Fixes scipy quaternion ordering for dex retargeting (#319)

Isaac Sim uses an older version of scipy that does not support the
`scalar_first` flag. This fix removes the flag and fixes the quaternion
ordering to match scipy standards.

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- Bug fix (non-breaking change which fixes an issue)

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- [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
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- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.36.11"
+version = "0.36.12"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
-0.36.11 (2025-04-09)
+0.36.12 (2025-04-09)
 ~~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -12,7 +12,7 @@ Changed
   the cuda device, which results in NCCL errors on distributed setups.
 
 
-0.36.10 (2025-04-01)
+0.36.11 (2025-04-01)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -21,8 +21,8 @@ Fixed
 * Added check in RecorderManager to ensure that the success indicator is only set if the termination manager is present.
 
 
-0.36.9 (2025-03-24)
-~~~~~~~~~~~~~~~~~~~
+0.36.10 (2025-03-24)
+~~~~~~~~~~~~~~~~~~~~
 
 Changed
 ^^^^^^^
@@ -31,7 +31,7 @@ Changed
   the default settings will be used from the experience files and the double definition is removed.
 
 
-0.36.8 (2025-03-17)
+0.36.9 (2025-03-17)
 ~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -41,6 +41,15 @@ Fixed
   :attr:`effort_limit` is set.
 
 
+0.36.8 (2025-03-17)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Removed ``scalar_first`` from scipy function usage to support older versions of scipy.
+
+
 0.36.7 (2025-03-14)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/gr1_t2_dex_retargeting_utils.py

@@ -151,7 +151,8 @@ class GR1TR2DexRetargeting:
         # Convert hand pose to the canonical frame.
         joint_position = joint_position - joint_position[0:1, :]
         xr_wrist_quat = hand_poses.get("wrist")[3:]
-        wrist_rot = R.from_quat(xr_wrist_quat, scalar_first=True).as_matrix()
+        # OpenXR hand uses w,x,y,z order for quaternions but scipy uses x,y,z,w order
+        wrist_rot = R.from_quat([xr_wrist_quat[1], xr_wrist_quat[2], xr_wrist_quat[3], xr_wrist_quat[0]]).as_matrix()
 
         return joint_position @ wrist_rot @ operator2mano
 

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py

@@ -304,7 +304,7 @@ class EventCfg:
                 "y": [0.0, 0.05],
             },
             "velocity_range": {},
-            "asset_cfg": SceneEntityCfg("object", body_names=".*"),
+            "asset_cfg": SceneEntityCfg("object"),
         },
     )