From 3a57ebd3602500270d2c73cae2383742ef7fe250 Mon Sep 17 00:00:00 2001
From: Sylvester Kaczmarek
 <16242628+sylvesterkaczmarek@users.noreply.github.com>
Date: Fri, 21 Aug 2026 17:06:20 +0100
Subject: [PATCH 1/3] Preserve nested Mimic randomization controls

---
 ...marek-nested-randomizable-inputs.patch.rst |  4 +++
 .../isaaclab_mimic/datagen/utils.py           |  4 ++-
 .../isaaclab_mimic/test/test_datagen_utils.py | 28 +++++++++++++++++++
 3 files changed, 35 insertions(+), 1 deletion(-)
 create mode 100644 source/isaaclab_mimic/changelog.d/sylvesterkaczmarek-nested-randomizable-inputs.patch.rst
 create mode 100644 source/isaaclab_mimic/test/test_datagen_utils.py

diff --git a/source/isaaclab_mimic/changelog.d/sylvesterkaczmarek-nested-randomizable-inputs.patch.rst b/source/isaaclab_mimic/changelog.d/sylvesterkaczmarek-nested-randomizable-inputs.patch.rst
new file mode 100644
index 000000000000..76e3b4d565ee
--- /dev/null
+++ b/source/isaaclab_mimic/changelog.d/sylvesterkaczmarek-nested-randomizable-inputs.patch.rst
@@ -0,0 +1,4 @@
+Fixed
+^^^^^
+
+* Fixed nested randomizable parameters being omitted from the list returned by ``interactive_update_randomizable_params()``.
diff --git a/source/isaaclab_mimic/isaaclab_mimic/datagen/utils.py b/source/isaaclab_mimic/isaaclab_mimic/datagen/utils.py
index 8f940b9e5f7a..fd0db35cebc4 100644
--- a/source/isaaclab_mimic/isaaclab_mimic/datagen/utils.py
+++ b/source/isaaclab_mimic/isaaclab_mimic/datagen/utils.py
@@ -150,7 +150,9 @@ def interactive_update_randomizable_params(
         keys = current_path.split(".")
 
         if isinstance(allowed_range, dict):
-            interactive_update_randomizable_params(event_term, event_term_name, allowed_range, current_path, env)
+            inputs.extend(
+                interactive_update_randomizable_params(event_term, event_term_name, allowed_range, current_path, env)
+            )
         else:
             try:
                 current_val = get_nested_value(event_term.params, keys)
diff --git a/source/isaaclab_mimic/test/test_datagen_utils.py b/source/isaaclab_mimic/test/test_datagen_utils.py
new file mode 100644
index 000000000000..3ad3977feca0
--- /dev/null
+++ b/source/isaaclab_mimic/test/test_datagen_utils.py
@@ -0,0 +1,28 @@
+# Copyright (c) 2024-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+from types import SimpleNamespace
+
+import pytest
+
+from isaaclab_mimic.datagen import utils
+
+pytestmark = pytest.mark.unit
+
+
+def test_interactive_update_returns_nested_inputs(monkeypatch):
+    event_term = SimpleNamespace(params={"outer": {"inner": 1.0}, "top": 2.0})
+    param_config = {
+        "outer": {"inner": (0.0, 2.0, 0.1)},
+        "top": (0.0, 3.0, 0.1),
+    }
+    monkeypatch.setattr(utils, "get_parameter_input", lambda param_name, *args, **kwargs: param_name)
+
+    inputs = utils.interactive_update_randomizable_params(event_term, "randomize", param_config)
+
+    assert inputs == [
+        (["outer", "inner"], "outer.inner"),
+        (["top"], "top"),
+    ]

From 6af8ac2a34b0ef05dcadbcecf7abb7cc07347ebb Mon Sep 17 00:00:00 2001
From: Sylvester Kaczmarek
 <16242628+sylvesterkaczmarek@users.noreply.github.com>
Date: Mon, 24 Aug 2026 22:17:34 +0100
Subject: [PATCH 2/3] Rename Mimic changelog fragment

---
 .../sylvesterkaczmarek-nested-randomizable-inputs.rst         | 4 ++++
 1 file changed, 4 insertions(+)
 create mode 100644 source/isaaclab_mimic/changelog.d/sylvesterkaczmarek-nested-randomizable-inputs.rst

diff --git a/source/isaaclab_mimic/changelog.d/sylvesterkaczmarek-nested-randomizable-inputs.rst b/source/isaaclab_mimic/changelog.d/sylvesterkaczmarek-nested-randomizable-inputs.rst
new file mode 100644
index 000000000000..76e3b4d565ee
--- /dev/null
+++ b/source/isaaclab_mimic/changelog.d/sylvesterkaczmarek-nested-randomizable-inputs.rst
@@ -0,0 +1,4 @@
+Fixed
+^^^^^
+
+* Fixed nested randomizable parameters being omitted from the list returned by ``interactive_update_randomizable_params()``.

From 8c23e06bff76f5db0435caf785ebd0e6010fd9a2 Mon Sep 17 00:00:00 2001
From: Sylvester Kaczmarek
 <16242628+sylvesterkaczmarek@users.noreply.github.com>
Date: Mon, 24 Aug 2026 22:17:40 +0100
Subject: [PATCH 3/3] Remove old Mimic changelog fragment name

---
 .../sylvesterkaczmarek-nested-randomizable-inputs.patch.rst   | 4 ----
 1 file changed, 4 deletions(-)
 delete mode 100644 source/isaaclab_mimic/changelog.d/sylvesterkaczmarek-nested-randomizable-inputs.patch.rst

diff --git a/source/isaaclab_mimic/changelog.d/sylvesterkaczmarek-nested-randomizable-inputs.patch.rst b/source/isaaclab_mimic/changelog.d/sylvesterkaczmarek-nested-randomizable-inputs.patch.rst
deleted file mode 100644
index 76e3b4d565ee..000000000000
--- a/source/isaaclab_mimic/changelog.d/sylvesterkaczmarek-nested-randomizable-inputs.patch.rst
+++ /dev/null
@@ -1,4 +0,0 @@
-Fixed
-^^^^^
-
-* Fixed nested randomizable parameters being omitted from the list returned by ``interactive_update_randomizable_params()``.