest.mark.parametrize("backend", ["physx", "isaacsim_physx"])
+def test_newton_rtx_visualizer_rejects_kit_physics_backend(monkeypatch, backend):
+    """OVRTX is kitless and must fail fast instead of crashing the render thread on first step().
+
+    "physx" is what FactoryBase._get_backend() reports at runtime (covers both an explicit
+    ``physics=isaacsim_physx`` and the ``physics=physx`` auto selector once resolved to Kit);
+    "isaacsim_physx" is checked too in case a future/alternate backend-name source reports the
+    explicit selector string instead.
+    """
+    from isaaclab.visualizers.base_visualizer import BaseVisualizer
+
+    monkeypatch.setattr(BaseVisualizer, "physics_backend", property(lambda self: backend))
+    visualizer = NewtonRTXVisualizer(NewtonRTXVisualizerCfg())
+
+    with pytest.raises(RuntimeError, match="Newton RTX"):
+        visualizer.initialize(Mock())
+
+
+def test_newton_rtx_visualizer_allows_ovphysx_backend(monkeypatch):
+    """ovphysx is itself kitless, so it must not trip the Kit-only guard (unlike physx)."""
+    from isaaclab.visualizers.base_visualizer import BaseVisualizer
+
+    monkeypatch.setattr(BaseVisualizer, "physics_backend", property(lambda self: "ovphysx"))
+    visualizer = NewtonRTXVisualizer(NewtonRTXVisualizerCfg())
+
+    # No RuntimeError from the guard; falls through to the next line, which needs a real
+    # SimulationContext and fails differently -- proving the guard did not fire for ovphysx.
+    with pytest.raises(AttributeError):
+        visualizer.initialize(Mock())
+
+
 def test_newton_rtx_visualizer_setup_streaming_view_creates_owned_camera(monkeypatch):
     """_setup_streaming_view must create the owned camera sensor on RTX, not return early."""
     generated_camera = object()
diff --git a/source/isaaclab_visualizers/test/test_newton_visualizer_viewer_release.py b/source/isaaclab_visualizers/test/test_newton_visualizer_viewer_release.py
new file mode 100644
index 000000000000..42353d1934e1
--- /dev/null
+++ b/source/isaaclab_visualizers/test/test_newton_visualizer_viewer_release.py
@@ -0,0 +1,267 @@
+# 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
+
+"""Tests for :class:`NewtonVisualizer` viewer release.
+
+The RTX viewer owns GPU resources that it releases in a fixed order when
+``close()`` is called. Both paths that give up the viewer -- ``close()`` and
+the ``step()`` handler that permanently disables it after an unrecoverable
+failure -- must go through :meth:`NewtonVisualizer._release_viewer` so that
+ordering is honoured instead of being left to the garbage collector. The GL
+viewer must keep its established reference-drop behavior because closing its
+renderer prevents reliable in-process recreation.
+
+These tests assert the behavior (the RTX viewer's ``close()`` runs before the
+reference is dropped, while the GL viewer is not closed) rather than the
+absence of a backend log message. The message is emitted for only one of
+several valid finalization orders, so asserting on it would pass against
+unfixed code most of the time.
+
+They also pin the error semantics, which differ by caller.  ``_release_viewer``
+propagates a teardown failure while still clearing the reference.  ``close()``
+lets it propagate to ``SimulationContext``, which already logs it, but finishes
+its own cleanup first.  ``step()`` contains it, because that handler exists so
+an unusable viewer disables itself instead of aborting training.
+"""
+
+from __future__ import annotations
+
+import isaaclab_visualizers.newton.newton_visualizer as newton_visualizer
+import pytest
+from isaaclab_visualizers.newton.newton_visualizer import NewtonVisualizer
+
+pytestmark = [pytest.mark.unit]
+
+
+class _SpyRTXViewer(newton_visualizer.NewtonViewerRTX):
+    """RTX viewer double that records how and when it was closed."""
+
+    def __init__(self, raises: bool = False) -> None:
+        self.close_calls = 0
+        self.referenced_by_owner_at_close: list[bool] = []
+        self.referenced_by_picking_at_close: list[bool] = []
+        self.apply_forces_calls = 0
+        self.owner: NewtonVisualizer | None = None
+        self._raises = raises
+
+    def close(self) -> None:
+        self.close_calls += 1
+        # Record whether the visualizer still pointed at us while we were being
+        # closed.  The reference must outlive the teardown call.
+        self.referenced_by_owner_at_close.append(getattr(self.owner, "_viewer", None) is self)
+        binding = getattr(self.owner, "_viewer_picking_binding", None)
+        self.referenced_by_picking_at_close.append(getattr(binding, "_viewer", None) is self)
+        if self._raises:
+            raise RuntimeError("Failed to create window")
+
+    def apply_forces(self, _state: object) -> None:
+        """Record a picking callback reaching this viewer."""
+        self.apply_forces_calls += 1
+
+
+class _SpyGLViewer(newton_visualizer.NewtonViewerGL):
+    """GL viewer double that records whether ``close()`` was called."""
+
+    def __init__(self) -> None:
+        self.close_calls = 0
+        self.owner: NewtonVisualizer | None = None
+
+    def close(self) -> None:
+        self.close_calls += 1
+
+
+def _make_visualizer(viewer: _SpyRTXViewer | _SpyGLViewer | None) -> NewtonVisualizer:
+    """Build the minimal visualizer state that the release paths read.
+
+    ``__init__`` is bypassed deliberately: a real visualizer requires a Newton
+    model, a scene data provider and a GPU, none of which this behaviour
+    depends on.
+    """
+    visualizer = object.__new__(NewtonVisualizer)
+    visualizer._is_closed = False
+    visualizer._picking_enabled = False
+    visualizer._viewer_picking_binding = NewtonVisualizer._ViewerPickingBinding()
+    visualizer._viewer = viewer
+    visualizer._camera_sensor = None
+    visualizer._camera_is_owned = False
+    visualizer._pending_mesh_submissions = {}
+    if viewer is not None:
+        viewer.owner = visualizer
+    return visualizer
+
+
+def test_release_viewer_closes_before_clearing_reference() -> None:
+    """The viewer must be closed while the visualizer still references it."""
+    viewer = _SpyRTXViewer()
+    visualizer = _make_visualizer(viewer)
+
+    visualizer._release_viewer()
+
+    assert viewer.close_calls == 1
+    assert viewer.referenced_by_owner_at_close == [True]
+    assert visualizer._viewer is None
+
+
+def test_release_viewer_propagates_failure_and_still_clears_reference() -> None:
+    """A teardown failure must reach the caller, but must not retain the viewer."""
+    viewer = _SpyRTXViewer(raises=True)
+    visualizer = _make_visualizer(viewer)
+
+    with pytest.raises(RuntimeError, match="Failed to create window"):
+        visualizer._release_viewer()
+
+    assert viewer.close_calls == 1
+    assert visualizer._viewer is None
+
+
+def test_release_viewer_without_viewer_is_a_no_op() -> None:
+    """Releasing when no viewer is held must be harmless."""
+    visualizer = _make_visualizer(None)
+
+    visualizer._release_viewer()
+
+    assert visualizer._viewer is None
+
+
+def test_release_viewer_is_idempotent() -> None:
+    """Releasing twice must not close the viewer twice."""
+    viewer = _SpyRTXViewer()
+    visualizer = _make_visualizer(viewer)
+
+    visualizer._release_viewer()
+    visualizer._release_viewer()
+
+    assert viewer.close_calls == 1
+
+
+def test_release_viewer_does_not_close_gl_viewer() -> None:
+    """GL teardown must not prevent another viewer from starting in the same process."""
+    viewer = _SpyGLViewer()
+    visualizer = _make_visualizer(viewer)
+
+    visualizer._release_viewer()
+
+    assert viewer.close_calls == 0
+    assert visualizer._viewer is None
+
+
+def test_close_releases_the_viewer() -> None:
+    """``close()`` must release the viewer through the shared path."""
+    viewer = _SpyRTXViewer()
+    visualizer = _make_visualizer(viewer)
+    visualizer._pending_mesh_submissions["/surface"] = object()
+
+    visualizer.close()
+
+    assert viewer.close_calls == 1
+    assert viewer.referenced_by_owner_at_close == [True]
+    assert visualizer._viewer is None
+    assert visualizer._pending_mesh_submissions == {}
+    assert visualizer._is_closed is True
+
+
+def test_close_is_idempotent() -> None:
+    """A second ``close()`` must not close the viewer again."""
+    viewer = _SpyRTXViewer()
+    visualizer = _make_visualizer(viewer)
+
+    visualizer.close()
+    visualizer.close()
+
+    assert viewer.close_calls == 1
+
+
+def test_close_completes_cleanup_when_viewer_teardown_fails(monkeypatch: pytest.MonkeyPatch) -> None:
+    """A failing viewer must not strand the owned camera or the closed flag.
+
+    ``SimulationContext`` already logs an exception raised by ``close()``, so
+    it is allowed to propagate -- but the rest of the teardown still has to
+    run, otherwise a viewer failure silently leaks the generated camera prims.
+    """
+    evicted: list[object] = []
+    removed: list[object] = []
+    monkeypatch.setattr(newton_visualizer, "evict_visualizer_camera", evicted.append, raising=False)
+    monkeypatch.setattr(newton_visualizer, "remove_generated_prims", removed.append, raising=False)
+
+    viewer = _SpyRTXViewer(raises=True)
+    visualizer = _make_visualizer(viewer)
+    visualizer._camera_sensor = object()
+    visualizer._camera_is_owned = True
+    visualizer._streaming_camera_key = "camera-key"
+    visualizer._generated_camera_prim_paths = ["/World/generated"]
+
+    with pytest.raises(RuntimeError, match="Failed to create window"):
+        visualizer.close()
+
+    assert visualizer._viewer is None
+    assert visualizer._camera_sensor is None
+    assert visualizer._is_closed is True
+    assert evicted == ["camera-key"]
+    assert removed == [["/World/generated"]]
+
+
+def _arm_for_step_failure(visualizer: NewtonVisualizer, viewer: _SpyRTXViewer) -> None:
+    """Drive ``step()`` far enough to reach its viewer-failure handler."""
+    visualizer._is_initialized = True
+    visualizer._runtime_headless = False
+    visualizer._disable_viewer_on_step_exception = True
+    visualizer._sim_time = 0.0
+    visualizer._step_counter = 0
+    visualizer._state = None
+    visualizer._scene_data_provider = None
+    visualizer._update_frequency = 1
+    viewer._update_frequency = 1
+
+    def _unrecoverable() -> bool:
+        raise RuntimeError("Failed to create window")
+
+    viewer.is_paused = _unrecoverable  # type: ignore[method-assign]
+
+
+def test_step_failure_releases_the_viewer(monkeypatch: pytest.MonkeyPatch) -> None:
+    """An unrecoverable viewer failure during ``step()`` must release the viewer.
+
+    ``NewtonRTXVisualizer`` sets ``_disable_viewer_on_step_exception`` so the
+    viewer is given up after the first failure -- for example when OVRTX cannot
+    create its window.  That path must close the viewer rather than only
+    dropping the reference to it.
+    """
+    viewer = _SpyRTXViewer()
+    visualizer = _make_visualizer(viewer)
+    visualizer._picking_enabled = True
+    visualizer._viewer_picking_binding.bind(viewer)  # type: ignore[arg-type]
+    _arm_for_step_failure(visualizer, viewer)
+    monkeypatch.setattr(newton_visualizer.NewtonManager, "get_num_envs", staticmethod(lambda: 1), raising=False)
+
+    NewtonVisualizer.step(visualizer, dt=0.01)  # must not raise
+
+    assert viewer.close_calls == 1
+    assert viewer.referenced_by_owner_at_close == [True]
+    assert viewer.referenced_by_picking_at_close == [False]
+    assert visualizer._viewer is None
+
+    # The callback remains registered with NewtonManager for CUDA graph
+    # stability, but it must be inert after the viewer is released.
+    visualizer._viewer_picking_binding.apply(None)  # type: ignore[arg-type]
+    assert viewer.apply_forces_calls == 0
+
+
+def test_step_contains_a_failing_viewer_teardown(monkeypatch: pytest.MonkeyPatch) -> None:
+    """A viewer that fails to close must not abort training from ``step()``.
+
+    This is the whole purpose of the ``_disable_viewer_on_step_exception``
+    handler: the viewer is already known to be broken, so its teardown failure
+    has to be contained rather than replacing the original failure and
+    propagating out of the simulation loop.
+    """
+    viewer = _SpyRTXViewer(raises=True)
+    visualizer = _make_visualizer(viewer)
+    _arm_for_step_failure(visualizer, viewer)
+    monkeypatch.setattr(newton_visualizer.NewtonManager, "get_num_envs", staticmethod(lambda: 1), raising=False)
+
+    NewtonVisualizer.step(visualizer, dt=0.01)  # must not raise
+
+    assert viewer.close_calls == 1
+    assert visualizer._viewer is None
diff --git a/tools/docs/media/README.md b/tools/docs/media/README.md
index 296593cebbb5..8c5506e41d91 100644
--- a/tools/docs/media/README.md
+++ b/tools/docs/media/README.md
@@ -22,3 +22,30 @@ compatible completed run, set `RL_PROGRESS_CHECKPOINT_DIR` to a run directory co
 
 The generators require `uv`, `ffmpeg`, a CUDA-capable GPU, and the optional
 runtime packages installed by their `uv run --extra` commands.
+
+## Renderer gallery
+
+The renderer gallery compares Newton Warp, OVRTX, and Isaac RTX camera outputs.
+It uses the published Nucleus stage by default when regenerating all RGB
+animations and still output modes:
+
+```bash
+OMNI_KIT_ACCEPT_EULA=Y tools/docs/media/generate_renderer_gallery.sh
+```
+
+Pass a local path or another Nucleus URI to override the default stage:
+
+```bash
+OMNI_KIT_ACCEPT_EULA=Y tools/docs/media/generate_renderer_gallery.sh \
+    /path/to/renderer-gallery-scene.usda
+```
+
+The generator launches the kit-less renderers separately from Isaac RTX because
+their optional runtime packages cannot share one process. It writes the final
+WebP and PNG assets directly to `docs/source/_static/overview/sensors`.
+
+The animated RGB clips and the albedo, Newton Warp shadow, and MDL
+simple-shading stills are too large to keep in the repository. Upload them to
+`https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/` after
+regenerating; the renderer concept pages reference them by URL and do not track
+them under `_static`.
diff --git a/tools/docs/media/capture_quickstart.py b/tools/docs/media/capture_quickstart.py
index 8e10677341b3..5fa4e1cfd791 100644
--- a/tools/docs/media/capture_quickstart.py
+++ b/tools/docs/media/capture_quickstart.py
@@ -19,7 +19,7 @@
 from isaaclab.app import add_launcher_args, launch_simulation
 from isaaclab.envs import VideoRecorderCfg
 from isaaclab.sim import SimulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 import isaaclab_tasks  # noqa: F401
diff --git a/tools/docs/media/capture_reinforcement_learning.py b/tools/docs/media/capture_reinforcement_learning.py
index 11b70792ffca..e0148879eab7 100644
--- a/tools/docs/media/capture_reinforcement_learning.py
+++ b/tools/docs/media/capture_reinforcement_learning.py
@@ -16,7 +16,7 @@
 
