diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 36ceeffa834..08bf3d2a8bf 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -10,6 +10,7 @@ on:
     branches:
       - main
       - devel
+      - 'release/**'
   pull_request:
     types: [opened, synchronize, reopened]
 
@@ -27,8 +28,7 @@ jobs:
     - id: trigger-deploy
       env:
         REPO_NAME: ${{ secrets.REPO_NAME }}
-        BRANCH_REF: ${{ secrets.BRANCH_REF }}
-      if: "${{ github.repository == env.REPO_NAME && github.ref == env.BRANCH_REF }}"
+      if: "${{ github.repository == env.REPO_NAME && (github.ref == 'refs/heads/main' || github.ref == 'refs/heads/devel' || startsWith(github.ref, 'refs/heads/release/')) }}"
       run: echo "defined=true" >> "$GITHUB_OUTPUT"
 
   build-docs:
diff --git a/.github/workflows/license-check.yaml b/.github/workflows/license-check.yaml
index 3e7b190cbac..6260199e1dc 100644
--- a/.github/workflows/license-check.yaml
+++ b/.github/workflows/license-check.yaml
@@ -24,16 +24,20 @@ jobs:
     # - name: Install jq
     #   run: sudo apt-get update && sudo apt-get install -y jq
 
+    - name: Clean up disk space
+      run: |
+        rm -rf /opt/hostedtoolcache
+
     - name: Set up Python
       uses: actions/setup-python@v4
       with:
-        python-version: '3.10'  # Adjust as needed
+        python-version: '3.11'  # Adjust as needed
 
     - name: Install dependencies using ./isaaclab.sh -i
       run: |
         # first install isaac sim
         pip install --upgrade pip
-        pip install 'isaacsim[all,extscache]==4.5.0' --extra-index-url https://pypi.nvidia.com
+        pip install 'isaacsim[all,extscache]==${{ vars.ISAACSIM_BASE_VERSION || '5.0.0' }}' --extra-index-url https://pypi.nvidia.com
         chmod +x ./isaaclab.sh  # Make sure the script is executable
         # install all lab dependencies
         ./isaaclab.sh -i
@@ -48,6 +52,12 @@ jobs:
     - name: Print License Report
       run: pip-licenses --from=mixed --format=markdown
 
+    # Print pipdeptree
+    - name: Print pipdeptree
+      run: |
+        pip install pipdeptree
+        pipdeptree
+
     - name: Check licenses against whitelist and exceptions
       run: |
         # Define the whitelist of allowed licenses
@@ -118,9 +128,3 @@ jobs:
         else
           echo "All packages were checked."
         fi
-
-    # Print pipdeptree
-    - name: Print pipdeptree
-      run: |
-        pip install pipdeptree
-        pipdeptree
diff --git a/.github/workflows/license-exceptions.json b/.github/workflows/license-exceptions.json
index 66530033efa..c243a16f776 100644
--- a/.github/workflows/license-exceptions.json
+++ b/.github/workflows/license-exceptions.json
@@ -308,7 +308,7 @@
   },
   {
     "package": "typing_extensions",
-    "license": "UNKNOWN",
+    "license": "Python Software Foundation License",
     "comment": "PSFL / OSRB"
   },
   {
@@ -400,5 +400,30 @@
     "package": "fsspec",
     "license" : "UNKNOWN",
     "comment": "BSD"
+  },
+  {
+    "package": "numpy-quaternion",
+    "license": "UNKNOWN",
+    "comment": "MIT"
+  },
+  {
+    "package": "aiohappyeyeballs",
+    "license": "Other/Proprietary License; Python Software Foundation License",
+    "comment": "PSFL / OSRB"
+  },
+  {
+    "package": "cffi",
+    "license": "UNKNOWN",
+    "comment": "MIT"
+  },
+  {
+    "package": "trio",
+    "license": "UNKNOWN",
+    "comment": "MIT"
+  },
+  {
+    "package": "pipdeptree",
+    "license": "UNKNOWN",
+    "comment": "MIT"
   }
 ]
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
index f59d4ab7463..05e0d7d60af 100644
--- a/.github/workflows/pre-commit.yaml
+++ b/.github/workflows/pre-commit.yaml
@@ -7,8 +7,7 @@ name: Run linters using pre-commit
 
 on:
   pull_request:
-  push:
-    branches: [main]
+    types: [opened, synchronize, reopened]
 
 jobs:
   pre-commit:
diff --git a/docs/Makefile b/docs/Makefile
index ce33dad5033..0bff236671c 100644
--- a/docs/Makefile
+++ b/docs/Makefile
@@ -15,4 +15,5 @@ multi-docs:
 
