Bumps IsaacLab version to 2.0.2 (#2016)

# Description

The last MR before we make 2.0.2 release.

## Type of change

- This change requires a documentation update

## Checklist

- [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
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] 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

---------
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

VERSION

-2.0.1
+2.0.2

apps/isaaclab.python.headless.kit

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python Headless"
 description = "An app for running Isaac Lab headlessly"
-version = "2.0.1"
+version = "2.0.2"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "headless"]

apps/isaaclab.python.headless.rendering.kit

@@ -9,7 +9,7 @@
 [package]
 title = "Isaac Lab Python Headless Camera"
 description = "An app for running Isaac Lab headlessly with rendering enabled"
-version = "2.0.1"
+version = "2.0.2"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]

apps/isaaclab.python.kit

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python"
 description = "An app for running Isaac Lab"
-version = "2.0.1"
+version = "2.0.2"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd"]

apps/isaaclab.python.rendering.kit

@@ -9,7 +9,7 @@
 [package]
 title = "Isaac Lab Python Camera"
 description = "An app for running Isaac Lab with rendering enabled"
-version = "2.0.1"
+version = "2.0.2"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "isaaclab", "python", "camera", "minimal"]

apps/isaaclab.python.xr.openxr.kit

@@ -5,7 +5,7 @@
 [package]
 title = "Isaac Lab Python OpenXR"
 description = "An app for running Isaac Lab with OpenXR"
-version = "2.0.1"
+version = "2.0.2"
 
 # That makes it browsable in UI with "experience" filter
 keywords = ["experience", "app", "usd"]

docs/conf.py

@@ -26,6 +26,8 @@ sys.path.insert(0, os.path.abspath("../source/isaaclab_rl"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_rl/isaaclab_rl"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_mimic"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_mimic/isaaclab_mimic"))
+sys.path.insert(0, os.path.abspath("../source/isaaclab_assets"))
+sys.path.insert(0, os.path.abspath("../source/isaaclab_assets/isaaclab_assets"))
 
 # -- Project information -----------------------------------------------------
 

docs/source/refs/release_notes.rst

@@ -4,6 +4,157 @@ Release Notes
 The release notes are now available in the `Isaac Lab GitHub repository <https://github.com/isaac-sim/IsaacLab/releases>`_.
 We summarize the release notes here for convenience.
 