 from isaaclab.envs import VideoRecorderCfg
 from isaaclab.sim import SimulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.core.velocity.config.anymal_d.flat_env_cfg import AnymalDFlatEnvCfg
diff --git a/tools/docs/media/capture_renderer_gallery.py b/tools/docs/media/capture_renderer_gallery.py
new file mode 100644
index 000000000000..600a5c4a59a4
--- /dev/null
+++ b/tools/docs/media/capture_renderer_gallery.py
@@ -0,0 +1,435 @@
+# 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
+
+"""Capture the renderer documentation gallery from an editable USD scene."""
+
+from __future__ import annotations
+
+import argparse
+import contextlib
+from collections.abc import Callable, Iterator
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Any
+
+
+@dataclass(frozen=True)
+class GalleryMode:
+    """One visually distinct camera output included in the gallery."""
+
+    output_name: str
+    label: str
+    animated: bool = False
+
+
+_COMMON_MODES = (
+    GalleryMode("rgb", "RGB", animated=True),
+    GalleryMode("albedo", "Albedo"),
+    GalleryMode("depth", "Depth"),
+    GalleryMode("normals", "Normals"),
+    GalleryMode("semantic_segmentation", "Semantic segmentation"),
+    GalleryMode("instance_segmentation", "Instance segmentation"),
+)
+_RTX_ONLY_MODES = (
+    GalleryMode("motion_vectors", "Motion vectors"),
+    GalleryMode("simple_shading_constant_diffuse", "Constant diffuse"),
+    GalleryMode("simple_shading_diffuse_mdl", "Diffuse MDL"),
+    GalleryMode("simple_shading_full_mdl", "Full MDL"),
+)
+_RENDERER_SLUGS = {"newton": "newton", "ovrtx": "ovrtx", "isaac_rtx": "isaac-rtx"}
+_SIMPLE_SHADING_MODES = tuple(mode.output_name for mode in _RTX_ONLY_MODES if mode.output_name.startswith("simple_"))
+_OVRTX_AMBIENT_LIGHT_SETTING = "float omni:rtx:rt:ambientLight:intensity = 1.0"
+_DEFAULT_GALLERY_SCENE = "omniverse://isaac-dev.ov.nvidia.com/Isaac/IsaacLab/Docs/Renderers/renderer_gallery_scene.usda"
+
+
+def gallery_modes(renderer: str) -> tuple[GalleryMode, ...]:
+    """Return the visually distinct outputs documented for a renderer backend."""
+    if renderer == "newton":
+        return _COMMON_MODES
+    if renderer in {"ovrtx", "isaac_rtx"}:
+        return (*_COMMON_MODES, *_RTX_ONLY_MODES)
+    raise ValueError(f"Unknown renderer: {renderer}")
+
+
+def capture_data_types(renderer: str, capture_group: str) -> tuple[str, ...]:
+    """Return the camera outputs captured together for one renderer process."""
+    modes = gallery_modes(renderer)
+    if capture_group == "standard":
+        return tuple(mode.output_name for mode in modes if not mode.output_name.startswith("simple_shading_"))
+    if any(mode.output_name == capture_group for mode in modes) and capture_group.startswith("simple_shading_"):
+        return (capture_group,)
+    raise ValueError(f"Capture group {capture_group!r} is not available for renderer {renderer!r}.")
+
+
+def gallery_asset_name(renderer: str, output_name: str) -> str:
+    """Return the published documentation asset name for one renderer output."""
+    try:
+        renderer_slug = _RENDERER_SLUGS[renderer]
+    except KeyError as exc:
+        raise ValueError(f"Unknown renderer: {renderer}") from exc
+    suffix = "webp" if output_name == "rgb" else "png"
+    output_suffix = "" if output_name == "rgb" else f"-{output_name.replace('_', '-')}"
+    return f"camera-renderer-{renderer_slug}{output_suffix}.{suffix}"
+
+
+def snapshot_camera_tensor(data: Any) -> Any:
+    """Copy a renderer-owned tensor to stable CPU storage."""
+    return data.detach().to(device="cpu", copy=True)
+
+
+def depth_display_bounds(data: Any) -> tuple[float, float]:
+    """Return the minimum and maximum finite depths in a frame."""
+    import torch
+
+    finite_depth = data[torch.isfinite(data)]
+    if finite_depth.numel() == 0:
+        raise ValueError("Depth frame does not contain finite samples.")
+    return float(finite_depth.min()), float(finite_depth.max())
+
+
+def motion_vectors_to_image(data: Any) -> Any:
+    """Colorize motion vectors and overlay sparse image-space direction arrows."""
+    import numpy as np
+    import torch
+    from PIL import Image, ImageDraw
+
+    data = snapshot_camera_tensor(data)
+    uv = data[..., :2].float()
+    raw_magnitude = torch.linalg.vector_norm(uv, dim=-1)
+    max_magnitude = max(float(raw_magnitude.quantile(0.99)), 1.0e-6)
+    normalized_uv = (uv / max_magnitude).clamp(-1.0, 1.0)
+    normalized_magnitude = torch.linalg.vector_norm(normalized_uv, dim=-1).clamp(0.0, 1.0)
+    array = (
+        torch.cat(((normalized_uv + 1.0) * 0.5, normalized_magnitude.unsqueeze(-1)), dim=-1)
+        .mul(255)
+        .to(torch.uint8)
+        .numpy()
+    )
+    image = Image.fromarray(np.ascontiguousarray(array).copy(), mode="RGB")
+    draw = ImageDraw.Draw(image)
+
+    uv_array = normalized_uv.numpy()
+    magnitude_array = normalized_magnitude.numpy()
+    height, width = magnitude_array.shape
+    grid_spacing = max(min(height, width) // 10, 16)
+    arrow_length = grid_spacing * 0.45
+    head_length = max(grid_spacing * 0.18, 4.0)
+
+    for cell_y in range(0, height, grid_spacing):
+        for cell_x in range(0, width, grid_spacing):
+            cell = magnitude_array[
+                cell_y : min(cell_y + grid_spacing, height),
+                cell_x : min(cell_x + grid_spacing, width),
+            ]
+            if cell.size == 0 or float(cell.max()) < 0.08:
+                continue
+            local_y, local_x = np.unravel_index(int(cell.argmax()), cell.shape)
+            y = cell_y + int(local_y)
+            x = cell_x + int(local_x)
+            direction = uv_array[y, x].copy()
+            # Image-space v points up, while raster screen y points down.
+            direction[1] *= -1.0
+            direction_length = float(np.linalg.norm(direction))
+            if direction_length < 1.0e-6:
+                continue
+
+            unit = direction / direction_length
+            end = np.array((x, y), dtype=np.float32) + unit * arrow_length * float(magnitude_array[y, x])
+            start_xy = (float(x), float(y))
+            end_xy = (float(end[0]), float(end[1]))
+            draw.line((start_xy, end_xy), fill=(0, 0, 0), width=4)
+            draw.line((start_xy, end_xy), fill=(255, 255, 255), width=2)
+
+            perpendicular = np.array((-unit[1], unit[0]), dtype=np.float32)
+            head_base = end - unit * head_length
+            head_half_width = head_length * 0.55
+            draw.polygon(
+                (
+                    end_xy,
+                    tuple(head_base + perpendicular * head_half_width),
+                    tuple(head_base - perpendicular * head_half_width),
+                ),
+                fill=(255, 255, 255),
+            )
+
+    return image
+
+
+def thumbnail_frame_index(frame_count: int) -> int:
+    """Select the sixth captured frame so temporal outputs have useful motion history."""
+    if frame_count < 6:
+        raise ValueError("At least six animation frames are required to capture thumbnails.")
+    return 5
+
+
+def renderer_requires_kit(renderer: str) -> bool:
+    """Return whether a renderer must run inside Isaac Sim Kit."""
+    return renderer == "isaac_rtx"
+
+
+def gallery_stage_paths() -> tuple[str, str]:
+    """Return the single-environment scene path and matching camera expression."""
+    return "/World/envs/env_0/Scene", "/World/envs/env_.*/Scene/Camera"
+
+
+def resolve_gallery_scene(scene: str) -> str:
+    """Preserve a Nucleus URI or resolve and validate a local scene path."""
+    if scene.startswith("omniverse://"):
+        return scene
+
+    scene_path = Path(scene).expanduser().resolve()
+    if not scene_path.is_file():
+        raise ValueError(f"Scene does not exist: {scene_path}")
+    return str(scene_path)
+
+
+def add_gallery_arguments(parser: argparse.ArgumentParser) -> None:
+    """Add renderer-gallery arguments without colliding with AppLauncher options."""
+    script_dir = Path(__file__).resolve().parent
+    parser.add_argument("--renderer-backend", choices=tuple(_RENDERER_SLUGS), required=True)
+    parser.add_argument("--capture-group", choices=("standard", *_SIMPLE_SHADING_MODES), default="standard")
+    parser.add_argument("--newton-shadows", action=argparse.BooleanOptionalAction, default=True)
+    parser.add_argument("--scene", type=resolve_gallery_scene, default=_DEFAULT_GALLERY_SCENE)
+    parser.add_argument(
+        "--output-dir",
+        type=Path,
+        default=script_dir.parents[2] / "docs" / "source" / "_static" / "overview" / "sensors",
+    )
+    parser.add_argument("--width", type=int, default=640)
+    parser.add_argument("--height", type=int, default=360)
+    parser.add_argument("--frames", type=int, default=37)
+    parser.add_argument("--physics-steps-per-frame", type=int, default=3)
+    parser.add_argument("--warmup-steps", type=int, default=24)
+
+
+def _parse_args() -> argparse.Namespace:
+    """Parse capture and Isaac Lab launcher arguments."""
+    from isaaclab.app import AppLauncher
+
+    parser = argparse.ArgumentParser(description=__doc__)
+    add_gallery_arguments(parser)
+    AppLauncher.add_app_launcher_args(parser)
+    parser.set_defaults(enable_cameras=True, headless=True)
+    args = parser.parse_args()
+    args.output_dir = args.output_dir.expanduser().resolve()
+    if args.width < 1 or args.height < 1:
+        parser.error("Image width and height must be positive.")
+    if args.frames < 6:
+        parser.error("At least six animation frames are required.")
+    if args.physics_steps_per_frame < 1:
+        parser.error("Physics steps per frame must be positive.")
+    if args.warmup_steps < 0:
+        parser.error("Warmup steps must be non-negative.")
+    try:
+        capture_data_types(args.renderer_backend, args.capture_group)
+    except ValueError as exc:
+        parser.error(str(exc))
+    return args
+
+
+def _make_renderer_cfg(renderer: str, *, enable_shadows: bool = True) -> Any:
+    """Create the selected renderer configuration."""
+    if renderer == "newton":
+        from isaaclab_newton.renderers import NewtonWarpRendererCfg
+
+        return NewtonWarpRendererCfg(enable_shadows=enable_shadows, enable_ambient_lighting=False)
+    if renderer == "ovrtx":
+        from isaaclab_ov.renderers import OVRTXRendererCfg
+
+        return OVRTXRendererCfg()
+    if renderer == "isaac_rtx":
+        from isaaclab_physx.renderers import IsaacRtxRendererCfg, IsaacRtxRendererGlobalSettingsCfg
+
+        return IsaacRtxRendererCfg(global_settings=IsaacRtxRendererGlobalSettingsCfg(ambient_light_intensity=0.0))
+    raise ValueError(f"Unknown renderer: {renderer}")
+
+
+def override_ovrtx_ambient_light(render_product_usd: str) -> str:
+    """Disable renderer-authored ambient fill while preserving the scene authored lights."""
+    if _OVRTX_AMBIENT_LIGHT_SETTING not in render_product_usd:
+        raise RuntimeError("Expected the OVRTX render product to author its default ambient-light intensity.")
+    return render_product_usd.replace(
+        _OVRTX_AMBIENT_LIGHT_SETTING,
+        "float omni:rtx:rt:ambientLight:intensity = 0.0",
+        1,
+    )
+
+
+@contextlib.contextmanager
+def gallery_lighting_override(renderer: str) -> Iterator[None]:
+    """Apply capture-only renderer lighting overrides for the duration of camera creation."""
+    if renderer != "ovrtx":
+        yield
+        return
+
+    import isaaclab_ov.renderers.ovrtx_renderer as ovrtx_renderer
+
+    original_builder = ovrtx_renderer.build_render_product_as_string
+
+    def build_render_product_without_ambient_light(*args: Any, **kwargs: Any) -> tuple[str, str]:
+        render_product_usd, render_product_path = original_builder(*args, **kwargs)
+        return override_ovrtx_ambient_light(render_product_usd), render_product_path
+
+    ovrtx_renderer.build_render_product_as_string = build_render_product_without_ambient_light
+    try:
+        yield
+    finally:
+        ovrtx_renderer.build_render_product_as_string = original_builder
+
+
+def _create_camera_and_reset(renderer: str, create_camera: Callable[[], Any], reset_sim: Callable[[], None]) -> Any:
+    """Create the camera and initialize its renderer under capture lighting overrides."""
+    with gallery_lighting_override(renderer):
+        camera = create_camera()
+        reset_sim()
+    return camera
+
+
+def _capture(args: argparse.Namespace) -> None:
+    """Load the USD scene, render the selected outputs, and write documentation assets."""
+    import numpy as np
+    import torch
+    from PIL import Image
+
+    import isaaclab.sim as sim_utils
+    from isaaclab import cloner
+    from isaaclab.envs.utils.camera_colorizer import CameraFrameColorizer
+    from isaaclab.sensors import Camera, CameraCfg
+
+    if renderer_requires_kit(args.renderer_backend):
+        sim_cfg = sim_utils.SimulationCfg(dt=1.0 / 60.0, render_interval=1, device=args.device, use_fabric=True)
+    else:
+        from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
+
+        sim_utils.create_new_stage()
+        sim_cfg = sim_utils.SimulationCfg(
+            dt=1.0 / 60.0,
+            device=args.device,
+            physics=NewtonCfg(solver_cfg=MJWarpSolverCfg(integrator="implicitfast"), num_substeps=8),
+        )
+
+    data_types = capture_data_types(args.renderer_backend, args.capture_group)
+    sim = sim_utils.SimulationContext(sim_cfg)
+    scene_path, camera_path = gallery_stage_paths()
+    stage = sim_utils.get_current_stage()
+    stage.DefinePrim("/World/envs/env_0", "Xform")
+    scene_cfg = sim_utils.UsdFileCfg(usd_path=str(args.scene))
+    scene_cfg.func(scene_path, scene_cfg)
+    env_positions = torch.zeros((1, 3), device=args.device)
+    clone_plan = cloner.clone_plan_from_env_0("/World/envs/env_0", "/World/envs/env_{}", 1, args.device, env_positions)
+    cloner.replicate(clone_plan, stage=stage)
+    camera = _create_camera_and_reset(
+        args.renderer_backend,
+        lambda: Camera(
+            CameraCfg(
+                prim_path=camera_path,
+                update_period=0.0,
+                width=args.width,
+                height=args.height,
+                data_types=list(data_types),
+                spawn=None,
+                renderer_cfg=_make_renderer_cfg(args.renderer_backend, enable_shadows=args.newton_shadows),
+            )
+        ),
+        sim.reset,
+    )
+
+    def tensor_to_image(data: torch.Tensor, output_name: str) -> Image.Image:
+        data = snapshot_camera_tensor(data)
+        if output_name == "depth":
+            depth_min, depth_max = depth_display_bounds(data)
+            array = CameraFrameColorizer.colorize(data, "depth", depth_min=depth_min, depth_max=depth_max)
+        elif output_name == "normals":
+            array = CameraFrameColorizer.colorize(data, "normals")
+        elif output_name in {"semantic_segmentation", "instance_segmentation"}:
+            if data.ndim == 3 and data.shape[-1] >= 3 and data.dtype == torch.uint8:
+                array = data[..., :3].numpy()
+            else:
+                array = CameraFrameColorizer.colorize(data, "segmentation")
+        elif output_name == "motion_vectors":
+            return motion_vectors_to_image(data)
+        else:
+            array = data[..., :3].numpy()
+            if array.dtype != np.uint8:
+                array = np.clip(array, 0.0, 1.0)
+                array = (array * 255).astype(np.uint8)
+        return Image.fromarray(np.ascontiguousarray(array).copy(), mode="RGB")
+
+    args.output_dir.mkdir(parents=True, exist_ok=True)
+    try:
+        for _ in range(args.warmup_steps):
+            camera.update(dt=0.0, force_recompute=True)
+
+        thumbnail_index = thumbnail_frame_index(args.frames)
+        if args.capture_group == "standard":
+            rgb_frames: list[Image.Image] = []
+            thumbnail_frames: dict[str, Image.Image] = {}
+            for frame_index in range(args.frames):
+                if frame_index > 0:
+                    for _ in range(args.physics_steps_per_frame):
+                        sim.step(render=False)
+                camera.update(
+                    dt=sim.get_physics_dt() * args.physics_steps_per_frame,
+                    force_recompute=True,
+                )
+                if "rgb" in data_types:
+                    rgb_frames.append(tensor_to_image(camera.data.output["rgb"].torch[0], "rgb"))
+                if frame_index == thumbnail_index:
+                    for output_name in data_types:
+                        if output_name != "rgb":
+                            thumbnail_frames[output_name] = tensor_to_image(
+                                camera.data.output[output_name].torch[0], output_name
+                            )
+
+            rgb_path = args.output_dir / gallery_asset_name(args.renderer_backend, "rgb")
+            rgb_frames[0].save(
+                rgb_path,
+                save_all=True,
+                append_images=rgb_frames[1:],
+                duration=round(1000 / 12),
+                loop=0,
+                quality=86,
+                method=6,
+            )
+            print(f"[INFO] Wrote {rgb_path}", flush=True)
+            for output_name, image in thumbnail_frames.items():
+                output_path = args.output_dir / gallery_asset_name(args.renderer_backend, output_name)
+                image.save(output_path, optimize=True)
+                print(f"[INFO] Wrote {output_path}", flush=True)
+        else:
+            for _ in range(thumbnail_index * args.physics_steps_per_frame):
+                sim.step(render=False)
+            camera.update(
+                dt=sim.get_physics_dt() * args.physics_steps_per_frame,
+                force_recompute=True,
+            )
+            output_name = data_types[0]
+            image = tensor_to_image(camera.data.output[output_name].torch[0], output_name)
+            output_path = args.output_dir / gallery_asset_name(args.renderer_backend, output_name)
+            image.save(output_path, optimize=True)
+            print(f"[INFO] Wrote {output_path}", flush=True)
+    finally:
+        sim.stop()
+        sim.clear_instance()
+
+
+def main() -> None:
+    """Launch Isaac Sim and capture the selected renderer gallery group."""
+    from isaaclab.app import AppLauncher
+
+    args = _parse_args()
+    if not renderer_requires_kit(args.renderer_backend):
+        _capture(args)
+    else:
+        app_launcher = AppLauncher(args)
+        simulation_app = app_launcher.app
+        try:
+            _capture(args)
+        finally:
+            simulation_app.close()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/tools/docs/media/generate_renderer_gallery.sh b/tools/docs/media/generate_renderer_gallery.sh
new file mode 100755
index 000000000000..e438e22dda86
--- /dev/null
+++ b/tools/docs/media/generate_renderer_gallery.sh
@@ -0,0 +1,78 @@
+#!/usr/bin/env bash
+
+# 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
+
+set -euo pipefail
+
+if [[ "$#" -gt 1 ]]; then
+    echo "Usage: $0 [renderer-gallery-scene-path-or-uri]" >&2
+    exit 1
+fi
+
+SCRIPT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
+REPO_ROOT="$(cd -- "${SCRIPT_DIR}/../../.." && pwd)"
+OUTPUT_DIR="${REPO_ROOT}/docs/source/_static/overview/sensors"
+CAPTURE_SCRIPT="${SCRIPT_DIR}/capture_renderer_gallery.py"
+SIMPLE_SHADING_MODES=(
+    simple_shading_constant_diffuse
+    simple_shading_diffuse_mdl
+    simple_shading_full_mdl
+)
+COMMON_ARGS=(
+    --output-dir "${OUTPUT_DIR}"
+    --width 640
+    --height 360
+    --frames 37
+    --warmup-steps 24
+)
+
+if [[ "$#" -eq 1 ]]; then
+    COMMON_ARGS+=(--scene "$1")
+fi
+
+if ! command -v uv >/dev/null 2>&1; then
+    echo "Error: uv is required to generate the renderer gallery." >&2
+    exit 1
+fi
+
+if [[ "${OMNI_KIT_ACCEPT_EULA:-${ACCEPT_EULA:-}}" != "Y" ]]; then
+    echo "Error: set OMNI_KIT_ACCEPT_EULA=Y or ACCEPT_EULA=Y after reviewing NVIDIA's EULA." >&2
+    exit 1
+fi
+
+export ACCEPT_EULA=Y
+export OMNI_KIT_ACCEPT_EULA=Y
+
+cd "${REPO_ROOT}"
+mkdir -p "${OUTPUT_DIR}"
+
+capture_kitless() {
+    local renderer="$1"
+    local capture_group="$2"
+    uv run --frozen --extra ovrtx python "${CAPTURE_SCRIPT}" \
+        --renderer-backend "${renderer}" \
+        --capture-group "${capture_group}" \
+        "${COMMON_ARGS[@]}"
+}
+
+capture_isaac_rtx() {
+    local capture_group="$1"
+    uv run --frozen --extra isaacsim python "${CAPTURE_SCRIPT}" \
+        --renderer-backend isaac_rtx \
+        --capture-group "${capture_group}" \
+        "${COMMON_ARGS[@]}"
+}
+
+capture_kitless newton standard
+capture_kitless ovrtx standard
+for mode in "${SIMPLE_SHADING_MODES[@]}"; do
+    capture_kitless ovrtx "${mode}"
+done
+
+capture_isaac_rtx standard
+for mode in "${SIMPLE_SHADING_MODES[@]}"; do
+    capture_isaac_rtx "${mode}"
+done
diff --git a/tools/docs/media/test_capture_renderer_gallery.py b/tools/docs/media/test_capture_renderer_gallery.py
new file mode 100644
index 000000000000..5bb1dcad6150
--- /dev/null
+++ b/tools/docs/media/test_capture_renderer_gallery.py
@@ -0,0 +1,96 @@
+# 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
+
+import argparse
+
+import numpy as np
+import pytest
+import torch
+
+from tools.docs.media import capture_renderer_gallery
+from tools.docs.media.capture_renderer_gallery import motion_vectors_to_image, thumbnail_frame_index
+
+
+@pytest.mark.parametrize(
+    ("depth", "expected"),
+    [
+        (torch.tensor([[float("nan"), 1.5, 4.0, float("inf")]]), (1.5, 4.0)),
+        (torch.tensor([[4.0, 20.0]]), (4.0, 20.0)),
+    ],
+)
+def test_depth_display_bounds_use_finite_frame_extents(depth, expected):
+    assert capture_renderer_gallery.depth_display_bounds(depth) == expected
+
+
+def test_depth_display_bounds_reject_frame_with_no_finite_samples():
+    depth = torch.tensor([[float("nan"), float("inf")]])
+
+    with pytest.raises(ValueError, match="finite"):
+        capture_renderer_gallery.depth_display_bounds(depth)
+
+
+def test_gallery_capture_defaults_to_published_scene():
+    parser = argparse.ArgumentParser()
+    capture_renderer_gallery.add_gallery_arguments(parser)
+
+    args = parser.parse_args(["--renderer-backend", "newton"])
+
+    assert args.scene == (
+        "omniverse://isaac-dev.ov.nvidia.com/Isaac/IsaacLab/Docs/Renderers/renderer_gallery_scene.usda"
+    )
+
+
+def test_gallery_scene_preserves_nucleus_uri():
+    scene_uri = "omniverse://example.com/path/to/scene.usda"
+
+    assert capture_renderer_gallery.resolve_gallery_scene(scene_uri) == scene_uri
+
+
+def test_gallery_scene_resolves_existing_local_path(tmp_path, monkeypatch):
+    scene_path = tmp_path / "scene.usda"
+    scene_path.touch()
+    monkeypatch.chdir(tmp_path)
+
+    assert capture_renderer_gallery.resolve_gallery_scene("scene.usda") == str(scene_path)
+
+
+def test_gallery_scene_rejects_missing_local_path(tmp_path):
+    scene_path = tmp_path / "missing.usda"
+
+    with pytest.raises(ValueError, match="Scene does not exist"):
+        capture_renderer_gallery.resolve_gallery_scene(str(scene_path))
+
+
+def test_thumbnail_uses_sixth_captured_frame():
+    assert thumbnail_frame_index(6) == 5
+
+
+@pytest.mark.parametrize("frame_count", [0, 5])
+def test_thumbnail_requires_six_frames(frame_count):
+    with pytest.raises(ValueError, match="six"):
+        thumbnail_frame_index(frame_count)
+
+
+def test_motion_vector_image_includes_direction_arrows():
+    vectors = torch.zeros((64, 64, 4), dtype=torch.float32)
+    vectors[8:56, 8:56, 0] = 1.0
+    vectors[8:56, 8:56, 1] = 0.5
+
+    image = motion_vectors_to_image(vectors)
+
+    pixels = np.asarray(image)
+    assert pixels.shape == (64, 64, 3)
+    assert np.any(np.all(pixels == 255, axis=-1))
+
+
+def test_motion_vector_arrows_convert_v_axis_to_screen_y():
+    vectors = torch.zeros((64, 64, 4), dtype=torch.float32)
+    vectors[32, 32, 1] = -1.0
+
+    pixels = np.asarray(motion_vectors_to_image(vectors))
+    white_pixels = np.all(pixels == 255, axis=-1)
+
+    assert np.any(white_pixels[33:, 28:37])
+    assert not np.any(white_pixels[:32])
diff --git a/tools/docs/media/visualizers/capture_visualizer.py b/tools/docs/media/visualizers/capture_visualizer.py
index 1e7df5a49ac7..63e603041d50 100644
--- a/tools/docs/media/visualizers/capture_visualizer.py
+++ b/tools/docs/media/visualizers/capture_visualizer.py
@@ -64,7 +64,7 @@
 from isaaclab.sim.spawners.meshes import MeshCuboidCfg
 from isaaclab.sim.spawners.meshes.meshes import spawn_mesh_cuboid
 from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 
 import isaaclab_tasks  # noqa: F401
@@ -99,6 +99,11 @@
 _CROPDETECT_RE = re.compile(r"crop=(\d+):(\d+):(\d+):(\d+)")
 