 .PHONY: current-docs
 current-docs:
-	@$(SPHINXBUILD) "$(SOURCEDIR)" "$(BUILDDIR)/current" $(SPHINXOPTS)
+	@rm -rf "$(BUILDDIR)/current"
+	@$(SPHINXBUILD) -W --keep-going "$(SOURCEDIR)" "$(BUILDDIR)/current" $(SPHINXOPTS)
diff --git a/docs/conf.py b/docs/conf.py
index 7c68e911018..e63039a9c6e 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -282,7 +282,7 @@
 # Whitelist pattern for remotes
 smv_remote_whitelist = r"^.*$"
 # Whitelist pattern for branches (set to None to ignore all branches)
-smv_branch_whitelist = os.getenv("SMV_BRANCH_WHITELIST", r"^(main|devel)$")
+smv_branch_whitelist = os.getenv("SMV_BRANCH_WHITELIST", r"^(main|devel|release/.*)$")
 # Whitelist pattern for tags (set to None to ignore all tags)
 smv_tag_whitelist = os.getenv("SMV_TAG_WHITELIST", r"^v[1-9]\d*\.\d+\.\d+$")
 html_sidebars = {
diff --git a/docs/make.bat b/docs/make.bat
index cdaf22f257c..941689ef03c 100644
--- a/docs/make.bat
+++ b/docs/make.bat
@@ -13,8 +13,8 @@ if "%1" == "multi-docs" (
 	if "%SPHINXBUILD%" == "" (
 		set SPHINXBUILD=sphinx-multiversion
 	)
-	%SPHINXBUILD% >NUL 2>NUL
-	if errorlevel 9009 (
+	where %SPHINXBUILD% >NUL 2>NUL
+	if errorlevel 1 (
 		echo.
 		echo.The 'sphinx-multiversion' command was not found. Make sure you have Sphinx
 		echo.installed, then set the SPHINXBUILD environment variable to point
@@ -37,8 +37,8 @@ if "%1" == "current-docs" (
 	if "%SPHINXBUILD%" == "" (
 		set SPHINXBUILD=sphinx-build
 	)
-	%SPHINXBUILD% >NUL 2>NUL
-	if errorlevel 9009 (
+	where %SPHINXBUILD% >NUL 2>NUL
+	if errorlevel 1 (
 		echo.
 		echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
 		echo.installed, then set the SPHINXBUILD environment variable to point
@@ -49,7 +49,8 @@ if "%1" == "current-docs" (
 		echo.http://sphinx-doc.org/
 		exit /b 1
 	)
-	%SPHINXBUILD% %SOURCEDIR% %BUILDDIR%\current %SPHINXOPTS% %O%
+	if exist "%BUILDDIR%\current" rmdir /s /q "%BUILDDIR%\current"
+	%SPHINXBUILD% -W "%SOURCEDIR%" "%BUILDDIR%\current" %SPHINXOPTS%
 	goto end
 )
 
diff --git a/docs/source/api/lab/isaaclab.assets.rst b/docs/source/api/lab/isaaclab.assets.rst
index 338d729ddb6..c91066966e8 100644
--- a/docs/source/api/lab/isaaclab.assets.rst
+++ b/docs/source/api/lab/isaaclab.assets.rst
@@ -32,7 +32,7 @@ Asset Base
 
 .. autoclass:: AssetBaseCfg
     :members:
-    :exclude-members: __init__, class_type
+    :exclude-members: __init__, class_type, InitialStateCfg
 
 Rigid Object
 ------------
diff --git a/docs/source/api/lab/isaaclab.sensors.rst b/docs/source/api/lab/isaaclab.sensors.rst
index 17ce71e3827..c30ed948f09 100644
--- a/docs/source/api/lab/isaaclab.sensors.rst
+++ b/docs/source/api/lab/isaaclab.sensors.rst
@@ -61,7 +61,7 @@ USD Camera
     :members:
     :inherited-members:
     :show-inheritance:
-    :exclude-members: __init__, class_type
+    :exclude-members: __init__, class_type, OffsetCfg
 
 Tile-Rendered USD Camera
 ------------------------