# Description

Merging in updates for the Isaac Lab 2.3 release, moving to support for
Isaac Sim 5.1.
This change includes many features for teleoperation, disjoint
navigation, whole-body control for teleoperation, and IK updates from
@rwiltz, @michaellin6, @jaybdub, @huihuaNvidia2023, @hougantc-nvda,
@lotusl-code, @yami007007, @cathyliyuanchen, @tifchen-nvda.
Additionally, support for DGX Spark is added by @ooctipus and
@matthewtrepte.

For details of the changes and updates, refer to the release notes.

## Type of change

- New feature (non-breaking change which adds functionality)
- Breaking change (existing functionality will not work without user
modification)
- Documentation update


## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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Signed-off-by: Harsh Patel <hapatel@theaiinstitute.com>
Signed-off-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: yami007007 <weihuaz@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Louis LE LAY <le.lay.louis@gmail.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: Javier Felix-Rendon <javierfelixrendon@gmail.com>
Signed-off-by: Doug Fulop <dougfulop@gmail.com>
Signed-off-by: Milad Rakhsha <mrakhsha@nvidia.com>
Signed-off-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Signed-off-by: zehao-wang <59912787+zehao-wang@users.noreply.github.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Signed-off-by: shauryadNv <shauryad@nvidia.com>
Co-authored-by: Philipp Reist <66367163+preist-nvidia@users.noreply.github.com>
Co-authored-by: Harsh Patel <hapatel@theaiinstitute.com>
Co-authored-by: James Tigue <jtigue@theaiinstitute.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
Co-authored-by: michaellin6 <michalin@nvidia.com>
Co-authored-by: Huihua Zhao <huihuaz@nvidia.com>
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>
Co-authored-by: Sergey Grizan <sgrizan@nvidia.com>
Co-authored-by: Alexander Poddubny <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: John <jaybdub@users.noreply.github.com>
Co-authored-by: yami007007 <weihuaz@nvidia.com>
Co-authored-by: Weihua Zhang <weihuaz@weihuaz-mlt.client.nvidia.com>
Co-authored-by: PeterL-NV <petliu@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: hougantc-nvda <127865892+hougantc-nvda@users.noreply.github.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: njawale42 <njawale@nvidia.com>
Co-authored-by: Cathy Li <40371641+cathyliyuanchen@users.noreply.github.com>
Co-authored-by: Louis LE LAY <le.lay.louis@gmail.com>
Co-authored-by: Javier Felix-Rendon <javierfelixrendon@gmail.com>
Co-authored-by: Doug Fulop <dougfulop@gmail.com>
Co-authored-by: Robin Vishen <117207232+vi7n@users.noreply.github.com>
Co-authored-by: -T.K.- <t_k_233@outlook.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>
Co-authored-by: Rebecca Zhang <rebeccaz@nvidia.com>
Co-authored-by: Lorenz Wellhausen <lorenwel@users.noreply.github.com>
Co-authored-by: Lorenz Wellhausen <lorenz.wellhausen@rivr.ai>
Co-authored-by: Michael Gussert <michael@gussert.com>
Co-authored-by: Antoine RICHARD <antoiner@nvidia.com>
Co-authored-by: tifchen-nvda <tifchen@nvidia.com>
Co-authored-by: Cathy Li <yuanchenl@yuanchenl-mlt.client.nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Milad-Rakhsha-NV <167464435+Milad-Rakhsha-NV@users.noreply.github.com>
Co-authored-by: Milad-Rakhsha <miladrakhsha@gmail.com>
Co-authored-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Co-authored-by: Xinjie Yao <xyao@nvidia.com>
Co-authored-by: shauryadNv <shauryad@nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: zehao-wang <59912787+zehao-wang@users.noreply.github.com>
Co-authored-by: yijieg <yijieg@nvidia.com>
Co-authored-by: ndahile-nvidia <167997649+ndahile-nvidia@users.noreply.github.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: yanziz-nvidia <yanziz@nvidia.com>
Co-authored-by: lotusl-code <lotusl@nvidia.com>