 
+def _private_work_dir(prefix: str) -> Path:
+    """Create a caller-private temporary work directory."""
+    return Path(tempfile.mkdtemp(prefix=f"{prefix}-"))
+
+
 def headless(windowed_env_var: str) -> bool:
     """Whether to run offscreen (default) or in a real window for HUD window-capture.
 
@@ -297,8 +302,7 @@ def record_windowed(
 
     out_mp4_path = Path(out_mp4)
     out_mp4_path.parent.mkdir(parents=True, exist_ok=True)
-    work_dir = Path("/tmp/capture_window") / viz
-    work_dir.mkdir(parents=True, exist_ok=True)
+    work_dir = _private_work_dir("capture_window")
     log_path = work_dir / "play.log"
 
     cmd = [
@@ -452,16 +456,22 @@ def record_windowed(
 _HERO_TASK = "Isaac-Velocity-Flat-AnymalD"
 
 # Streaming/tiled follow-camera (Kit): same offset/target as the tiled-camera tutorial
-# (scripts/tutorials/07_visualizers/run_tiled_camera_visualizer.py), zoomed in further.
+# (scripts/tutorials/07_visualizers/run_tiled_camera_visualizer.py), zoomed in further, then
+# pulled back another 25% (matching the 1/0.8 pull-back below) since Kit's streaming-camera FOV
+# renders the robot noticeably larger than Newton GL/RTX at the same eye distance.
 _HERO_STREAMING_TARGET_PRIM = "/World/envs/*/Robot/base"
-_HERO_STREAMING_EYE = (1.98, 1.98, 1.8)
-# Per-step follow-camera (Kit windowed, Newton GL): same offset as the streaming clip.
-_HERO_FOLLOW_EYE_OFFSET = _HERO_STREAMING_EYE
+_HERO_KIT_EYE_OFFSET = (2.48, 2.48, 2.25)
+# Per-step follow-camera (Newton GL only -- Kit uses _HERO_KIT_EYE_OFFSET for both its headless
+# streaming-view and windowed capture paths, since its streaming-camera FOV needs a different
+# distance than Newton GL to frame the same apparent robot size).
+_HERO_FOLLOW_EYE_OFFSET = (1.98, 1.98, 1.8)
 # Newton RTX/Rerun/Viser framed closer than Kit/Newton GL: their panels leave more empty
 # space around the robot at the shared offset above. Newton RTX framed a bit further back
-# than Rerun/Viser, whose tighter framing looked too tight for RTX at the same offset.
-_HERO_RTX_FOLLOW_EYE_OFFSET = (1.4, 1.4, 1.28)
-_HERO_BROWSER_FOLLOW_EYE_OFFSET = (1.0, 1.0, 0.91)
+# than Rerun/Viser, whose tighter framing looked too tight for RTX at the same offset. Newton
+# RTX and Rerun are then pulled back another 25% (~1/0.8) to shrink their apparent robot size by
+# ~20%, matching Newton GL/Viser -- Kit gets the same treatment via _HERO_KIT_EYE_OFFSET above.
+_HERO_RTX_FOLLOW_EYE_OFFSET = (1.75, 1.75, 1.6)
+_HERO_BROWSER_FOLLOW_EYE_OFFSET = (1.25, 1.25, 1.14)
 _HERO_VISER_FOLLOW_EYE_OFFSET = (0.8, 0.8, 0.73)
 # Narrows Newton GL/RTX's FOV to match Kit's streaming-camera framing at this eye distance;
 # no effect on Rerun (no FOV field) or Viser (already matches at the default 12mm).
@@ -589,6 +599,8 @@ def _follow_camera(env, env_ids) -> None:
             offset = _HERO_VISER_FOLLOW_EYE_OFFSET
         elif visualizer_name == "NewtonRTXVisualizer":
             offset = _HERO_RTX_FOLLOW_EYE_OFFSET
+        elif visualizer_name == "KitVisualizer":
+            offset = _HERO_KIT_EYE_OFFSET
         else:
             offset = _HERO_FOLLOW_EYE_OFFSET
         eye = (target[0] + offset[0], target[1] + offset[1], target[2] + offset[2])
@@ -613,7 +625,7 @@ def _hero_make_kit_visualizer_cfg() -> VisualizerCfg:
             streaming_view=True,
             streaming_envs=1,
             streaming_cam_target_prim_path=_HERO_STREAMING_TARGET_PRIM,
-            streaming_cam_eye=_HERO_STREAMING_EYE,
+            streaming_cam_eye=_HERO_KIT_EYE_OFFSET,
             enable_markers=True,
         )
     # Windowed capture records the "Viewport" tab, not "Streaming View", so it follows via
@@ -623,7 +635,7 @@ def _hero_make_kit_visualizer_cfg() -> VisualizerCfg:
         window_width=_HERO_WINDOW_WIDTH,
         window_height=_HERO_WINDOW_HEIGHT,
         streaming_view=False,
-        eye=_HERO_FOLLOW_EYE_OFFSET,
+        eye=_HERO_KIT_EYE_OFFSET,
         lookat=(0.0, 0.0, 0.0),
         enable_markers=True,
     )
@@ -836,8 +848,7 @@ def _run_combined_capture(args: argparse.Namespace) -> None:
     if "DISPLAY" not in os.environ and not args.force_headless:
         os.environ["DISPLAY"] = ":0"
 
-    work_dir = Path("/tmp/capture_tile_combined")
-    work_dir.mkdir(parents=True, exist_ok=True)
+    work_dir = _private_work_dir("capture_tile_combined")
     log_path = work_dir / "play.log"
     video_dir = work_dir / "video"
     video_dir.mkdir(exist_ok=True)
@@ -1191,7 +1202,7 @@ def _hero_calibrate_combined(script_dir: Path, repo_root: Path, work_dir: Path,
     window close to the real production duration (settle + record) captures the same
     sustained-load behavior.
     """
-    log = Path("/tmp/capture_tile_combined/play.log")
+    log = work_dir / "play.log"
     log.unlink(missing_ok=True)
     combined_cli_args = [
         str(repo_root),
@@ -1323,7 +1334,12 @@ def _main_hero(seed: int = 42) -> None:
                 "-i",
                 str(newton_gl_raw),
                 "-filter:v",
-                f"setpts=PTS/{newton_gl_speedup}",
+                # Matches the crop=iw:ih-20:0:10 the other 4 hero clips already get in
+                # _hero_record_visualizer()/_run_combined_capture() -- a small fixed trim, not
+                # the full robot-framing zoom (that lives in the .viz-crop-newton-gl CSS rule in
+                # visualization.rst). Without even this much, Newton GL's raw capture is 20px
+                # taller than the rest, throwing off that CSS crop's framing.
+                f"setpts=PTS/{newton_gl_speedup},crop=iw:ih-20:0:10",
                 "-c:v",
                 "libx264",
                 "-preset",
@@ -1896,8 +1912,7 @@ def record_showcase_browser(
         os.environ["DISPLAY"] = ":0"
 
     out_mp4 = output_dir / filename
-    work_dir = Path("/tmp/capture_browser") / visualizer
-    work_dir.mkdir(parents=True, exist_ok=True)
+    work_dir = _private_work_dir("capture_browser")
     log_path = work_dir / "play.log"
     video_dir = work_dir / "video"
     video_dir.mkdir(exist_ok=True)
@@ -2024,8 +2039,7 @@ def _main_showcase(num_envs: int = 512, skip: list[str] | None = None) -> None:
     script_dir = str(Path(__file__).resolve().parent)
     repo_root = str(Path(script_dir).parents[3])
     output_dir = Path(repo_root) / "docs/source/_static/visualizers"
-    work_dir = Path("/tmp/capture_visualizer_showcase_work")
-    work_dir.mkdir(parents=True, exist_ok=True)
+    work_dir = _private_work_dir("capture_visualizer_showcase_work")
 
     output_dir.mkdir(parents=True, exist_ok=True)
 
@@ -2462,8 +2476,7 @@ def _streaming_newton_gl_worker_main(argv: list[str]) -> None:
         print("settle complete", flush=True)
         window_id = find_window(disp, args_cli.window_title, args_cli.find_timeout_s)
 
-        work_dir = Path("/tmp/capture_visualizer_streaming_newton_gl")
-        work_dir.mkdir(parents=True, exist_ok=True)
+        work_dir = _private_work_dir("capture_visualizer_streaming_newton_gl")
 
         # Streaming panel left hidden for the interactive segment.
         interactive_webm = work_dir / "interactive.webm"
diff --git a/tools/environ_docs.py b/tools/environ_docs.py
index 9e6fc8fdebf7..267de3d2b779 100644
--- a/tools/environ_docs.py
+++ b/tools/environ_docs.py
@@ -50,6 +50,7 @@
 
 # RL libraries listed in a stable order across generated docs.
 _RL_LIBRARY_ORDER = ("rl_games", "rsl_rl", "skrl", "sb3", "rlinf")
+_ALGORITHM_LABELS = {"": "PPO", "ppo": "PPO", "amp": "AMP", "ippo": "IPPO", "mappo": "MAPPO"}
 
 # Gym IDs excluded from the training list. The ``-Eval`` suffix marks dedicated
 # evaluation variants (e.g. ``IsaacContrib-Assemble-Trocar-G129-Dex3-Eval``, an alias
@@ -61,6 +62,12 @@
     "IsaacContrib-Assemble-Trocar-G129-Dex3": {"rlinf": ["PPO"]},
 }
 
+# Optional dependency groups required to launch specific tasks from a source checkout.
+TASK_REQUIRED_EXTRAS: dict[str, tuple[str, ...]] = {
+    "Isaac-Lift-Soft-Franka": ("tetrahedralization",),
+    "Isaac-Lift-Soft-Franka-Camera": ("tetrahedralization",),
+}
+
 # Legacy markers retained for the table-formatting helpers. The public
 # documentation now uses the generated environment browser instead.
 COMPREHENSIVE_LIST_START_MARKER = ".. START-AUTO-GENERATED: comprehensive-environment-list"
@@ -89,6 +96,7 @@
 # commands until the corresponding task supports them end to end.
 _NEWTON_MJWARP_EXCLUSIONS = frozenset(
     {
+        "IsaacContrib-Factory-Franka",
         "IsaacContrib-Place-Mug-Agibot-Left-Arm-RmpFlow",
         "IsaacContrib-Place-Toy2Box-Agibot-Right-Arm-RmpFlow",
         "IsaacContrib-Stack-Cube-Bin-Franka-IK-Rel-Mimic",
@@ -99,12 +107,16 @@
         "IsaacContrib-Stack-Cube-Franka-IK-Rel",
         "IsaacContrib-Stack-Cube-Franka-IK-Rel-Skillgen",
         "IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow",
+        "IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor",
+        "IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-Joint-Position",
+        "IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-RmpFlow",
         "IsaacContrib-Stack-Cube-Galbot-Right-Arm-Suction-RmpFlow",
         "IsaacContrib-Stack-Cube-RedGreen-Franka-IK-Rel",
         "IsaacContrib-Stack-Cube-RedGreenBlue-Franka-IK-Rel",
         "IsaacContrib-Stack-Cube-SO101-IK-Abs-v0",
         "IsaacContrib-Stack-Cube-SO101-Joint-Teleop-v0",
         "IsaacContrib-Stack-Cube-SO101-v0",
+        "IsaacContrib-Stack-Cube-UR10-Long-Suction-IK-Rel",
         "IsaacContrib-Stack-Cube-UR10-Short-Suction-IK-Rel",
     }
 )
@@ -118,8 +130,9 @@ class EnvironmentDocRow:
     workflow: str
     rl_libraries: dict[str, list[str]]
     presets: dict[PresetTarget, list[str]] | None
-    agent_preset_compatibility: dict[str, tuple[str, ...]] = field(default_factory=dict)
     supports_warp_frontend: bool = False
+    pretrained_checkpoint_preset_compatibility: dict[str, tuple[str, ...]] = field(default_factory=dict)
+    required_extras: tuple[str, ...] = ()
 
 
 def _supports_warp_frontend(task_name: str, workflow: str, presets: dict[PresetTarget, list[str]] | None) -> bool:
@@ -163,11 +176,10 @@ def parse_rl_libraries_from_kwargs(kwargs: dict) -> dict[str, list[str]]:
     Returns:
         Mapping of RL-library name to sorted algorithm labels (e.g. ``{"skrl": ["IPPO", "PPO"]}``).
     """
-    agents: dict[str, set[str]] = collections.defaultdict(set)
+    entries: list[tuple[object, str, str]] = []
     for key, value in kwargs.items():
         if not key.endswith("_cfg_entry_point") or key == "env_cfg_entry_point":
             continue
-
         stem = key[: -len("_cfg_entry_point")]
         library = None
         algo_suffix = ""
@@ -182,9 +194,25 @@ def parse_rl_libraries_from_kwargs(kwargs: dict) -> dict[str, list[str]]:
                 break
         if library is None:
             continue
-        if algo_suffix == "with_symmetry":
+        entries.append((value, library, algo_suffix))
+
+    agents: dict[str, set[str]] = collections.defaultdict(set)
+    for value, library, algo_suffix in entries:
+        algorithm = _ALGORITHM_LABELS.get(algo_suffix.lower())
+        if algorithm is None:
+            # Registry suffixes can name recipes or preset variants, not algorithms.
+            continue
+        if not algo_suffix and any(
+            other_library == library
+            and other_value == value
+            and other_suffix
+            and other_suffix.lower() in _ALGORITHM_LABELS
+            for other_value, other_library, other_suffix in entries
+        ):
+            # An explicit algorithm alias for the same concrete config owns the
+            # label (for example the canonical and explicit SKRL AMP entries).
             continue
-        agents[library].add(_infer_algorithm(algo_suffix, value, library))
+        agents[library].add(algorithm)
 
     return {library: sorted(algorithms, key=_algo_sort_key) for library, algorithms in agents.items()}
 
@@ -283,6 +311,27 @@ def _domain_presets_for_docs(preset_map: dict[PresetTarget, list[str]]) -> list[
     return domain_names
 
 
+def _default_domain_presets(task_name: str) -> tuple[str, ...]:
+    """Return domain preset aliases that resolve to the task's default config."""
+    from isaaclab_tasks.utils.hydra import collect_presets
+    from isaaclab_tasks.utils.parse_cfg import load_cfg_from_registry
+
+    fields_by_path = collect_presets(load_cfg_from_registry(task_name, "env_cfg_entry_point"))
+    typed_targets = tuple(target for target in PresetTarget if target.base_classes)
+    aliases: dict[str, bool] = {}
+    for fields in fields_by_path.values():
+        default = fields.get("default")
+        for name, value in fields.items():
+            if name == "default" or any(target.matches(value) for target in typed_targets):
+                continue
+            try:
+                matches_default = bool(value == default)
+            except (RuntimeError, TypeError, ValueError):
+                matches_default = value is default
+            aliases[name] = aliases.get(name, True) and matches_default
+    return tuple(sorted(name for name, matches_default in aliases.items() if matches_default))
+
+
 def _selector_names_for_docs(
     preset_map: dict[PresetTarget, list[str]] | None,
 ) -> dict[PresetTarget, list[str]]:
@@ -576,6 +625,20 @@ def collect_environment_doc_rows(
             preset_map[PresetTarget.PHYSICS] = _physics_names_for_docs(spec.id, preset_map)
             preset_map = _apply_preset_exclusions(spec.id, preset_map)
         agents = apply_rl_library_overrides(spec.id, parse_rl_libraries_from_kwargs(spec.kwargs))
+        visible_domain_presets = set(_selector_names_for_docs(preset_map)[PresetTarget.DOMAIN])
+        default_checkpoint_presets = ()
+        if spec.id.startswith("Isaac-"):
+            with contextlib.suppress(Exception):
+                default_checkpoint_presets = tuple(
+                    name for name in _default_domain_presets(spec.id) if name in visible_domain_presets
+                )
+        checkpoint_preset_compatibility = {
+            library: tuple(preset for preset in presets if preset in visible_domain_presets)
+            for library, presets in spec.kwargs.get("pretrained_checkpoint_preset_compatibility", {}).items()
+            if library in agents
+        }
+        if default_checkpoint_presets:
+            checkpoint_preset_compatibility["*"] = default_checkpoint_presets
 
         workflow = get_workflow(spec.entry_point)
         rows.append(
@@ -584,12 +647,9 @@ def collect_environment_doc_rows(
                 workflow=workflow,
                 rl_libraries=agents,
                 presets=preset_map,
-                agent_preset_compatibility={
-                    agent: tuple(presets)
-                    for agent, presets in spec.kwargs.get("agent_preset_compatibility", {}).items()
-                    if agent in spec.kwargs
-                },
                 supports_warp_frontend=_supports_warp_frontend(spec.id, workflow, preset_map),
+                pretrained_checkpoint_preset_compatibility=checkpoint_preset_compatibility,
+                required_extras=TASK_REQUIRED_EXTRAS.get(spec.id, ()),
             )
         )
 