+v2.0.2
+======
+
+Overview
+--------
+
+This patch release focuses on improving actuator configuration and fixing key bugs while reverting unintended
+behavioral changes from v2.0.1. **We strongly recommend switching** to this new version if you're migrating
+from a pre-2.0 release of Isaac Lab.
+
+**Key Changes:**
+
+* **Actuator Limit Handling**: Introduced :attr:`~isaaclab.actuators.ActuatorBaseCfg.velocity_limit_sim`
+  and :attr:`~isaaclab.actuators.ActuatorBaseCfg.effort_limit_sim` to clearly distinguish
+  simulation solver limits from actuator model constraints. Reverted implicit actuator velocity limits
+  to pre-v2.0 behavior.
+* **Simulation configuration update**: Removed :attr:`~isaaclab.sim.SimulationCfg.disable_contact_processing`
+  flag to simplify behavior.
+* **Rendering configuration update**: Reverted to pre-2.0 configuration to improve the quality of the
+  render product.
+* **WebRTC Support**: Added IP specification for live-streaming.
+
+**Full Changelog**: https://github.com/isaac-sim/IsaacLab/compare/v2.0.1...v2.0.2
+
+New Features
+------------
+
+* Adds :attr:`~isaaclab.actuators.ActuatorBaseCfg.velocity_limit_sim` and
+  :attr:`~isaaclab.actuators.ActuatorBaseCfg.effort_limit_sim` to actuator.
+* Adds WebRTC livestreaming support with IP specification.
+
+Improvements
+------------
+
+* Adds guidelines and examples for code contribution.
+* Separates joint state setters inside Articulation class.
+* Implements deterministic evaluation for skrl's multi-agent algorithms.
+* Adds new extensions to ``pyproject.toml``.
+* Updates docs on Isaac Sim binary installation path and VSCode integration.
+* Removes remaining deprecation warning in RigidObject deprecation.
+* Adds security and show&tell notes to documentation.
+
+Bug Fixes
+---------
+* Fixes offset from object obs for Franka stacking env when using parallel envs.
+* Adds scene update to ManagerBasedEnv, DirectRLEnv, and MARL envs initialization.
+* Loads actuator networks in eval() mode to prevent gradients.
+* Fixes instructions on importing ANYmal URDF in docs.
+* Fixes setting of root velocities in the event term :func:`~isaaclab.mdp.reset_root_state_from_terrain`.
+* Fixes ``activate_contact_sensors`` when using :class:`~isaaclab.sim.MultiUsdFileCfg`.
+* Fixes misalignment in motion vectors from :class:`~isaaclab.sim.TiledCamera`.
+* Sets default tensor device to CPU for Camera rot buffer.
+
+Breaking Changes
+----------------
+
+* Reverts the setting of joint velocity limits for implicit actuators.
+* Removes ``disable_contact_processing`` flag from SimulationContext.
+* Reverts to old render settings in kit experience files.
+
+Migration Guide
+---------------
+
+.. attention::
+
+    We strongly recommend reviewing the details to fully understand the change in behavior,
+    as it may impact the deployment of learned policies. Please open an issue on GitHub if
+    you face any problems.
+
+
+Introduction of simulation's effort and velocity limits parameters in ActuatorBaseCfg
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+We have introduced the configuration variables :attr:`~isaaclab.actuators.ActuatorBaseCfg.velocity_limit_sim`
+and :attr:`~isaaclab.actuators.ActuatorBaseCfg.effort_limit_sim` to the
+:class:`isaaclab.actuators.ActuatorBaseCfg` to allow users to set the **simulation** joint velocity
+and effort limits through the actuator configuration class.
+
+Previously, we were overusing the attributes :attr:`~isaaclab.actuators.ActuatorBaseCfg.velocity_limit`
+and :attr:`~isaaclab.actuators.ActuatorBaseCfg.effort_limit` inside the actuator configuration. A series
+of changes in-between led to a regression from v1.4.0 to v2.0.1 release of IsaacLab. To make this
+clearer to understand, we note the change in their behavior in a tabular form:
+
++---------------+-------------------------+--------------------------------------------------------------------+----------------------------------------------------------------+
+| Actuator Type | Attribute               | v1.4.0 Behavior                                                    | v2.0.1 Behavior                                                |
++---------------+-------------------------+--------------------------------------------------------------------+----------------------------------------------------------------+
+| Implicit      | :attr:`velocity_limit`  | Ignored, not set into simulation                                   | Set into simulation                                            |
+| Implicit      | :attr:`effort_limit`    | Set into simulation                                                | Set into simulation                                            |
+| Explicit      | :attr:`velocity_limit`  | Used by actuator models (e.g., DC Motor), not set into simulation  | Used by actuator models (e.g., DC Motor), set into simulation  |
+| Explicit      | :attr:`effort_limit`    | Used by actuator models, not set into simulation                   | Used by actuator models, set into simulation                   |
++---------------+-------------------------+--------------------------------------------------------------------+----------------------------------------------------------------+
+
+Setting the limits from the configuration into the simulation directly affects the behavior
+of the underlying physics engine solver. This impact is particularly noticeable when velocity
+limits are too restrictive, especially in joints with high stiffness, where it becomes easier
+to reach these limits. As a result, the change in behavior caused previously trained policies
+to not function correctly in IsaacLab v2.0.1.
+
+Consequently, we have reverted back to the prior behavior and added :attr:`velocity_limit_sim` and
+:attr:`effort_limit_sim` attributes to make it clear that setting those parameters means
+changing solver's configuration. The new behavior is as follows:
+
++----------------------------+--------------------------------------------------------+-------------------------------------------------------------+
+| Attribute                  | Implicit Actuator                                      | Explicit Actuator                                           |
++============================+========================================================+=============================================================+
+| :attr:`velocity_limit`     | Ignored, not set into simulation                       | Used by the model (e.g., DC Motor), not set into simulation |
+| :attr:`effort_limit`       | Set into simulation (same as :attr:`effort_limit_sim`) | Used by the models, not set into simulation                 |
+| :attr:`velocity_limit_sim` | Set into simulation                                    | Set into simulation                                         |
+| :attr:`effort_limit_sim`   | Set into simulation (same as :attr:`effort_limit`)     | Set into simulation                                         |
++----------------------------+--------------------------------------------------------+-------------------------------------------------------------+
+
+Users are advised to use the ``xxx_sim`` flag if they want to directly modify the solver limits.
+
+Removal of ``disable_contact_processing`` flag in ``SimulationCfg``
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+We have now removed the ``disable_contact_processing`` flag from the :class:`isaaclab.sim.SimulationCfg`
+to not have the user worry about these intricacies of the simulator. The flag is always True by
+default unless a contact sensor is created (which will internally set this flag to False).
+
+Previously, the flag ``disable_contact_processing`` led to confusion about its
+behavior. As the name suggests, the flag controls the contact reporting from the
+underlying physics engine, PhysX. Disabling this flag (note the double negation)
+means that PhysX collects the contact information from its solver and allows
+reporting them to the user. Enabling this flag means this operation is not performed and
+the overhead of it is avoided.
+
+Many of our examples (for instance, the locomotion environments) were setting this
+flag to True which meant the contacts should **not** get reported. However, this issue
+was not noticed earlier since GPU simulation bypasses this flag, and only CPU simulation
+gets affected. Running the same examples on CPU device led to different behaviors
+because of this reason.
+
+Existing users, who currently set this flag themselves, should receive a deprecated
+warning mentioning the removal of this flag and the switch to the new default behavior.
+
+Switch to older rendering settings to improve render quality
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+With the IsaacLab 2.0.0 release, we switched to new render settings aimed at improving
+tiled-rendering performance, but at the cost of reduced rendering quality. This change
+particularly affected dome lighting in the scene, which is the default in many of our examples.
+
+As reported by several users, this change negatively impacted render quality, even in
+cases where it wasn’t necessary (such as when recording videos of the simulation). In
+response to this feedback, we have reverted to the previous render settings by default
+to restore the quality users expected.
+
+For users looking to trade render quality for speed, we will provide guidelines in the future.
+
+
 v2.0.1
 ======