@@ -642,8 +702,8 @@ def collect_environment_browser_preview_images(content: str) -> dict[str, str]:
         if not row.startswith("["):
             continue
         values = json.loads(row)
-        if len(values) >= 7 and values[6]:
-            preview_images[values[0]] = values[6]
+        if len(values) >= 6 and values[5]:
+            preview_images[values[0]] = values[5]
     return preview_images
 
 
@@ -674,16 +734,25 @@ def render_environment_browser_task_rows(
             ]
             if aliases:
                 preview_image = max(aliases, key=lambda item: len(item[0]))[1]
-        if row.agent_preset_compatibility or preview_image:
-            rendered_values += f", {json.dumps(row.agent_preset_compatibility, sort_keys=True)}"
-        if preview_image:
-            rendered_values += f", {json.dumps(preview_image)}"
-        if row.supports_warp_frontend:
-            if not row.agent_preset_compatibility and not preview_image:
-                rendered_values += ", {}"
-            if not preview_image:
-                rendered_values += ', ""'
-            rendered_values += ", true"
+        default_algorithms = {"skrl": "MAPPO"} if "MAPPO" in row.rl_libraries.get("skrl", []) else {}
+        optional_values = [
+            preview_image,
+            row.supports_warp_frontend,
+            row.pretrained_checkpoint_preset_compatibility,
+            default_algorithms,
+            ",".join(row.required_extras),
+        ]
+        optional_defaults = ["", False, {}, {}, ""]
+        last_value = next(
+            (
+                index
+                for index in reversed(range(len(optional_values)))
+                if optional_values[index] != optional_defaults[index]
+            ),
+            -1,
+        )
+        for value in optional_values[: last_value + 1]:
+            rendered_values += f", {json.dumps(value, sort_keys=True)}"
         lines.append(f"            [{rendered_values}],")
     lines.append("        ];")
     return "\n".join(lines)
@@ -729,22 +798,6 @@ def patch_environments_rst(content: str, generated_table: str) -> str:
     return content[:start] + replacement + content[end:]
 
 
-def _infer_algorithm(algo_suffix: str, entry_value: object, library: str) -> str:
-    """Map a cfg-entry suffix and value to a display algorithm label."""
-    if not algo_suffix:
-        if library == "rl_games" and isinstance(entry_value, str) and "vision" in entry_value.lower():
-            return "VISION"
-        return "PPO"
-
-    normalized = {
-        "ppo": "PPO",
-        "amp": "AMP",
-        "ippo": "IPPO",
-        "mappo": "MAPPO",
-    }
-    return normalized.get(algo_suffix.lower(), algo_suffix.upper())
-
-
 def _algo_sort_key(algo: str) -> tuple[int, str]:
     """Sort PPO first, then alphabetically."""
     return (0 if algo == "PPO" else 1, algo)
diff --git a/tools/template/cli.py b/tools/template/cli.py
index 770a5fd10b78..5b5bfd295e40 100644
--- a/tools/template/cli.py
+++ b/tools/template/cli.py
@@ -296,6 +296,8 @@ def main() -> None:
         "external": is_external_project,
         "path": project_path,
         "name": project_name,
+        "isaaclab_version": lab_module.__version__,
+        "isaaclab_source_path": ROOT_DIR if not is_lab_pip_installed else None,
         "task_name": task_name,
         "robot_name": robot_name,
         "include_ui_extension": include_ui_extension,
diff --git a/tools/template/generator.py b/tools/template/generator.py
index eecb5381c6d8..44351a637e83 100644
--- a/tools/template/generator.py
+++ b/tools/template/generator.py
@@ -4,11 +4,14 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 import glob
+import json
 import os
 import shutil
 import subprocess
+from typing import Any
 
 import jinja2
+import tomllib
 from common import MULTI_AGENT_ALGORITHMS, SINGLE_AGENT_ALGORITHMS, TASKS_DIR, TEMPLATE_DIR
 
 jinja_env = jinja2.Environment(
@@ -86,6 +89,11 @@ def _generate_task_per_workflow(task_dir: str, specification: dict) -> None:
         _write_file(
             os.path.join(task_dir, f"{task_spec['env_cfg_filename']}.py"), content=template.render(**specification)
         )
+        if task_spec["amp_selected"]:
+            template = jinja_env.get_template(f"tasks/manager-based_{task_spec['workflow']['type']}/env")
+            _write_file(
+                os.path.join(task_dir, f"{task_spec['env_filename']}.py"), content=template.render(**specification)
+            )
         shutil.copytree(
             os.path.join(TEMPLATE_DIR, "tasks", f"manager-based_{task_spec['workflow']['type']}", "mdp"),
             os.path.join(task_spec["family_dir"], "mdp"),
@@ -115,6 +123,18 @@ def _generate_tasks(specification: dict, task_dir: str) -> list[dict]:
         for item in robot_name.split("_")
     )
     for workflow in specification["workflows"]:
+        supported_algorithms = SINGLE_AGENT_ALGORITHMS if workflow["type"] == "single-agent" else MULTI_AGENT_ALGORITHMS
+        preferred_algorithm = "ppo" if workflow["type"] == "single-agent" else "mappo"
+        task_rl_libraries = []
+        for rl_library in specification["rl_libraries"]:
+            algorithms = [
+                algorithm for algorithm in rl_library.get("algorithms", []) if algorithm.upper() in supported_algorithms
+            ]
+            if algorithms:
+                canonical_algorithm = preferred_algorithm if preferred_algorithm in algorithms else algorithms[0]
+                task_rl_libraries.append(
+                    {**rl_library, "algorithms": algorithms, "canonical_algorithm": canonical_algorithm}
+                )
         task_name = general_task_name + ("-Marl" if workflow["type"] == "multi-agent" else "")
         filename = task_name.replace("-", "_").lower()
         family_name = f"{filename}_direct" if workflow["name"] == "direct" else filename
@@ -132,6 +152,9 @@ def _generate_tasks(specification: dict, task_dir: str) -> list[dict]:
             "env_cfg_filename": "env_cfg" if specification["external"] else f"{filename}_env_cfg",
             "env_filename": "env" if specification["external"] else f"{filename}_env",
             "id": task_id,
+            "amp_selected": any(
+                rl_library["name"] == "skrl" and "amp" in rl_library["algorithms"] for rl_library in task_rl_libraries
+            ),
         }
         print(f"  |    |-- Generating '{task['id']}' task...")
         for package_dir in (family_dir, os.path.join(family_dir, "config")):
@@ -139,7 +162,7 @@ def _generate_tasks(specification: dict, task_dir: str) -> list[dict]:
             package_init = os.path.join(package_dir, "__init__.py")
             if not os.path.exists(package_init):
                 shutil.copyfile(os.path.join(TEMPLATE_DIR, "extension", "__init__task_family"), package_init)
-        task_specification = {**specification, "task": task}
+        task_specification = {**specification, "task": task, "rl_libraries": task_rl_libraries}
         _generate_task_per_workflow(task["dir"], task_specification)
         specifications.append(task_specification)
     return specifications
@@ -154,10 +177,11 @@ def _external(specification: dict) -> None:
     name = specification["name"]
     project_dir = os.path.join(specification["path"], name)
     os.makedirs(project_dir, exist_ok=True)
+    specification = _prepare_external_dependencies(specification, project_dir)
     print("  |-- Copying repo files...")
     for filename in [".gitattributes", ".gitignore", ".pre-commit-config.yaml", "LICENSE"]:
         shutil.copyfile(os.path.join(TEMPLATE_DIR, "external", filename), os.path.join(project_dir, filename))
-    template = jinja_env.get_template("external/pyproject.toml")
+    template = jinja_env.get_template("external/pyproject.toml.jinja")
     _write_file(os.path.join(project_dir, "pyproject.toml"), content=template.render(**specification))
     print("  |-- Copying utility scripts...")
     scripts_dir = os.path.join(project_dir, "scripts")
@@ -215,6 +239,72 @@ def _external(specification: dict) -> None:
     print("-" * 80)
 
 
+def _prepare_external_dependencies(specification: dict, project_dir: str) -> dict:
+    """Resolve generated dependencies against a wheel or the active source checkout."""
+    specification = specification.copy()
+    source_path = specification.get("isaaclab_source_path")
+    if not source_path:
+        specification["isaaclab_dependency"] = "isaaclab"
+        specification["isaaclab_environments"] = []
+        specification["isaaclab_indexes"] = []
+        specification["isaaclab_overrides"] = []
+        specification["isaaclab_sources"] = []
+        return specification
+
+    source_root = os.path.realpath(source_path)
+    with open(os.path.join(source_root, "pyproject.toml"), "rb") as file:
+        source_config = tomllib.load(file)
+
+    uv_config = source_config["tool"]["uv"]
+    sources = []
+    for package_name, source in source_config["tool"]["uv"]["sources"].items():
+        if isinstance(source, dict) and "path" in source:
+            source = source.copy()
+            package_path = os.path.join(source_root, source["path"])
+            source["path"] = _project_source_path(package_path, project_dir)
+        sources.append({"name": package_name, "value": _format_toml_value(source)})
+    sources.append(
+        {
+            "name": source_config["project"]["name"],
+            "value": _format_toml_value(
+                {
+                    "path": _project_source_path(source_root, project_dir),
+                    "editable": True,
+                }
+            ),
+        }
+    )
+    specification["isaaclab_dependency"] = source_config["project"]["name"]
+    specification["isaaclab_environments"] = uv_config.get("environments", [])
+    specification["isaaclab_indexes"] = uv_config.get("index", [])
+    specification["isaaclab_overrides"] = uv_config.get("override-dependencies", [])
+    specification["isaaclab_sources"] = sorted(sources, key=lambda source: source["name"])
+    return specification
+
+
+def _project_source_path(source_path: str, project_dir: str) -> str:
+    """Return a portable source path, falling back to absolute paths across Windows drives."""
+    try:
+        path = os.path.relpath(source_path, project_dir)
+    except ValueError:
+        path = os.path.realpath(source_path)
+    return path.replace("\\", "/")
+
+
+def _format_toml_value(value: Any) -> str:
+    """Format the subset of TOML values used by ``tool.uv.sources``."""
+    if isinstance(value, str):
+        return json.dumps(value)
+    if isinstance(value, bool):
+        return str(value).lower()
+    if isinstance(value, list):
+        return "[" + ", ".join(_format_toml_value(item) for item in value) + "]"
+    if isinstance(value, dict):
+        items = ", ".join(f"{key} = {_format_toml_value(item)}" for key, item in value.items())
+        return "{ " + items + " }"
+    raise TypeError(f"Unsupported TOML value: {value!r}")
+
+
 def get_algorithms_per_rl_library(single_agent: bool = True, multi_agent: bool = True):
     assert single_agent or multi_agent, "At least one of 'single_agent' or 'multi_agent' must be True"
     data = {"rsl_rl": [], "rl_games": [], "skrl": [], "sb3": []}
@@ -256,6 +346,20 @@ def generate(specification: dict) -> None:
     for workflow in specification["workflows"]:
         assert workflow["name"] in ["direct", "manager-based"], f"Invalid workflow: {workflow}"
         assert workflow["type"] in ["single-agent", "multi-agent"], f"Invalid workflow type: {workflow}"
+    selected_workflow_types = {workflow["type"] for workflow in specification["workflows"]}
+    allowed_algorithms = set()
+    if "single-agent" in selected_workflow_types:
+        allowed_algorithms.update(algorithm.lower() for algorithm in SINGLE_AGENT_ALGORITHMS)
+    if "multi-agent" in selected_workflow_types:
+        allowed_algorithms.update(algorithm.lower() for algorithm in MULTI_AGENT_ALGORITHMS)
+    normalized_libraries = []
+    for rl_library in specification["rl_libraries"]:
+        algorithms = [algorithm.lower() for algorithm in rl_library.get("algorithms", [])]
+        invalid_algorithms = sorted(set(algorithms) - allowed_algorithms)
+        if invalid_algorithms:
+            raise ValueError(f"Algorithms {invalid_algorithms} are not supported by the selected workflows")
+        normalized_libraries.append({**rl_library, "algorithms": algorithms})
+    specification["rl_libraries"] = normalized_libraries
     if specification["external"]:
         assert "path" in specification, "Path is required for external projects"
     if specification["external"]:
diff --git a/tools/template/templates/agents/rsl_rl_distillation_cfg b/tools/template/templates/agents/rsl_rl_distillation_cfg
index 0cc44a9b2d1a..7447f86b1387 100644
--- a/tools/template/templates/agents/rsl_rl_distillation_cfg
+++ b/tools/template/templates/agents/rsl_rl_distillation_cfg
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlDistillationAlgorithmCfg, RslRlDistillationRunnerCfg, RslRlMLPModelCfg
 
diff --git a/tools/template/templates/agents/rsl_rl_ppo_cfg b/tools/template/templates/agents/rsl_rl_ppo_cfg
index 25afd5c67abb..834601756910 100644
--- a/tools/template/templates/agents/rsl_rl_ppo_cfg
+++ b/tools/template/templates/agents/rsl_rl_ppo_cfg
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 
 from isaaclab_rl.rsl_rl import RslRlMLPModelCfg, RslRlOnPolicyRunnerCfg, RslRlPpoAlgorithmCfg
 
diff --git a/tools/template/templates/external/.gitignore b/tools/template/templates/external/.gitignore
index d7e3d459d3d1..d8f5bdf5325e 100644
--- a/tools/template/templates/external/.gitignore
+++ b/tools/template/templates/external/.gitignore
@@ -14,3 +14,4 @@ wandb/
 
 .vscode/settings.json
 .vscode/launch.json
+pyrightconfig.json
diff --git a/tools/template/templates/external/.vscode/.gitignore b/tools/template/templates/external/.vscode/.gitignore
index 10b0af342ce3..e0a8bea56c6f 100644
--- a/tools/template/templates/external/.vscode/.gitignore
+++ b/tools/template/templates/external/.vscode/.gitignore
@@ -1,7 +1,6 @@
 # Note: These files are kept for development purposes only.
 !tools/launch.template.json
 !tools/settings.template.json
-!tools/setup_vscode.py
 !extensions.json
 !tasks.json
 
diff --git a/tools/template/templates/external/.vscode/tasks.json b/tools/template/templates/external/.vscode/tasks.json
index db7bd446edf4..f7751b119f55 100644
--- a/tools/template/templates/external/.vscode/tasks.json
+++ b/tools/template/templates/external/.vscode/tasks.json
@@ -4,7 +4,7 @@
         {
             "label": "setup_python_env",
             "type": "shell",
-            "command": "uv run python ${workspaceFolder}/.vscode/tools/setup_vscode.py",
+            "command": "uv run isaaclab --editor",
             "problemMatcher": []
         }
     ]
diff --git a/tools/template/templates/external/.vscode/tools/settings.template.json b/tools/template/templates/external/.vscode/tools/settings.template.json
index c1528d65dd73..d66c6f4f0322 100644
--- a/tools/template/templates/external/.vscode/tools/settings.template.json
+++ b/tools/template/templates/external/.vscode/tools/settings.template.json
@@ -72,8 +72,5 @@
     },
     "[restructuredtext]": {
         "editor.tabSize": 2
-    },
-    // Python extra paths
-    // Note: this is filled up when vscode is set up for the first time
-    "python.analysis.extraPaths": []
+    }
 }
diff --git a/tools/template/templates/external/.vscode/tools/setup_vscode.py b/tools/template/templates/external/.vscode/tools/setup_vscode.py
deleted file mode 100644
index 9fcd115748ec..000000000000
--- a/tools/template/templates/external/.vscode/tools/setup_vscode.py
+++ /dev/null
@@ -1,198 +0,0 @@
-# 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
-
-"""This script sets up the vs-code settings for the Isaac Lab project.
-
-This script merges the python.analysis.extraPaths from the "{ISAACSIM_DIR}/.vscode/settings.json" file into
-the ".vscode/settings.json" file.
-
-This is necessary because Isaac Sim 2022.2.1 onwards does not add the necessary python packages to the python path
-when the "setup_python_env.sh" is run as part of the vs-code launch configuration.
-"""
-
-import os
-import pathlib
-import re
-import subprocess
-import sys
-
-ISAACLAB_DIR = pathlib.Path(__file__).parents[2]
-"""Path to the Isaac Lab directory."""
-
-# Try to find IsaacSim dir
-_isaacsim_probe = subprocess.run(
-    [sys.executable, "-c", "import isaacsim; import os; print(os.environ.get('ISAAC_PATH', ''))"],
-    capture_output=True,
-    text=True,
-    check=False,
-    # avoid EULA prompt
-    stdin=subprocess.DEVNULL,
-)
-if _isaacsim_probe.returncode == 0 and _isaacsim_probe.stdout.strip():
-    isaacsim_dir = _isaacsim_probe.stdout.strip()
-else:
-    isaacsim_dir = os.path.join(ISAACLAB_DIR, "_isaac_sim")
-
-# check if the isaac-sim directory exists
-if not os.path.exists(isaacsim_dir):
-    print(
-        f"[WARN] Could not find the isaac-sim directory: {isaacsim_dir}."
-        "\n\tIsaac Sim does not appear to be installed. VS Code settings will be generated"
-        "\n\twithout Isaac Sim extra paths."
-    )
-    isaacsim_dir = ""
-
-ISAACSIM_DIR = isaacsim_dir
-"""Path to the isaac-sim directory."""
-
-
-def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
-    """Overwrite the python.analysis.extraPaths in the Isaac Lab settings file.
-
-    The extraPaths are replaced with the path names from the isaac-sim settings file that exists in the
-    "{ISAACSIM_DIR}/.vscode/settings.json" file.
-
-    If the isaac-sim settings file does not exist, the extraPaths are not overwritten.
-
-    Args:
-        isaaclab_settings: The settings string to use as template.
-
-    Returns:
-        The settings string with overwritten python analysis extra paths.
-    """
-    # isaac-sim settings
-    isaacsim_vscode_filename = os.path.join(ISAACSIM_DIR, ".vscode", "settings.json")
-
-    # we use the isaac-sim settings file to get the python.analysis.extraPaths for kit extensions
-    # if this file does not exist, we will not add any extra paths
-    if ISAACSIM_DIR and os.path.exists(isaacsim_vscode_filename):
-        # read the path names from the isaac-sim settings file
-        with open(isaacsim_vscode_filename) as f:
-            vscode_settings = f.read()
-        # extract the path names
-        # search for the python.analysis.extraPaths section and extract the contents
-        settings = re.search(
-            r"\"python.analysis.extraPaths\": \[.*?\]", vscode_settings, flags=re.MULTILINE | re.DOTALL
-        )
-        settings = settings.group(0)
-        settings = settings.split('"python.analysis.extraPaths": [')[-1]
-        settings = settings.split("]")[0]
-
-        # read the path names from the isaac-sim settings file
-        path_names = settings.split(",")
-        path_names = [path_name.strip().strip('"') for path_name in path_names]
-        path_names = [path_name for path_name in path_names if len(path_name) > 0]
-
-        # change the path names to be relative to the Isaac Lab directory
-        rel_path = os.path.relpath(ISAACSIM_DIR, ISAACLAB_DIR)
-        path_names = ['"${workspaceFolder}/' + rel_path + "/" + path_name + '"' for path_name in path_names]
-    else:
-        path_names = []
-
-    # add the generated project's source directory
-    path_names.append('"${workspaceFolder}/src"')
-
-    # combine them into a single string
-    path_names = ",\n\t\t".expandtabs(4).join(path_names)
-    # deal with the path separator being different on Windows and Unix
-    path_names = path_names.replace("\\", "/")
-
-    # replace the path names in the Isaac Lab settings file with the path names parsed
-    isaaclab_settings = re.sub(
-        r"\"python.analysis.extraPaths\": \[.*?\]",
-        '"python.analysis.extraPaths": [\n\t\t'.expandtabs(4) + path_names + "\n\t]".expandtabs(4),
-        isaaclab_settings,
-        flags=re.DOTALL,
-    )
-    # return the Isaac Lab settings string
-    return isaaclab_settings
-
-
-def overwrite_default_python_interpreter(isaaclab_settings: str) -> str:
-    """Overwrite the default python interpreter in the Isaac Lab settings file.
-
-    The default python interpreter is replaced with the path to the python interpreter used by the
-    isaac-sim project. This is necessary because the default python interpreter is the one shipped with
-    isaac-sim.
-
-    Args:
-        isaaclab_settings: The settings string to use as template.
-
-    Returns:
-        The settings string with overwritten default python interpreter.
-    """
-    # read executable name
-    python_exe = sys.executable.replace("\\", "/")
-
-    # We make an exception for replacing the default interpreter if the
-    # path (/kit/python/bin/python3) indicates that we are using a local/container
-    # installation of IsaacSim. We will preserve the calling script as the default, python.sh.
-    # We want to use python.sh because it modifies LD_LIBRARY_PATH and PYTHONPATH
-    # (among other envars) that we need for all of our dependencies to be accessible.
-    if "kit/python/bin/python3" in python_exe:
-        return isaaclab_settings
-    # replace the default python interpreter in the Isaac Lab settings file with the path to the
-    # python interpreter in the Isaac Lab directory
-    isaaclab_settings = re.sub(
-        r"\"python.defaultInterpreterPath\": \".*?\"",
-        f'"python.defaultInterpreterPath": "{python_exe}"',
-        isaaclab_settings,
-        flags=re.DOTALL,
-    )
-    # return the Isaac Lab settings file
-    return isaaclab_settings
-
-
-def main():
-    # Isaac Lab template settings
-    isaaclab_vscode_template_filename = os.path.join(ISAACLAB_DIR, ".vscode", "tools", "settings.template.json")
-    # make sure the Isaac Lab template settings file exists
-    if not os.path.exists(isaaclab_vscode_template_filename):
-        raise FileNotFoundError(
-            f"Could not find the Isaac Lab template settings file: {isaaclab_vscode_template_filename}"
-        )
-    # read the Isaac Lab template settings file
-    with open(isaaclab_vscode_template_filename) as f:
-        isaaclab_template_settings = f.read()
-
-    # overwrite the python.analysis.extraPaths in the Isaac Lab settings file with the path names
-    isaaclab_settings = overwrite_python_analysis_extra_paths(isaaclab_template_settings)
-    # overwrite the default python interpreter in the Isaac Lab settings file with the path to the
-    # python interpreter used to call this script
-    isaaclab_settings = overwrite_default_python_interpreter(isaaclab_settings)
-
-    # add template notice to the top of the file
-    header_message = (
-        "// This file is a template and is automatically generated by the setup_vscode.py script.\n"
-        "// Do not edit this file directly.\n"
-        "// \n"
-        f"// Generated from: {isaaclab_vscode_template_filename}\n"
-    )
-    isaaclab_settings = header_message + isaaclab_settings
-
-    # write the Isaac Lab settings file
-    isaaclab_vscode_filename = os.path.join(ISAACLAB_DIR, ".vscode", "settings.json")
-    with open(isaaclab_vscode_filename, "w") as f:
-        f.write(isaaclab_settings)
-
-    # copy the launch.json file if it doesn't exist
-    isaaclab_vscode_launch_filename = os.path.join(ISAACLAB_DIR, ".vscode", "launch.json")
-    isaaclab_vscode_template_launch_filename = os.path.join(ISAACLAB_DIR, ".vscode", "tools", "launch.template.json")
-    if not os.path.exists(isaaclab_vscode_launch_filename):
-        # read template launch settings
-        with open(isaaclab_vscode_template_launch_filename) as f:
-            isaaclab_template_launch_settings = f.read()
-        # add header
-        header_message = header_message.replace(
-            isaaclab_vscode_template_filename, isaaclab_vscode_template_launch_filename
-        )
-        isaaclab_launch_settings = header_message + isaaclab_template_launch_settings
-        # write the Isaac Lab launch settings file
-        with open(isaaclab_vscode_launch_filename, "w") as f:
-            f.write(isaaclab_launch_settings)
-
-
-if __name__ == "__main__":
-    main()
diff --git a/tools/template/templates/external/README.md b/tools/template/templates/external/README.md
index 01d0c188b59b..75e320b7586e 100644
--- a/tools/template/templates/external/README.md
+++ b/tools/template/templates/external/README.md
@@ -16,6 +16,11 @@ environment uses the Newton backend and does not install Isaac Sim:
 ```bash
 uv sync
 ```
+{% if isaaclab_sources %}
+
+This project was generated from an Isaac Lab source checkout. Its `pyproject.toml` uses editable relative paths to that
+checkout, so regenerate the project or update `[tool.uv.sources]` if either directory moves.
+{% endif %}
 
 Optional backends are available through extras. Pass the extra to each `uv run` command that needs it:
 
@@ -75,10 +80,36 @@ The test helpers under `source/isaaclab_tasks/test` in the Isaac Lab repository
 `isaaclab_tasks` package. Keep test fixtures in this project and use public Isaac Lab APIs. If you copy
 `env_test_utils.py`, it becomes vendored code whose upstream changes you must track.
 
-To configure VS Code, run the `setup_python_env` task or invoke its command directly:
+To configure VS Code or Cursor, run the `setup_python_env` task or invoke its command directly:
 
 ```bash
-uv run python .vscode/tools/setup_vscode.py
+uv run isaaclab --editor
+```
+
+The setup command selects the active interpreter and generates a git-ignored `pyrightconfig.json`. The generated
+configuration inherits the project's checked-in Pyright settings and adds the Isaac Sim extensions, project `src` root,
+and any Isaac Lab packages discovered in the active Python environment. This supports both Pylance in VS Code and
+basedpyright in Cursor.
+
+In VS Code, use Pylance and select the interpreter that ran the setup command. In Cursor, install the
+[basedpyright extension](https://marketplace.visualstudio.com/items?itemName=detachhead.basedpyright) instead of
+Pylance, select the same interpreter, and reload the window. Both language servers read `pyrightconfig.json`.
+
+When using the `isaacsim` extra, include it while generating the editor configuration so the command can discover the
+Isaac Sim installation:
+
+```bash
+uv run --extra isaacsim isaaclab --editor
+```
+
+For an Isaac Sim binaries installation that is not available in the project environment, provide its path explicitly:
+
+```bash
+# Linux
+uv run isaaclab --editor --isaac_path <isaac-sim-path>
+
+# Windows
+uv run isaaclab --editor --isaac_path <isaac-sim-path>
 ```
 
 {% if include_ui_extension %}
@@ -91,5 +122,6 @@ Add the project root to the Isaac Sim Extension Manager search paths, refresh, a
 {% endif %}
 ## Troubleshooting
 
-If Pylance cannot resolve simulator modules, run the VS Code setup command above and reload the window. If indexing uses
-too much memory, remove unused simulator extension paths from `.vscode/settings.json`.
+If Pylance or basedpyright cannot resolve modules, confirm that the selected interpreter matches the one used to run the
+setup command, then reload the editor window. To add a missing extension or reduce indexing memory, edit the `extraPaths`
+array in the root `pyrightconfig.json`; remove simulator extension directories that the project does not use.
diff --git a/tools/template/templates/external/pyproject.toml b/tools/template/templates/external/pyproject.toml.jinja
similarity index 57%
rename from tools/template/templates/external/pyproject.toml
rename to tools/template/templates/external/pyproject.toml.jinja
index ae1b0ebb9d74..b435287ec4e0 100644
--- a/tools/template/templates/external/pyproject.toml
+++ b/tools/template/templates/external/pyproject.toml.jinja
@@ -16,17 +16,17 @@ license = { file = "LICENSE" }
 authors = [{ name = "Isaac Lab Project Developers" }]
 requires-python = ">=3.12,<3.13"
 dependencies = [
-    "isaaclab{% if rl_libraries %}[{% for rl_library in rl_libraries %}{% if not loop.first %},{% endif %}{{ rl_library.name | replace('_', '-') }}{% endfor %}]{% endif %}",
+    "{{ isaaclab_dependency }}{% if rl_libraries %}[{% for rl_library in rl_libraries %}{% if not loop.first %},{% endif %}{{ rl_library.name | replace('_', '-') }}{% endfor %}]{% endif %}{% if not isaaclab_sources and isaaclab_version %}=={{ isaaclab_version }}{% endif %}",
 ]
 
 [project.entry-points."isaaclab.tasks"]
 "{{ name }}" = "{{ name }}.tasks"
 
 [project.optional-dependencies]
-isaacsim = ["isaaclab[isaacsim]"]
-ov = ["isaaclab[ov]"]
-ovphysx = ["isaaclab[ovphysx]"]
-ovrtx = ["isaaclab[ovrtx]"]
+isaacsim = ["{{ isaaclab_dependency }}[isaacsim]{% if not isaaclab_sources and isaaclab_version %}=={{ isaaclab_version }}{% endif %}"]
+ov = ["{{ isaaclab_dependency }}[ov]{% if not isaaclab_sources and isaaclab_version %}=={{ isaaclab_version }}{% endif %}"]
+ovphysx = ["{{ isaaclab_dependency }}[ovphysx]{% if not isaaclab_sources and isaaclab_version %}=={{ isaaclab_version }}{% endif %}"]
+ovrtx = ["{{ isaaclab_dependency }}[ovrtx]{% if not isaaclab_sources and isaaclab_version %}=={{ isaaclab_version }}{% endif %}"]
 
 [dependency-groups]
 dev = ["codespell>=2.4", "pre-commit>=4.2", "pytest>=8.3", "ruff>=0.11"]
@@ -34,6 +34,27 @@ dev = ["codespell>=2.4", "pre-commit>=4.2", "pytest>=8.3", "ruff>=0.11"]
 [tool.uv]
 index-strategy = "unsafe-best-match"
 prerelease = "allow"
+{% if isaaclab_environments %}
+environments = [
+{% for environment in isaaclab_environments %}
+    "{{ environment }}",
+{% endfor %}
+]
+{% endif %}
+{% if isaaclab_overrides %}
+override-dependencies = [
+{% for dependency in isaaclab_overrides %}
+    "{{ dependency }}",
+{% endfor %}
+]
+{% endif %}
+{% if isaaclab_sources %}
+
+[tool.uv.sources]
+{% for source in isaaclab_sources %}
+"{{ source.name }}" = {{ source.value }}
+{% endfor %}
+{% endif %}
 
 [tool.uv.build-backend]
 module-name = "{{ name }}"
@@ -73,6 +94,11 @@ isaaclab = ["isaaclab", "isaaclab_newton", "isaaclab_ov", "isaaclab_physx"]
 [tool.ruff.format]
 docstring-code-format = true
 
+[tool.pyright]
+include = ["src", "scripts", "tests"]
+exclude = ["**/__pycache__", "**/logs", ".git", ".venv", ".vscode"]
+typeCheckingMode = "basic"
+
 [tool.pytest.ini_options]
 testpaths = ["tests"]
 addopts = "-ra"
@@ -86,6 +112,18 @@ markers = [
 [tool.codespell]
 skip = "*.usd,*.usda,*.usdc,*.json,*.onnx,*.pt,*.mp4,*.data,uv.lock,logs"
 
+{% if isaaclab_indexes %}
+{% for index in isaaclab_indexes %}
+[[tool.uv.index]]
+{% if index.name is defined %}
+name = "{{ index.name }}"
+{% endif %}
+url = "{{ index.url }}"
+explicit = {{ index.explicit | lower }}
+
+{% endfor %}
+{% else %}
 [[tool.uv.index]]
 url = "https://pypi.nvidia.com"
 explicit = false
+{% endif %}
diff --git a/tools/template/templates/tasks/__init__task b/tools/template/templates/tasks/__init__task
index d5ed07d21adf..efbb13698fa9 100644
--- a/tools/template/templates/tasks/__init__task
+++ b/tools/template/templates/tasks/__init__task
@@ -14,7 +14,7 @@ from . import agents
 
 gym.register(
     id="{{ task.id }}",
-{% if task.workflow.name == "direct" %}
+{% if task.workflow.name == "direct" or task.amp_selected %}
     entry_point=f"{__name__}.{{ task.env_filename }}:{{ task.classname }}Env",
 {% else %}
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
@@ -35,10 +35,12 @@ gym.register(
     {% else %}
       {% set agent_config = ":" ~ rl_library.name ~ "_" ~ algorithm ~ "_cfg.yaml" %}
     {% endif %}
-    {# library configuration #}
-    {% if algorithm == "ppo" %}
+    {# canonical library configuration #}
+    {% if algorithm == rl_library.canonical_algorithm %}
         "{{ rl_library.name }}_cfg_entry_point": f"{agents.__name__}{{ agent_config }}",
-    {% else %}
+    {% endif %}
+    {# explicit non-PPO algorithm configuration #}
+    {% if algorithm != "ppo" %}
         "{{ rl_library.name }}_{{ algorithm }}_cfg_entry_point": f"{agents.__name__}{{ agent_config }}",
     {% endif %}
   {% endfor %}
diff --git a/tools/template/templates/tasks/direct_multi-agent/env_cfg b/tools/template/templates/tasks/direct_multi-agent/env_cfg
index e0e8d25785ee..dfedc958eacd 100644
--- a/tools/template/templates/tasks/direct_multi-agent/env_cfg
+++ b/tools/template/templates/tasks/direct_multi-agent/env_cfg
@@ -12,7 +12,7 @@ from isaaclab.envs import DirectMARLEnvCfg
 from isaaclab.physics import PhysxAutoCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab_newton.physics import KaminoPADMMSolverCfg, MJWarpSolverCfg, NewtonCfg
 from isaaclab_ov.physics import OvPhysxCfg
 from isaaclab_physx.physics import PhysxCfg
diff --git a/tools/template/templates/tasks/direct_single-agent/env_cfg b/tools/template/templates/tasks/direct_single-agent/env_cfg
index a697230fb93e..d0be806c9dc9 100644
--- a/tools/template/templates/tasks/direct_single-agent/env_cfg
+++ b/tools/template/templates/tasks/direct_single-agent/env_cfg
@@ -19,7 +19,7 @@ from isaaclab.envs import DirectRLEnvCfg
 from isaaclab.physics import PhysxAutoCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 from isaaclab_newton.physics import KaminoPADMMSolverCfg, MJWarpSolverCfg, NewtonCfg
 from isaaclab_ov.physics import OvPhysxCfg
diff --git a/tools/template/templates/tasks/manager-based_single-agent/env b/tools/template/templates/tasks/manager-based_single-agent/env
new file mode 100644
index 000000000000..9eae78de85a2
--- /dev/null
+++ b/tools/template/templates/tasks/manager-based_single-agent/env
@@ -0,0 +1,53 @@
+# 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
+
+from __future__ import annotations
+
+import numpy as np
+import torch
+from gymnasium import spaces
+
+from isaaclab.envs import ManagerBasedRLEnv
+
+from .{{ task.env_cfg_filename }} import {{ task.classname }}EnvCfg
+
+
+class {{ task.classname }}Env(ManagerBasedRLEnv):
+    """Manager-based cart-pole environment with the interface required by skrl AMP."""
+
+    cfg: {{ task.classname }}EnvCfg
+
+    def __init__(self, cfg: {{ task.classname }}EnvCfg, render_mode: str | None = None, **kwargs):
+        super().__init__(cfg, render_mode, **kwargs)
+
+        observation_size = spaces.flatdim(self.single_observation_space["policy"])
+        self.amp_observation_size = self.cfg.num_amp_observations * observation_size
+        self.amp_observation_space = spaces.Box(low=-np.inf, high=np.inf, shape=(self.amp_observation_size,))
+        self.amp_observation_buffer = torch.zeros(
+            (self.num_envs, self.cfg.num_amp_observations, observation_size), device=self.device
+        )
+
+    def step(self, action: torch.Tensor):
+        observations, rewards, terminated, truncated, extras = super().step(action)
+
+        for index in reversed(range(self.cfg.num_amp_observations - 1)):
+            self.amp_observation_buffer[:, index + 1] = self.amp_observation_buffer[:, index]
+        policy_observations = observations["policy"].reshape(self.num_envs, -1)
+        self.amp_observation_buffer[:, 0] = policy_observations
+        reset_env_ids = (terminated | truncated).nonzero(as_tuple=False).squeeze(-1)
+        if len(reset_env_ids) > 0:
+            final_policy_observations = extras["final_obs"]["policy"].reshape(self.num_envs, -1)
+            self.amp_observation_buffer[reset_env_ids, 0] = final_policy_observations[reset_env_ids]
+            amp_observations = self.amp_observation_buffer.view(-1, self.amp_observation_size).clone()
+            self.amp_observation_buffer[reset_env_ids] = policy_observations[reset_env_ids].unsqueeze(1)
+        else:
+            amp_observations = self.amp_observation_buffer.view(-1, self.amp_observation_size)
+        extras["amp_obs"] = amp_observations
+        return observations, rewards, terminated, truncated, extras
+
+    def collect_reference_motions(self, num_samples: int, current_times: np.ndarray | None = None) -> torch.Tensor:
+        # This placeholder should be replaced with reference motions for the specific task.
+        # See the Humanoid-AMP task's implementation for a complete example.
+        return torch.zeros((num_samples, self.amp_observation_size), device=self.device)
diff --git a/tools/template/templates/tasks/manager-based_single-agent/env_cfg b/tools/template/templates/tasks/manager-based_single-agent/env_cfg
index 72f8074b0cea..5d76f5565532 100644
--- a/tools/template/templates/tasks/manager-based_single-agent/env_cfg
+++ b/tools/template/templates/tasks/manager-based_single-agent/env_cfg
@@ -16,7 +16,7 @@ from isaaclab.managers import SceneEntityCfg
 from isaaclab.managers import TerminationTermCfg as DoneTerm
 from isaaclab.physics import PhysxAutoCfg
 from isaaclab.scene import InteractiveSceneCfg
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils import configclass
 from isaaclab.visualizers import VisualizerCfg
 from isaaclab_newton.physics import KaminoPADMMSolverCfg, MJWarpSolverCfg, NewtonCfg
 from isaaclab_ov.physics import OvPhysxCfg
@@ -202,6 +202,12 @@ class {{ task.classname }}EnvCfg(ManagerBasedRLEnvCfg):
     # MDP settings
     rewards: RewardsCfg = RewardsCfg()
     terminations: TerminationsCfg = TerminationsCfg()
+{% if task.amp_selected %}
+
+    # AMP settings
+    compute_final_obs = True
+    num_amp_observations = 2
+{% endif %}
 
     # Post initialization
     def __post_init__(self) -> None:
diff --git a/tools/template/test_cli.py b/tools/template/test_cli.py
index af8889a223e1..4a469803956e 100644
--- a/tools/template/test_cli.py
+++ b/tools/template/test_cli.py
@@ -42,6 +42,7 @@ def _external_specification(tmp_path: Path, include_ui_extension: bool = False)
         "external": True,
         "path": str(tmp_path),
         "name": "test_project",
+        "isaaclab_version": "3.0.0",
         "task_name": "place_vial",
         "robot_name": "so101",
         "include_ui_extension": include_ui_extension,
@@ -106,7 +107,7 @@ def test_main_collects_canonical_external_project_choices():
     handler.input_checkbox.side_effect = lambda message, choices: [choices[0]]
     handler.get_choices.side_effect = CLIHandler.get_choices
 
-    source_install = types.SimpleNamespace(__file__="/repo/source/isaaclab/isaaclab/__init__.py")
+    source_install = types.SimpleNamespace(__file__="/repo/source/isaaclab/isaaclab/__init__.py", __version__="3.0.0")
     with (
         mock.patch.object(_MODULE, "CLIHandler", return_value=handler),
         mock.patch.object(_MODULE.importlib, "import_module", return_value=source_install),
@@ -125,6 +126,8 @@ def test_main_collects_canonical_external_project_choices():
     assert specification["task_name"] == "place_vial"
     assert specification["robot_name"] == "so101"
     assert specification["include_ui_extension"] is False
+    assert specification["isaaclab_version"] == "3.0.0"
+    assert specification["isaaclab_source_path"] == _MODULE.ROOT_DIR
 
 
 def test_generated_project_matches_canonical_uv_layout(tmp_path):
@@ -142,13 +145,13 @@ def test_generated_project_matches_canonical_uv_layout(tmp_path):
         "requires": ["uv_build>=0.12.6,<0.13"],
         "build-backend": "uv_build",
     }
-    assert project_config["project"]["dependencies"] == ["isaaclab[rsl-rl]"]
+    assert project_config["project"]["dependencies"] == ["isaaclab[rsl-rl]==3.0.0"]
     assert project_config["project"]["entry-points"]["isaaclab.tasks"] == {"test_project": "test_project.tasks"}
     assert project_config["project"]["optional-dependencies"] == {
-        "isaacsim": ["isaaclab[isaacsim]"],
-        "ov": ["isaaclab[ov]"],
-        "ovphysx": ["isaaclab[ovphysx]"],
-        "ovrtx": ["isaaclab[ovrtx]"],
+        "isaacsim": ["isaaclab[isaacsim]==3.0.0"],
+        "ov": ["isaaclab[ov]==3.0.0"],
+        "ovphysx": ["isaaclab[ovphysx]==3.0.0"],
+        "ovrtx": ["isaaclab[ovrtx]==3.0.0"],
     }
     assert project_config["dependency-groups"]["dev"] == [
         "codespell>=2.4",
@@ -171,6 +174,7 @@ def test_generated_project_matches_canonical_uv_layout(tmp_path):
     assert (project_dir / "tests" / "test_registration.py").is_file()
     assert 'default="TestProject-"' in (project_dir / "scripts" / "list_envs.py").read_text()
     assert (task_dir / "env_cfg.py").is_file()
+    assert not (task_dir / "env.py").exists()
     assert (task_dir / "agents" / "rsl_rl_ppo_cfg.py").is_file()
     assert not (project_dir / "source").exists()
     assert not (project_dir / "config" / "extension.toml").exists()
@@ -178,6 +182,47 @@ def test_generated_project_matches_canonical_uv_layout(tmp_path):
     assert "from .tasks import" not in (module_dir / "__init__.py").read_text()
 
 
+def test_generated_project_uses_active_source_checkout(tmp_path):
+    """Source-generated projects must use the checkout instead of requiring an unpublished wheel."""
+    specification = _external_specification(tmp_path)
+    specification["isaaclab_source_path"] = _MODULE.ROOT_DIR
+
+    with mock.patch.object(_GENERATOR, "_setup_git_repo"):
+        _GENERATOR.generate(specification)
+
+    project_dir = tmp_path / "test_project"
+    with (project_dir / "pyproject.toml").open("rb") as file:
+        project_config = tomllib.load(file)
+
+    assert project_config["project"]["dependencies"] == ["isaaclab-dev[rsl-rl]"]
+    assert project_config["project"]["optional-dependencies"] == {
+        "isaacsim": ["isaaclab-dev[isaacsim]"],
+        "ov": ["isaaclab-dev[ov]"],
+        "ovphysx": ["isaaclab-dev[ovphysx]"],
+        "ovrtx": ["isaaclab-dev[ovrtx]"],
+    }
+    sources = project_config["tool"]["uv"]["sources"]
+    expected_root = Path(_MODULE.ROOT_DIR)
+    assert (project_dir / sources["isaaclab-dev"]["path"]).resolve() == expected_root.resolve()
+    assert (project_dir / sources["isaaclab"]["path"]).resolve() == (expected_root / "source" / "isaaclab").resolve()
+    assert sources["isaaclab-dev"]["editable"] is True
+    assert sources["isaaclab"]["editable"] is True
+    with (expected_root / "pyproject.toml").open("rb") as file:
+        source_config = tomllib.load(file)
+    assert project_config["tool"]["uv"]["override-dependencies"] == source_config["tool"]["uv"]["override-dependencies"]
+    assert project_config["tool"]["uv"]["environments"] == source_config["tool"]["uv"]["environments"]
+    assert sources["torch"] == source_config["tool"]["uv"]["sources"]["torch"]
+    assert "uses editable relative paths" in (project_dir / "README.md").read_text()
+
+
+def test_source_path_falls_back_to_absolute_path_across_windows_drives(monkeypatch):
+    """A project on another Windows drive must still receive a valid source path."""
+    monkeypatch.setattr(_GENERATOR.os.path, "relpath", mock.Mock(side_effect=ValueError))
+    monkeypatch.setattr(_GENERATOR.os.path, "realpath", lambda path: path)
+
+    assert _GENERATOR._project_source_path(r"D:\IsaacLab", r"C:\projects\robot") == "D:/IsaacLab"
+
+
 def test_generated_project_can_opt_into_ui_extension(tmp_path):
     """Direct tasks and UI extension files must follow the canonical project layout."""
     specification = _external_specification(tmp_path, include_ui_extension=True)
diff --git a/tools/test/test_environ_docs.py b/tools/test/test_environ_docs.py
index add6944ea70e..b383ee18b081 100644
--- a/tools/test/test_environ_docs.py
+++ b/tools/test/test_environ_docs.py
@@ -10,6 +10,7 @@
 import sys
 from pathlib import Path
 
+import gymnasium as gym
 import pytest
 from gymnasium.envs.registration import EnvSpec
 
@@ -113,15 +114,30 @@ def test_parse_rl_libraries_from_kwargs_handles_multi_agent_and_amp():
     assert agents["skrl"] == ["PPO", "AMP", "IPPO", "MAPPO"]
 
 
-def test_parse_rl_libraries_detects_vision_config_from_filename():
+def test_parse_rl_libraries_does_not_label_canonical_amp_alias_as_ppo():
+    kwargs = {
+        "env_cfg_entry_point": "ignored",
+        "skrl_cfg_entry_point": "agents:skrl_amp_cfg.yaml",
+        "skrl_amp_cfg_entry_point": "agents:skrl_amp_cfg.yaml",
+    }
+
+    assert parse_rl_libraries_from_kwargs(kwargs) == {"skrl": ["AMP"]}
+
+
+def test_parse_rl_libraries_does_not_treat_recipe_names_as_algorithms():
     kwargs = {
         "env_cfg_entry_point": "ignored",
         "rl_games_cfg_entry_point": "agents:rl_games_ppo_vision_cfg.yaml",
+        "rl_games_recurrent_cfg_entry_point": "agents:rl_games_recurrent_ppo_cfg.yaml",
         "rsl_rl_cfg_entry_point": "agents.rsl_rl_ppo_cfg:RunnerCfg",
+        "rsl_rl_recurrent_cfg_entry_point": "agents.rsl_rl_ppo_cfg:RecurrentRunnerCfg",
+        "skrl_cfg_entry_point": "agents:skrl_ppo_cfg.yaml",
+        "skrl_recurrent_cfg_entry_point": "agents:skrl_recurrent_ppo_cfg.yaml",
     }
     agents = parse_rl_libraries_from_kwargs(kwargs)
-    assert agents["rl_games"] == ["VISION"]
+    assert agents["rl_games"] == ["PPO"]
     assert agents["rsl_rl"] == ["PPO"]
+    assert agents["skrl"] == ["PPO"]
 
 
 def test_apply_rl_library_overrides_supplements_registry_gaps():
@@ -201,21 +217,42 @@ def test_physics_names_for_docs_infers_physx_from_default():
     assert names == ["newton_mjwarp", "physx"]
 
 
-def test_preset_exclusions_remove_only_runtime_disabled_task_combinations():
+@pytest.mark.parametrize(
+    "task_name",
+    [
+        "IsaacContrib-Factory-Franka",
+        "IsaacContrib-Stack-Cube-Franka",
+        "IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor",
+        "IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-Joint-Position",
+        "IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-RmpFlow",
+        "IsaacContrib-Stack-Cube-UR10-Long-Suction-IK-Rel",
+    ],
+)
+def test_preset_exclusions_remove_runtime_disabled_task_combinations(task_name: str):
     presets = {
         PresetTarget.PHYSICS: ["isaacsim_physx", "newton_mjwarp"],
         PresetTarget.RENDERER: ["isaacsim_rtx", "newton_renderer"],
         PresetTarget.DOMAIN: ["rgb"],
     }
 
-    excluded = _apply_preset_exclusions("IsaacContrib-Stack-Cube-Franka", presets)
-    unchanged = _apply_preset_exclusions("Isaac-Lift-Franka", presets)
+    excluded = _apply_preset_exclusions(task_name, presets)
 
     assert excluded == {
         PresetTarget.PHYSICS: ["isaacsim_physx"],
         PresetTarget.RENDERER: ["isaacsim_rtx", "newton_renderer"],
         PresetTarget.DOMAIN: ["rgb"],
     }
+
+
+def test_preset_exclusions_keep_supported_task_combinations():
+    presets = {
+        PresetTarget.PHYSICS: ["isaacsim_physx", "newton_mjwarp"],
+        PresetTarget.RENDERER: ["isaacsim_rtx", "newton_renderer"],
+        PresetTarget.DOMAIN: ["rgb"],
+    }
+
+    unchanged = _apply_preset_exclusions("Isaac-Lift-Franka", presets)
+
     assert unchanged == presets
 
 
@@ -245,32 +282,23 @@ def test_collect_environment_doc_rows_from_mock_specs():
     assert "sb3" in rows[0].rl_libraries
 
 
-def test_collect_environment_doc_rows_includes_registered_agent_preset_compatibility():
-    specs = [
-        EnvSpec(
-            id="Isaac-Camera",
-            entry_point="isaaclab.envs:ManagerBasedRLEnv",
-            kwargs={
-                "env_cfg_entry_point": "cfg:CameraEnvCfg",
-                "rsl_rl_cfg_entry_point": "agents:state_cfg",
-                "rsl_rl_feature_cfg_entry_point": "agents:feature_cfg",
-                "agent_preset_compatibility": {
-                    "rsl_rl_cfg_entry_point": ("rgb",),
-                    "rsl_rl_feature_cfg_entry_point": ("resnet18",),
-                    "missing_cfg_entry_point": ("unused",),
-                },
-            },
-        )
-    ]
-
-    rows = collect_environment_doc_rows(specs)
+def test_collect_environment_doc_rows_includes_checkpoint_preset_compatibility():
+    """Checkpoint preset availability must be carried into generated browser rows."""
+    row = collect_environment_doc_rows([gym.spec("Isaac-Cartpole-Camera-Direct")])[0]
 
-    assert rows[0].agent_preset_compatibility == {
-        "rsl_rl_cfg_entry_point": ("rgb",),
-        "rsl_rl_feature_cfg_entry_point": ("resnet18",),
+    assert row.pretrained_checkpoint_preset_compatibility == {
+        "*": ("rgb",),
+        "rl_games": ("depth",),
     }
 
 
+@pytest.mark.parametrize("task_name", ["Isaac-Lift-Soft-Franka", "Isaac-Lift-Soft-Franka-Camera"])
+def test_collect_environment_doc_rows_includes_required_extras(task_name: str):
+    row = collect_environment_doc_rows([gym.spec(task_name)])[0]
+
+    assert row.required_extras == ("tetrahedralization",)
+
+
 def test_collect_environment_doc_rows_excludes_deprecated_task_aliases():
     specs = [
         EnvSpec(
@@ -397,11 +425,8 @@ def test_environment_browser_rows_include_concrete_core_and_contributed_selector
                 PresetTarget.RENDERER: ["isaacsim_rtx", "ovrtx"],
                 PresetTarget.DOMAIN: ["rgb"],
             },
-            agent_preset_compatibility={
-                "rsl_rl_cfg_entry_point": ("rgb",),
-                "rsl_rl_feature_cfg_entry_point": ("resnet18", "theia_tiny"),
-            },
             supports_warp_frontend=True,
+            pretrained_checkpoint_preset_compatibility={"*": ("rgb",), "rsl_rl": ("depth",)},
         ),
         EnvironmentDocRow(
             task_name="IsaacContrib-Cartpole",
@@ -432,19 +457,52 @@ def test_environment_browser_rows_include_concrete_core_and_contributed_selector
     assert '"isaacsim_physx,newton_mjwarp"' in updated
     assert '"isaacsim_rtx,ovrtx"' in updated
     assert '"rgb"' in updated
-    assert '"rsl_rl_feature_cfg_entry_point": ["resnet18", "theia_tiny"]' in updated
     assert '"IsaacContrib-Cartpole"' in updated
     assert '"ovphysx"' in updated
     assert '"tasks/classic/cartpole.jpg"' in updated
     assert '"tasks/classic/cartpole.jpg", true' in updated
+    assert '"*": ["rgb"]' in updated
+    assert '"rsl_rl": ["depth"]' in updated
     assert updated.index('"Isaac-Cartpole"') < updated.index('"IsaacContrib-Cartpole"')
     assert "const preserved = true;" in updated
 
 
+def test_environment_browser_rows_include_mappo_as_the_skrl_default():
+    """Tasks offering MAPPO must make it the generated SKRL command default."""
+    rows = [
+        EnvironmentDocRow(
+            task_name="Isaac-Multi-Agent-Direct",
+            workflow="Direct",
+            rl_libraries={"skrl": ["IPPO", "MAPPO", "PPO"]},
+            presets=None,
+        )
+    ]
+
+    rendered = render_environment_browser_task_rows(rows)
+
+    assert '["Isaac-Multi-Agent-Direct", "skrl", "", "", "", "", false, {}, {"skrl": "MAPPO"}]' in rendered
+
+
+def test_environment_browser_rows_include_required_extras():
+    rows = [
+        EnvironmentDocRow(
+            task_name="Isaac-Lift-Soft-Franka",
+            workflow="Manager Based",
+            rl_libraries={"rsl_rl": ["PPO"]},
+            presets=None,
+            required_extras=("tetrahedralization",),
+        )
+    ]
+
+    rendered = render_environment_browser_task_rows(rows)
+
+    assert rendered.count('"tetrahedralization"') == 1
+
+
 def test_collect_environment_browser_preview_images_preserves_generated_assignments():
     content = (
         f"{ENVIRONMENT_BROWSER_TASKS_START_MARKER}\n"
-        'const taskRows = [\n    ["Isaac-Cartpole", "rsl_rl", "newton_mjwarp", "", "", {}, '
+        'const taskRows = [\n    ["Isaac-Cartpole", "rsl_rl", "newton_mjwarp", "", "", '
         '"tasks/classic/cartpole.jpg"],\n];\n'
         f"{ENVIRONMENT_BROWSER_TASKS_END_MARKER}\n"
     )
diff --git a/tools/test/test_list_envs.py b/tools/test/test_list_envs.py
new file mode 100644
index 000000000000..9c4515ca891d
--- /dev/null
+++ b/tools/test/test_list_envs.py
@@ -0,0 +1,30 @@
+# 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
+
+"""Tests for the environment-listing script."""
+
+import subprocess
+import sys
+from pathlib import Path
+
+
+def test_list_envs_runs_without_launching_isaac_sim() -> None:
+    """Environment discovery must work in the default Kit-less environment."""
+    repository_root = Path(__file__).parents[2]
+    result = subprocess.run(
+        [
+            sys.executable,
+            str(repository_root / "scripts" / "environments" / "list_envs.py"),
+            "--keyword",
+            "Nonexistent-Task",
+            "--show_presets",
+        ],
+        cwd=repository_root,
+        capture_output=True,
+        text=True,
+    )
+
+    assert result.returncode == 0, result.stderr
+    assert "Available Environments in Isaac Lab" in result.stdout
diff --git a/tools/wheel_builder/gen_pyproject.py b/tools/wheel_builder/gen_pyproject.py
index 7e53956dad01..7f5882bd422a 100644
--- a/tools/wheel_builder/gen_pyproject.py
+++ b/tools/wheel_builder/gen_pyproject.py
@@ -44,6 +44,11 @@ def _is_workspace_member(requirement: str) -> bool:
 _optional = project.get("optional-dependencies", {})
 _self_ref_pattern = re.compile(r"^\s*([A-Za-z0-9._-]+)\s*\[([^\]]+)\]\s*$")
 
+# These integrations are installed from Git in source checkouts. Keep them out of the published
+# PyPI wheel metadata until their pinned versions are available as wheels from a package index.
+_WHEEL_EXCLUDED_EXTRAS = {"rl-games"}
+_WHEEL_EXCLUDED_DEPENDENCIES = {"rl-games", "robomimic"}
+
 
 def _self_ref_extras(requirement: str) -> list[str] | None:
     """Return the referenced extra names for a bare self-reference.
@@ -68,7 +73,7 @@ def _expand_self_refs(requirements: list[str], seen: set[str] | None = None) ->
             expanded.append(requirement)
             continue
         for extra in extras:
-            if extra in seen:
+            if extra in seen or extra in _WHEEL_EXCLUDED_EXTRAS:
                 continue
             seen.add(extra)
             expanded.extend(_expand_self_refs(_optional.get(extra, []), seen))
@@ -87,13 +92,27 @@ def _dedup(requirements: list[str]) -> list[str]:
     return result
 
 
-# Required dependencies: third-party only (strip workspace members), deduped.
-deps = _dedup([d for d in _expand_self_refs(project["dependencies"]) if not _is_workspace_member(d)])
+# Required dependencies: publishable third-party packages only, deduped.
+deps = _dedup(
+    [
+        d
+        for d in _expand_self_refs(project["dependencies"])
+        if not _is_workspace_member(d) and _requirement_name(d) not in _WHEEL_EXCLUDED_DEPENDENCIES
+    ]
+)
 
-# Optional dependencies: per extra, strip workspace members and dedup.
+# Optional dependencies: per extra, strip workspace members and unpublished integrations, then dedup.
 opt_deps = {}
 for name, dep_list in project.get("optional-dependencies", {}).items():
-    opt_deps[name] = _dedup([d for d in _expand_self_refs(dep_list) if not _is_workspace_member(d)])
+    if name in _WHEEL_EXCLUDED_EXTRAS:
+        continue
+    opt_deps[name] = _dedup(
+        [
+            d
+            for d in _expand_self_refs(dep_list)
+            if not _is_workspace_member(d) and _requirement_name(d) not in _WHEEL_EXCLUDED_DEPENDENCIES
+        ]
+    )
 
 # Write pyproject.toml
 lines = []
diff --git a/tools/wheel_builder/uv-overrides.txt b/tools/wheel_builder/uv-overrides.txt
index 79c9ab0efc56..a495835d3dd7 100644
--- a/tools/wheel_builder/uv-overrides.txt
+++ b/tools/wheel_builder/uv-overrides.txt
@@ -1,12 +1,6 @@
 numpy>=2
 mujoco~=3.12.0
 mujoco-warp~=3.12.0
-newton[sim]==1.6.0rc1
+newton[sim]==1.6.0
 newton-usd-schemas>=0.4.1
-torch==2.11.0
-torchvision==0.26.0
-torchaudio==2.11.0
-typing-extensions>=4.15.0
-websockets>=14.0,<17.0.0
-coverage>=7.6.1
 packaging>=20,<27
diff --git a/uv.lock b/uv.lock
index 0c0bfaf61202..76544f697195 100644
--- a/uv.lock
+++ b/uv.lock
@@ -17,27 +17,12 @@ prerelease-mode = "allow"
 
 [manifest]
 overrides = [
-    { name = "coverage", specifier = ">=7.6.1" },
     { name = "mujoco", specifier = "~=3.12.0" },
     { name = "mujoco-warp", specifier = "~=3.12.0" },
-    { name = "newton", extras = ["sim"], specifier = "==1.6.0rc1" },
+    { name = "newton", extras = ["sim"], specifier = "==1.6.0" },
     { name = "newton-usd-schemas", specifier = ">=0.4.1" },
     { name = "numpy", specifier = ">=2" },
     { name = "packaging", specifier = ">=20,<27" },
-    { name = "torch", marker = "(platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')", specifier = "==2.11.0" },
-    { name = "torch", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'", specifier = "==2.11.0", index = "https://download.pytorch.org/whl/cu130" },
-    { name = "torch", marker = "platform_machine == 'x86_64' and sys_platform == 'linux'", specifier = "==2.11.0", index = "https://download.pytorch.org/whl/cu128" },
-    { name = "torch", marker = "sys_platform == 'win32'", specifier = "==2.11.0", index = "https://download.pytorch.org/whl/cu128" },
-    { name = "torchaudio", marker = "(platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')", specifier = "==2.11.0" },
-    { name = "torchaudio", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'", specifier = "==2.11.0", index = "https://download.pytorch.org/whl/cu130" },
-    { name = "torchaudio", marker = "platform_machine == 'x86_64' and sys_platform == 'linux'", specifier = "==2.11.0", index = "https://download.pytorch.org/whl/cu128" },
-    { name = "torchaudio", marker = "sys_platform == 'win32'", specifier = "==2.11.0", index = "https://download.pytorch.org/whl/cu128" },
-    { name = "torchvision", marker = "(platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (sys_platform != 'linux' and sys_platform != 'win32')", specifier = "==0.26.0" },
-    { name = "torchvision", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'", specifier = "==0.26.0", index = "https://download.pytorch.org/whl/cu130" },
-    { name = "torchvision", marker = "platform_machine == 'x86_64' and sys_platform == 'linux'", specifier = "==0.26.0", index = "https://download.pytorch.org/whl/cu128" },
-    { name = "torchvision", marker = "sys_platform == 'win32'", specifier = "==0.26.0", index = "https://download.pytorch.org/whl/cu128" },
-    { name = "typing-extensions", specifier = ">=4.15.0" },
-    { name = "websockets", specifier = ">=14.0,<17.0.0" },
 ]
 
 [[package]]
@@ -157,7 +142,7 @@ wheels = [
 
 [[package]]
 name = "aiohttp"
-version = "3.13.4"
+version = "3.14.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -166,15 +151,16 @@ dependencies = [
     { name = "frozenlist" },
     { name = "multidict" },
     { name = "propcache" },
+    { name = "typing-extensions" },
     { name = "yarl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/45/4a/064321452809dae953c1ed6e017504e72551a26b6f5708a5a80e4bf556ff/aiohttp-3.13.4.tar.gz", hash = "sha256:d97a6d09c66087890c2ab5d49069e1e570583f7ac0314ecf98294c1b6aaebd38", size = 7859748, upload-time = "2026-03-28T17:19:40.6Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/82/78/8ea7308cac6934de8c74a14f3d5f65d1c89287426688be79538d0e5c013d/aiohttp-3.14.1.tar.gz", hash = "sha256:307f2cff90a764d329e77040603fa032db89c5c24fdad50c4c15334cba744035", size = 7955794, upload-time = "2026-06-07T21:09:35.529Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/d6/10/88ff67cd48a6ec36335b63a640abe86135791544863e0cfe1f065d6cef7a/aiohttp-3.13.4-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:d738ebab9f71ee652d9dbd0211057690022201b11197f9a7324fd4dba128aa97", size = 1757314, upload-time = "2026-03-28T17:16:12.498Z" },
-    { url = "https://files.pythonhosted.org/packages/b0/b6/f7f4f318c7e58c23b761c9b13b9a3c9b394e0f9d5d76fbc6622fa98509f6/aiohttp-3.13.4-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:54203e10405c06f8b6020bd1e076ae0fe6c194adcee12a5a78af3ffa3c57025e", size = 1773938, upload-time = "2026-03-28T17:16:21.125Z" },
-    { url = "https://files.pythonhosted.org/packages/6c/58/e1289661a32161e24c1fe479711d783067210d266842523752869cc1d9c2/aiohttp-3.13.4-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:898ea1850656d7d61832ef06aa9846ab3ddb1621b74f46de78fbc5e1a586ba83", size = 1714669, upload-time = "2026-03-28T17:16:25.713Z" },
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+    { name = "torchvision", marker = "platform_machine == 'x86_64' and sys_platform == 'linux'", specifier = "==0.26.0", index = "https://download.pytorch.org/whl/cu128" },
+    { name = "torchvision", marker = "sys_platform == 'win32'", specifier = "==0.26.0", index = "https://download.pytorch.org/whl/cu128" },
     { name = "tqdm", specifier = ">=4.67.1" },
     { name = "tqdm", marker = "extra == 'sb3'" },
-    { name = "transformers", specifier = "==4.57.6" },
+    { name = "transformers", specifier = "==5.10.4" },
     { name = "trimesh", specifier = ">=4.6.8" },
     { name = "typing-extensions", specifier = ">=4.15.0" },
     { name = "usd-exchange", specifier = "==2.3.0" },
     { name = "viser", marker = "extra == 'viser'", specifier = ">=1.0.16" },
+    { name = "wandb", marker = "extra == 'wandb'", specifier = ">=0.13.11" },
     { name = "warp-lang", specifier = "==1.17.0" },
 ]
-provides-extras = ["tetrahedralization", "video", "importers", "test", "dev", "sb3", "skrl", "rl-games", "rsl-rl", "viser", "rerun", "isaacsim", "ov", "ovphysx", "ovrtx", "mimic", "teleop", "rlinf", "leapp", "all"]
+provides-extras = ["tetrahedralization", "video", "importers", "test", "dev", "sb3", "skrl", "rl-games", "wandb", "rsl-rl", "viser", "rerun", "isaacsim", "ov", "ovphysx", "ovrtx", "mimic", "teleop", "rlinf", "leapp", "all"]
 
 [[package]]
 name = "isaaclab-experimental"
@@ -2147,7 +2127,7 @@ requires-dist = [{ name = "isaaclab", editable = "source/isaaclab" }]
 
 [[package]]
 name = "isaaclab-mimic"
-version = "2.0.6"
+version = "2.0.8"
 source = { editable = "source/isaaclab_mimic" }
 dependencies = [
     { name = "isaaclab" },
@@ -2164,7 +2144,7 @@ requires-dist = [
 
 [[package]]
 name = "isaaclab-newton"
-version = "6.0.0"
+version = "6.3.0"
 source = { editable = "source/isaaclab_newton" }
 dependencies = [
     { name = "isaaclab" },
@@ -2175,7 +2155,7 @@ requires-dist = [{ name = "isaaclab", editable = "source/isaaclab" }]
 
 [[package]]
 name = "isaaclab-ov"
-version = "3.0.0"
+version = "3.1.2"
 source = { editable = "source/isaaclab_ov" }
 dependencies = [
     { name = "isaaclab" },
@@ -2190,7 +2170,7 @@ requires-dist = [
 
 [[package]]
 name = "isaaclab-physx"
-version = "7.0.0"
+version = "7.1.3"
 source = { editable = "source/isaaclab_physx" }
 dependencies = [
     { name = "isaaclab" },
@@ -2212,7 +2192,7 @@ requires-dist = [{ name = "isaaclab", editable = "source/isaaclab" }]
 
 [[package]]
 name = "isaaclab-rl"
-version = "0.17.0"
+version = "0.17.5"
 source = { editable = "source/isaaclab_rl" }
 dependencies = [
     { name = "isaaclab" },
@@ -2229,7 +2209,7 @@ requires-dist = [
 
 [[package]]
 name = "isaaclab-tasks"
-version = "20.0.1"
+version = "20.3.0"
 source = { editable = "source/isaaclab_tasks" }
 dependencies = [
     { name = "isaaclab" },
@@ -2259,7 +2239,7 @@ requires-dist = [
 
 [[package]]
 name = "isaaclab-teleop"
-version = "0.8.4"
+version = "0.9.0"
 source = { editable = "source/isaaclab_teleop" }
 dependencies = [
     { name = "isaaclab" },
@@ -2270,7 +2250,7 @@ requires-dist = [{ name = "isaaclab", editable = "source/isaaclab" }]
 
 [[package]]
 name = "isaaclab-visualizers"
-version = "1.10.2"
+version = "1.11.0"
 source = { editable = "source/isaaclab_visualizers" }
 dependencies = [
     { name = "isaaclab" },
@@ -2281,15 +2261,15 @@ requires-dist = [{ name = "isaaclab", editable = "source/isaaclab" }]
 
 [[package]]
 name = "isaacsim"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "isaacsim-kernel" },
 ]
 wheels = [
-    { url = "https://pypi.nvidia.com/isaacsim/isaacsim-6.0.1.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:bfb100300201953e92bcd82c01590ce888dfd8a77bdd139023465660ee39f790" },
-    { url = "https://pypi.nvidia.com/isaacsim/isaacsim-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:d3fea3b40b513482e85c62e552bfdfb73a3ac950662a843c7375cfa8c97941c2" },
-    { url = "https://pypi.nvidia.com/isaacsim/isaacsim-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:a978f1ffb72bcba89fe1ee3bcc4fd204f8401938c369d6a3db8fc5c2753e6223" },
+    { url = "https://pypi.nvidia.com/isaacsim/isaacsim-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:13158fe55f6037522e89db351c219573e0608a66e108569666ac0ccfcfb8776f" },
+    { url = "https://pypi.nvidia.com/isaacsim/isaacsim-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:55fb65052c0fe025f7165f10e71b4e693e26b6fc2f8c7cc08875ac41b00e695d" },
+    { url = "https://pypi.nvidia.com/isaacsim/isaacsim-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:ebf8a7e43be99fdef0fc8677aae0c0fbdba1d42976a04a978505f0db5914658b" },
 ]
 
 [package.optional-dependencies]
@@ -2323,34 +2303,34 @@ extscache = [
 
 [[package]]
 name = "isaacsim-app"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "isaacsim-kernel" },
 ]
 wheels = [
-    { url = "https://pypi.nvidia.com/isaacsim-app/isaacsim_app-6.0.1.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:4435f54a93c685f19ba0e3c9aa9beef256321d427968a835eae7740441f6fe2e" },
-    { url = "https://pypi.nvidia.com/isaacsim-app/isaacsim_app-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:108bd30ac91cf8bdafd520b7c22f1eac81907174998b614ded104cf126792fd4" },
-    { url = "https://pypi.nvidia.com/isaacsim-app/isaacsim_app-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:0512a8ad76520f136df663195b9cb916ab3b3c4c57636d918ced83b84b80aba6" },
+    { url = "https://pypi.nvidia.com/isaacsim-app/isaacsim_app-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:d712f569d3fc80d1c826732a92afcfadc4f4528e1fc2fb95dc7b0a3fc068fac0" },
+    { url = "https://pypi.nvidia.com/isaacsim-app/isaacsim_app-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:aa3cd2ae94489d6818186afd722a31e4fc82018ff3e8a4d07199a93d500a84e2" },
+    { url = "https://pypi.nvidia.com/isaacsim-app/isaacsim_app-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:208c5f169aaf158df7f2f10ba1f3ceb266f37a43be78c3dd491ad8fb6d17d986" },
 ]
 
 [[package]]
 name = "isaacsim-asset"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "isaacsim-storage" },
     { name = "isaacsim-utils" },
 ]
 wheels = [
-    { url = "https://pypi.nvidia.com/isaacsim-asset/isaacsim_asset-6.0.1.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:bf29c65b469411ff5ae9e84cb2f10898fd5d7845744b367fa711c82145228d9a" },
-    { url = "https://pypi.nvidia.com/isaacsim-asset/isaacsim_asset-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:fc62712adb1641ce53aad11c257331f5c4fccba59255ba8d2514a745cb0efbe4" },
-    { url = "https://pypi.nvidia.com/isaacsim-asset/isaacsim_asset-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:fcca96376a4151fca0be2f8596d7c644cae71ba8ac56d735d3643052e0369596" },
+    { url = "https://pypi.nvidia.com/isaacsim-asset/isaacsim_asset-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:3896cdf0cd415496e4e6d105d6e0c089240a2ed0d482b691ba771db6f3cbf0dc" },
+    { url = "https://pypi.nvidia.com/isaacsim-asset/isaacsim_asset-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:cf1338595aa99fc4d4aafb0d091883864332003f602f89a8e15d1e424ebdd97a" },
+    { url = "https://pypi.nvidia.com/isaacsim-asset/isaacsim_asset-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:384aed500a4ccc5747b0a8b58cca61ebd9e3874f16670f70ff2a4ce424096969" },
 ]
 
 [[package]]
 name = "isaacsim-asset-isolated"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "isaacsim-robot-schema" },
@@ -2359,40 +2339,41 @@ dependencies = [
     { name = "newton-usd-schemas" },
     { name = "urdf-usd-converter" },
     { name = "usd-exchange" },
+    { name = "usd-optimize" },
 ]
 wheels = [
-    { url = "https://pypi.nvidia.com/isaacsim-asset-isolated/isaacsim_asset_isolated-6.0.1.0-py3-none-any.whl", hash = "sha256:2861f2cb9459c3f82fdf730342b372f1b3aee6eac16fd022230322652c594d56" },
+    { url = "https://pypi.nvidia.com/isaacsim-asset-isolated/isaacsim_asset_isolated-6.1.0.0-py3-none-any.whl", hash = "sha256:b1f9a9d03924512f3d85ef9030f33657adc9be52269e140415e7e7f4f9fc7969" },
 ]
 
 [[package]]
 name = "isaacsim-benchmark"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "isaacsim-robot" },
 ]
 wheels = [
-    { url = "https://pypi.nvidia.com/isaacsim-benchmark/isaacsim_benchmark-6.0.1.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:9ee2db71331feff15415aad803482dec7a4a4df1de27b2d7d559ce905f8b6cdd" },
-    { url = "https://pypi.nvidia.com/isaacsim-benchmark/isaacsim_benchmark-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:89917f3e36113ccb032e99b89ca9d5c6c4d7cc030f325baf5a808731b6ba5b52" },
-    { url = "https://pypi.nvidia.com/isaacsim-benchmark/isaacsim_benchmark-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:ffa69b10006e3916fb8a723d80734d20163f4a3e7a3fb8a7d113a2b95e44de24" },
+    { url = "https://pypi.nvidia.com/isaacsim-benchmark/isaacsim_benchmark-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:e9a5787de5fce06441e3497c610c6c783eb2ba387497e5e13c7d233046cbdaff" },
+    { url = "https://pypi.nvidia.com/isaacsim-benchmark/isaacsim_benchmark-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:c5090850b594ddd7b422f2b7c9da14cd6a61e3ab0943bf5bbc3d6f1eacff9dfb" },
+    { url = "https://pypi.nvidia.com/isaacsim-benchmark/isaacsim_benchmark-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:4a88ec1b64c44ff8f42a32369cadec7d45b049bbbb26ab1933bad78575a30a6d" },
 ]
 
 [[package]]
 name = "isaacsim-code-editor"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "isaacsim-kernel" },
 ]
 wheels = [
-    { url = "https://pypi.nvidia.com/isaacsim-code-editor/isaacsim_code_editor-6.0.1.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:51aa6401d8b95e302a35144e410116e3c1a3a4d9435d0720a2d3e7a35c46133d" },
-    { url = "https://pypi.nvidia.com/isaacsim-code-editor/isaacsim_code_editor-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:adbf216dcb34471c7e67a0683bb9f746a7773040b91cf42432f1a21dee95a665" },
-    { url = "https://pypi.nvidia.com/isaacsim-code-editor/isaacsim_code_editor-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:83e596316f6ac28483d08bcd0dab7d9ecda23919b52fe3b39831a89cd39b0755" },
+    { url = "https://pypi.nvidia.com/isaacsim-code-editor/isaacsim_code_editor-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:ab6b0fb21cf4caec2d459568c853ec804ed04d30d3656484a864dd85ff8afde9" },
+    { url = "https://pypi.nvidia.com/isaacsim-code-editor/isaacsim_code_editor-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:145f281814263424ff14ebe47f834bba62700a409489369a1b4e58caa5c5c47e" },
+    { url = "https://pypi.nvidia.com/isaacsim-code-editor/isaacsim_code_editor-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:d32901ef4165cf355239b019bdb8ef29d162b40796e9b56145d9018be32fd7ff" },
 ]
 
 [[package]]
 name = "isaacsim-core"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "absl-py" },
@@ -2430,11 +2411,10 @@ dependencies = [
     { name = "nest-asyncio" },
     { name = "networkx" },
     { name = "newton", extra = ["sim"] },
-    { name = "newton-actuators" },
     { name = "newton-usd-schemas" },
     { name = "numpy-stl" },
     { name = "oauthlib" },
-    { name = "opencv-python-headless" },
+    { name = "opencv-python-headless-noffmpeg" },
     { name = "osqp" },
     { name = "packaging" },
     { name = "portalocker" },
@@ -2463,84 +2443,84 @@ dependencies = [
     { name = "urdf-usd-converter" },
 ]
 wheels = [
-    { url = "https://pypi.nvidia.com/isaacsim-core/isaacsim_core-6.0.1.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:db4db05fc2fad7e1497840e3ed604ca8a7e8d9b9bebc83f1aa3bcaee5852fdbc" },
-    { url = "https://pypi.nvidia.com/isaacsim-core/isaacsim_core-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:aadb3c5dffd433d5caec5cf0c4c7a314d30b222997bb8496385baae67dd3367c" },
-    { url = "https://pypi.nvidia.com/isaacsim-core/isaacsim_core-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:c4e34b73a9a8bf45e00848da7c629bfd52f18154ddb08ef6e5e21d854b83b7b8" },
+    { url = "https://pypi.nvidia.com/isaacsim-core/isaacsim_core-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:fcf7aa812a576f4bcf220e3322683916d326fc856688aea8123450fba235f4c3" },
+    { url = "https://pypi.nvidia.com/isaacsim-core/isaacsim_core-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:2dbde879bc55c1e30a4579539eef250c27fd3e3bc17dc909ef90b16b0aedb8ad" },
+    { url = "https://pypi.nvidia.com/isaacsim-core/isaacsim_core-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:8b618af3335684c56f2aaf65dbd59b6ba842f5fc48023a323631e2a7fbfb40e5" },
 ]
 
 [[package]]
 name = "isaacsim-cortex"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "isaacsim-robot" },
     { name = "isaacsim-ros1" },
 ]
 wheels = [
-    { url = "https://pypi.nvidia.com/isaacsim-cortex/isaacsim_cortex-6.0.1.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:ff272737ddc27996ab83ab0bc41b3a11a6fb4bb3b43d11624aa223084d25bbd7" },
-    { url = "https://pypi.nvidia.com/isaacsim-cortex/isaacsim_cortex-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:71e455b2ea5fae001fb841ba11115bdbc1e738bfa98fcaf9aebbde4d5694db8a" },
-    { url = "https://pypi.nvidia.com/isaacsim-cortex/isaacsim_cortex-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:be9c831051afcb7a0d16e309cf0f3dd5992d940af1f3e75d1fbe0fd9a3157e2d" },
+    { url = "https://pypi.nvidia.com/isaacsim-cortex/isaacsim_cortex-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:207f416437062180bb40fea69ad86433ae6c2fec50cfd25d930098f0e6495dce" },
+    { url = "https://pypi.nvidia.com/isaacsim-cortex/isaacsim_cortex-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:df0f3133aa9aa2e43188942a7e3b5d62af73c5aeeb6c9c59cf1bbd10ad63db6a" },
+    { url = "https://pypi.nvidia.com/isaacsim-cortex/isaacsim_cortex-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:85953f6b5b009ebe7d317c06507f50d4d8dc622c3900ee034e1c3c47f780bbb9" },
 ]
 
 [[package]]
 name = "isaacsim-example"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "isaacsim-cortex" },
 ]
 wheels = [
-    { url = "https://pypi.nvidia.com/isaacsim-example/isaacsim_example-6.0.1.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:339b1600c33811fba5ee34861b0d247691dbded741de10b675d0d754819d697e" },
-    { url = "https://pypi.nvidia.com/isaacsim-example/isaacsim_example-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:4c22448a337a2bbf0b99934cb6d5c84ebde4692b088846acefba04e8b949f588" },
-    { url = "https://pypi.nvidia.com/isaacsim-example/isaacsim_example-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:93ec10e41965bdada028f6b57a9f8f2e6d4f82a83d1e4435134955311aef0a4b" },
+    { url = "https://pypi.nvidia.com/isaacsim-example/isaacsim_example-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:c8a5873329247099010fe928c4451d332579be434ac58a55230705ad46d877d4" },
+    { url = "https://pypi.nvidia.com/isaacsim-example/isaacsim_example-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:0d7364274750bace6f04d0529f5828b98ecd8c489bcd198f63b9b517e85e4909" },
+    { url = "https://pypi.nvidia.com/isaacsim-example/isaacsim_example-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:13259b9e2017b3473b6d326031b58f5cff8a5aea7bd94dea160eba002befd31b" },
 ]
 
 [[package]]
 name = "isaacsim-extscache-kit"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 wheels = [
-    { url = "https://pypi.nvidia.com/isaacsim-extscache-kit/isaacsim_extscache_kit-6.0.1.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:be33ccda8aeb326420463ac51388cf72b88e7db096b1804feb3841954983f39d" },
-    { url = "https://pypi.nvidia.com/isaacsim-extscache-kit/isaacsim_extscache_kit-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:35b64cf35ce3d31875ef43025f243c8bd03e29cb28fe844b0cd06b76ba535714" },
-    { url = "https://pypi.nvidia.com/isaacsim-extscache-kit/isaacsim_extscache_kit-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:c27b2557f3d02a2f880d6f759d05263e353c34be55b6dccf8a960049208607d9" },
+    { url = "https://pypi.nvidia.com/isaacsim-extscache-kit/isaacsim_extscache_kit-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:18e495cd522cf3a7f3129f5426fb4230dbc29b9024840b69e894ab898998b24f" },
+    { url = "https://pypi.nvidia.com/isaacsim-extscache-kit/isaacsim_extscache_kit-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:3e2e96b0badc486000e3cbee3ccabc1f7eb9b1191c7334a25a39b689ca535e09" },
+    { url = "https://pypi.nvidia.com/isaacsim-extscache-kit/isaacsim_extscache_kit-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:2363d41442b69f76ae63f11286072d9820716b15724e19bee098bc20f5d83348" },
 ]
 
 [[package]]
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+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 wheels = [
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-    { url = "https://pypi.nvidia.com/isaacsim-extscache-kit-sdk/isaacsim_extscache_kit_sdk-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:a39c7a71f7a859e9db4ce6f81382f63a480d7e1938c6f3653702c9e6dd609c5e" },
-    { url = "https://pypi.nvidia.com/isaacsim-extscache-kit-sdk/isaacsim_extscache_kit_sdk-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:02e3d383db1fdf993ef08d3873e8e89e09bcbbe4939b6af440e816836166667a" },
+    { url = "https://pypi.nvidia.com/isaacsim-extscache-kit-sdk/isaacsim_extscache_kit_sdk-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:ab49252d9e1a612258072b4cdac575276d3a1bd7c45d8d2dd4e3ba55d5d0bb15" },
+    { url = "https://pypi.nvidia.com/isaacsim-extscache-kit-sdk/isaacsim_extscache_kit_sdk-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:dd587ecb5066427a47063ee117a716e33498bf5e0eee1f8f4f77d502333fadd8" },
+    { url = "https://pypi.nvidia.com/isaacsim-extscache-kit-sdk/isaacsim_extscache_kit_sdk-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:600ada269ab09de7c806f0d506af04e3593b9db12655e6eb02e51929738dcce3" },
 ]
 
 [[package]]
 name = "isaacsim-extscache-physics"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 wheels = [
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-    { url = "https://pypi.nvidia.com/isaacsim-extscache-physics/isaacsim_extscache_physics-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:e666e4985f99752df68c3aee25daf8d8771d17a5546d76dde26c038985f60127" },
-    { url = "https://pypi.nvidia.com/isaacsim-extscache-physics/isaacsim_extscache_physics-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:367be0033e33e55865eb0cba62f2c14aed0305b9399c8ff373853da13be98aa1" },
+    { url = "https://pypi.nvidia.com/isaacsim-extscache-physics/isaacsim_extscache_physics-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:c85d792fa9f15696582e32577ff3ba11387ed8d4b6befd95a55898798f647439" },
+    { url = "https://pypi.nvidia.com/isaacsim-extscache-physics/isaacsim_extscache_physics-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:94ab00d5e878148bf92335e068c38e7ba995fc083607781dc788ccf0df14be23" },
+    { url = "https://pypi.nvidia.com/isaacsim-extscache-physics/isaacsim_extscache_physics-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:0c4200722b2b5878848abb2c12e95867bad2fc434b3b9c4d959a3b73d371bd19" },
 ]
 
 [[package]]
 name = "isaacsim-gui"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "isaacsim-core" },
 ]
 wheels = [
-    { url = "https://pypi.nvidia.com/isaacsim-gui/isaacsim_gui-6.0.1.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:410449c9f78ba21be22931f67e6d4902dd4c61d5b07630a812d66dd36f2fa161" },
-    { url = "https://pypi.nvidia.com/isaacsim-gui/isaacsim_gui-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:92568f2553dc3f9bc9a5e411b5035a48b12b65544b43d3029ef9cbe31b4f0983" },
-    { url = "https://pypi.nvidia.com/isaacsim-gui/isaacsim_gui-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:d5da64f2320c8d2c01b145ea9e02c3f7768637ca360c0267a197e2bb1090b743" },
+    { url = "https://pypi.nvidia.com/isaacsim-gui/isaacsim_gui-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:782e41a351a7564d5490143a5ff7bf17471eea6829e28e07beb89107e93394bf" },
+    { url = "https://pypi.nvidia.com/isaacsim-gui/isaacsim_gui-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:9a911be5d95d9451b5403a6d3040767fcd95e1309b51a10a0457daafb7e021af" },
+    { url = "https://pypi.nvidia.com/isaacsim-gui/isaacsim_gui-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:2d76a5475e10a311f07208bd8f9204971b71e97a953964d44fb099f7cdbf5b6a" },
 ]
 
 [[package]]
 name = "isaacsim-kernel"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "aiobotocore" },
@@ -2550,6 +2530,7 @@ dependencies = [
     { name = "aiohttp" },
     { name = "aioitertools" },
     { name = "aiosignal" },
+    { name = "anyio" },
     { name = "asteval" },
     { name = "async-timeout" },
     { name = "attrs" },
@@ -2584,119 +2565,125 @@ dependencies = [
     { name = "yarl" },
 ]
 wheels = [
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-    { url = "https://pypi.nvidia.com/isaacsim-kernel/isaacsim_kernel-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:618fd6fb09d7d67ca5102251b999bf1a851a8918dadbeea0789e7d4f2a24bbb1" },
-    { url = "https://pypi.nvidia.com/isaacsim-kernel/isaacsim_kernel-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:892afb902abdc9f6571cb6e793271303d075eb5c9998e9cc779db812911a9ed9" },
+    { url = "https://pypi.nvidia.com/isaacsim-kernel/isaacsim_kernel-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:f8beb7f2f0c5d4fce6ae80850987e0a93fb950adaad8cb1b2faac8ebd46c3e31" },
+    { url = "https://pypi.nvidia.com/isaacsim-kernel/isaacsim_kernel-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:fe795f2d965e8fb82befa71071a13687aba519d61f980820117b02261ae3cec7" },
+    { url = "https://pypi.nvidia.com/isaacsim-kernel/isaacsim_kernel-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:d34ed3dc12e32068de7572d670c5da518a521c6b9c8d0e3ff656862cce9fded7" },
 ]
 
 [[package]]
 name = "isaacsim-replicator"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "isaacsim-core" },
     { name = "isaacsim-storage" },
 ]
 wheels = [
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-    { url = "https://pypi.nvidia.com/isaacsim-replicator/isaacsim_replicator-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:01485414698e1052ce04d5c61942aca8284fe69cbc969bca129f7950736f3445" },
-    { url = "https://pypi.nvidia.com/isaacsim-replicator/isaacsim_replicator-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:e3c4068c12a4c008efb1e4d8e644b072cdda5d05beaeae9292979bb3ebcf6e88" },
+    { url = "https://pypi.nvidia.com/isaacsim-replicator/isaacsim_replicator-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:06c85e0d5a70a7e685ee2f9490db017f4296263618da968d763ecae56a59e8f1" },
+    { url = "https://pypi.nvidia.com/isaacsim-replicator/isaacsim_replicator-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:6c69c090e42100a49c333bf46a6e94632bc121100a4c701f97852fdf00cb0d3f" },
+    { url = "https://pypi.nvidia.com/isaacsim-replicator/isaacsim_replicator-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:5b31ab293ec0c7522d2ef9f889d7afa3460cdd261d930b6565b437a5af9c6e05" },
 ]
 
 [[package]]
 name = "isaacsim-rl"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "isaacsim-benchmark" },
     { name = "isaacsim-robot" },
 ]
 wheels = [
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-    { url = "https://pypi.nvidia.com/isaacsim-rl/isaacsim_rl-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:fda0f6f9a200dacc7bb76e363ed66f8b9bce3ebdb9d254e00533a5789e121d73" },
-    { url = "https://pypi.nvidia.com/isaacsim-rl/isaacsim_rl-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:02595ff26cb2822602e1f25c5f9c3ccaf5a5abc3b227e69e140f4db599836a7d" },
+    { url = "https://pypi.nvidia.com/isaacsim-rl/isaacsim_rl-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:cf44eecf507cb6b0a4d86320ee2ca30071f0896e5539a5d2108cec74b561b07f" },
+    { url = "https://pypi.nvidia.com/isaacsim-rl/isaacsim_rl-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:441d1a0af29643c4058ee666368ea7a4e0d72874623a1ff081af8c7151cc53d6" },
+    { url = "https://pypi.nvidia.com/isaacsim-rl/isaacsim_rl-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:e0a5f186f86c24ae77e7d223dbe07938d49919cfd13aeeb55381395b2dda825e" },
 ]
 
 [[package]]
 name = "isaacsim-robot"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "isaacsim-robot-motion" },
     { name = "isaacsim-sensor" },
+    { name = "onnxruntime" },
+    { name = "py-trees" },
+    { name = "pydot" },
+    { name = "pyparsing" },
+    { name = "six" },
+    { name = "transitions" },
 ]
 wheels = [
-    { url = "https://pypi.nvidia.com/isaacsim-robot/isaacsim_robot-6.0.1.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:b516ea2b1eaa25dadf1b9b9234b3479b13c91d14f78f92ba2267990e600a3eff" },
-    { url = "https://pypi.nvidia.com/isaacsim-robot/isaacsim_robot-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:2b5e23d06e80b5ba538803c3e63b2ccd909a8bc10516e75ee7693ad49e3407b5" },
-    { url = "https://pypi.nvidia.com/isaacsim-robot/isaacsim_robot-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:2df7350dbbdf2a9442d671416d5039e809bdb65a6303f2bfbd3a19eb1118fdc6" },
+    { url = "https://pypi.nvidia.com/isaacsim-robot/isaacsim_robot-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:9b2031cd9ff45d1cf5f8bc2e40433a32ce2e4cebb29ec71f85ccf2bd86b387ef" },
+    { url = "https://pypi.nvidia.com/isaacsim-robot/isaacsim_robot-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:e5f28c9901343ee09edac33170f03506875f71dd675c1565deeb1e9f41a7ae0c" },
+    { url = "https://pypi.nvidia.com/isaacsim-robot/isaacsim_robot-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:dec24582ba1a44e262e6d9d3a7ea5fef6bc28b253eeb3804fb3ecd4572352ad0" },
 ]
 
 [[package]]
 name = "isaacsim-robot-motion"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "isaacsim-gui" },
 ]
 wheels = [
-    { url = "https://pypi.nvidia.com/isaacsim-robot-motion/isaacsim_robot_motion-6.0.1.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:d22f8329e9077d4f3b4f98e4a2359db71ed2f7b4029025bfc0fc2768cf27bd38" },
-    { url = "https://pypi.nvidia.com/isaacsim-robot-motion/isaacsim_robot_motion-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:2a6af11d616efbde551813d40ac22cd2ce992a862fbe8395a3f83ca5d4a937de" },
-    { url = "https://pypi.nvidia.com/isaacsim-robot-motion/isaacsim_robot_motion-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:4ce18b32cbcca44fc2163346076fd99d2ea1b6b19fff9e9a11cb69c134e0c16f" },
+    { url = "https://pypi.nvidia.com/isaacsim-robot-motion/isaacsim_robot_motion-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:f770d01601bb24536bdf25aa00de13cfcc82993d5dedd5fe97b0ee7b39c17694" },
+    { url = "https://pypi.nvidia.com/isaacsim-robot-motion/isaacsim_robot_motion-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:e807b6879b6fb680f8348edfd3507da4f5971b3b8d1dc39142b6eaabae3b9856" },
+    { url = "https://pypi.nvidia.com/isaacsim-robot-motion/isaacsim_robot_motion-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:43911d5a26959306ae20f6066d76b65b279a4a2cb8186b361d191f5047a82322" },
 ]
 
 [[package]]
 name = "isaacsim-robot-schema"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "usd-exchange" },
 ]
 wheels = [
-    { url = "https://pypi.nvidia.com/isaacsim-robot-schema/isaacsim_robot_schema-6.0.1.0-py3-none-any.whl", hash = "sha256:1a712f30202ec2286ac1dea521ec35b6d8dca1febfcf617c373b485547733884" },
+    { url = "https://pypi.nvidia.com/isaacsim-robot-schema/isaacsim_robot_schema-6.1.0.0-py3-none-any.whl", hash = "sha256:b75235cca20fca732f3d0c9834f8d894a89b074220b115198286e28b41c32400" },
 ]
 
 [[package]]
 name = "isaacsim-robot-setup"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "isaacsim-robot-motion" },
 ]
 wheels = [
-    { url = "https://pypi.nvidia.com/isaacsim-robot-setup/isaacsim_robot_setup-6.0.1.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:44964c6f3aec367b170afd9a96877c09d7b4ed9e0da3f075eada4a48e56d1298" },
-    { url = "https://pypi.nvidia.com/isaacsim-robot-setup/isaacsim_robot_setup-6.0.1.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:b199045e8f8d9ca9806e5d7eb8a119654746cff8bc33a2ef254494502d832ea2" },
-    { url = "https://pypi.nvidia.com/isaacsim-robot-setup/isaacsim_robot_setup-6.0.1.0-cp312-none-win_amd64.whl", hash = "sha256:e57993e7a658a90300967969965b2d9e05210752b9cb41b645d57b69764b7efc" },
+    { url = "https://pypi.nvidia.com/isaacsim-robot-setup/isaacsim_robot_setup-6.1.0.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:8a14a483c6e9861ba8badf178f864a15dbc35ccb88d78ef9a07965d2ae6acfcb" },
+    { url = "https://pypi.nvidia.com/isaacsim-robot-setup/isaacsim_robot_setup-6.1.0.0-cp312-none-manylinux_2_35_x86_64.whl", hash = "sha256:c20c36e8db72166ef0d2089a13ce5476658ff1f89589db531fb2bc1092e47f44" },
+    { url = "https://pypi.nvidia.com/isaacsim-robot-setup/isaacsim_robot_setup-6.1.0.0-cp312-none-win_amd64.whl", hash = "sha256:fd24b352c960c7f63342601b2a8e1effb27ab6d1614b15ccdae01dfa0555dd44" },
 ]
 
 [[package]]
 name = "isaacsim-ros1"
-version = "6.0.1.0"
+version = "6.1.0.0"
 source = { registry = "https://pypi.nvidia.com/" }
 dependencies = [
     { name = "isaacsim-sensor" },
 ]
 wheels = [
-    { url = "https://pypi.nvidia.com/isaacsim-ros1/isaacsim_ros1-6.0.1.0-cp312-none-manylinux_2_35_aarch64.whl", hash = "sha256:b8b37ebea3e070d4f1e6eb212351a6cfb646b3b2d619606eb6a664279677740c" },
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