# Description

In https://github.com/isaac-sim/IsaacLab/pull/891, the
`depth_clipping_behavior` parameter was added with the default mode set
to `"zero"`. This introduced a breaking behavior in the depth cameras as
previously, values returned by the cameras were not clipped. This PR
sets the default behavior to `"none"`, which should bring us back to the
original camera behavior.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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# Description

This PR adds an option to enable null-space control within
`OperationSpaceController` (following the discussions in #913).

## Details

Currently, `OperationSpaceController` controls only the task space,
which results in joint movements within the null-space of redundant
robotic manipulators. In general, it is desirable to have some control
over the robot null-space, e.g., to prevent the joints from going near
their limits. Hence, the PR adds the following:

- An optional nullspace (position) control integrated into
`OperationSpaceController`. This controller attracts the robot joints to
provided targets whereas possible, in parallel to the task-space target.
- Test cases for `OperationSpaceController` that use null-space control.
- Updates to the related tutorial script and documentation to use and
describe null-space control.
- Integration of (optional) null-space control to
`OperationSpaceControllerAction` with predefined joint targets, e.g.,
default joint positions, joint centers, zero joint position.
- Integration of null-space control to `"Isaac-Reach-Franka-OSC-v0"`
manager-based environment.

Null-space control utilizes either the dynamically consistent Jacobian
inverse or the Moore–Penrose inverse, depending on whether the full
inertia matrix is available.

## Type of change

- New feature (non-breaking change which adds functionality)
- 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
- [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

---------
Signed-off-by: Özhan Özen <41010165+ozhanozen@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Fixes docstring for UsdFileCfg
Signed-off-by: Kelly Guo <kellyg@nvidia.com>

# Description

Currently the root_physx_views of the rigid bodies and articulations
output linear and angular velocities of the com of bodies rather than
the link frame. This PR transforms the velocities and accelerations to
the link frame of the body.

Fixes #942 

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- 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
- [x] 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

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---------
Signed-off-by: jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Fixes broken image link of `stack-cube` in document

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

## Screenshots

![2024-12-17 11-33-32
的屏幕截图](https://github.com/user-attachments/assets/dc8b4862-2df4-451c-b4ed-9b630f9f5f0e)

## 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

# Description

This MR adds new tasks for contact-rich manipulation based on the
Factory line of work. Tasks include peg insertion, gear meshing, and nut
threading.

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Screenshots

<img
src="https://github.com/user-attachments/assets/c8c32592-8972-4b1e-be7c-51b0313393bf"
alt="peg_insertion" height="200"/>
<img
src="https://github.com/user-attachments/assets/437baf31-f9cb-4a27-94ac-5f21e2309089"
alt="gear_meshing" height="200"/>
<img
src="https://github.com/user-attachments/assets/bccdf71b-cd5f-45f7-b4ca-71616885ef48"
alt="nut_threading" height="200"/>

## 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
- [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

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Iretiayo Akinola <iakinola@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

In the command manager, we were logging the metrics after resampling the
commands. This leads to incorrect logging of metrics when inside the
`resample` call, the metrics tensors get reset. This MR fixes the order
to make sure the bug doesn't happen.

## Type of change

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

## 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

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

Adds `OperationSpaceController` to docs and tests and implement corresponding action/action_cfg classes (#913)

# Description

This PR adds the `OperationalSpaceController` to the docs and provides
some tests for its parametric features. Moreover, it implements the
corresponding `OperationalSpaceControllerAction` and
`OperationalSpaceControllerActionCfg` classes so they can be used with
manager-based environments.

Fixes #873 

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- 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
- [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
``

---------
Signed-off-by: Özhan Özen <41010165+ozhanozen@users.noreply.github.com>
Co-authored-by: James Tigue <jtigue@theaiinstitute.com>
Co-authored-by: jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

This change adds a call to `update_articulations_kinematic()` after
performing reset in an environment to ensure that non-render sensors are
updated after performing reset.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

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

## 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
- [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
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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---------
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>

# Description

This adds a UI interface to the Managers in the `ManagerBasedEnv` and
The `MangerBasedRLEnv`. Additions include:
- UI widgets for `LiveLinePlot` and `ImagePlot`
- `ManagerLiveVisualizer/Cfg`: Given a `ManagerBase` (i.e.
action_manager, observation_manager, etc) and a config file this class
creates the the interface between managers and the UI.
- `EnvLiveVisualizer`: A 'manager' of `ManagerLiveVisualizer`. This is
added to the `ManagerBasedEnv` but is only called during the
initialization of the managers in `load_managers`
- Adds `get_active_iterable_terms` implementation methods to
ActionManager, ObservationManager, CommandsManager, CurriculumManager,
RewardManager, and TerminationManager. This method exports the active
term data and labels for each manager and is called by
ManagerLiveVisualizer.
- Additions to `BaseEnvWindow` and `RLEnvWindow` to register
`ManagerLiveVisualizer` UI interfaces for the chosen managers.

## Screenshots
[Screencast from 09-06-2024 01:20:18
PM.webm](https://github.com/user-attachments/assets/3ef0191d-5446-41bd-b274-43d886fb2d70)

## Implementation

![image](https://github.com/user-attachments/assets/49bd5493-3311-4c5c-a87c-6bbcd76a60fe)

## Type of change

- New feature (non-breaking change which adds functionality)

## 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

---------
Signed-off-by: jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Signed-off-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: zrene <zrene@ethz.ch>
Co-authored-by: James Tigue <jtigue@theaiinstitute.com>
Co-authored-by: jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: Aravind EV <aravindev@live.in>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

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to check the contribution guidelines.

Link: https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html
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This PR adds observation history by adding configuration parameters to
ObservationTerms and having the ObservationManager handling the
collection and storage of the histories via CircularBuffers.

Fixes #1208 

<!-- As a practice, it is recommended to open an issue to have
discussions on the proposed pull request.
This makes it easier for the community to keep track of what is being
developed or added, and if a given feature
is demanded by more than one party. -->

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- New feature (non-breaking change which adds functionality)

## 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
- [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: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Fangzhou Yu <156015326+fyu-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This PR adds support for action clip to all mdp/actions. Clip ranges can
be specified as a dictionary of joint names and tuple for the lower and
upper bounds of the clip in the ActionTermCfg.

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update


## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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
- [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

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Adds a position threshold check, resolving 3 TODO error comments, to
ensure the robot's end effector is within a specified distance from the
target position before transitioning between states in the pick and lift
state machine. Improves the precision of state transitions and helps
prevent premature actions during object manipulation. I.e, the threshold
ensures the robot is "close enough" to the target position before
proceeding, reducing the likelihood of failed grasps or incorrect
movements.

PR adapted from https://github.com/isaac-sim/IsaacLab/pull/1273/ by
@DorsaRoh.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: DorsaRoh <dorsa.rohani@gmail.com>

# Description


After indexing the size of `quad_w` in the `apply_actions` method is
(N,B,4) where B will always equal 1, since it is enforced in the
`__init__` that only one body name is passed to the action term config.
However, the `euler_xyz_from_quat` method requires inputs to be size
(N,4), and so an error is thrown for input size (N,1,4). This PR just
creates a (N,4) view of quat_w to be passed to `euler_xyz_from_quat`.
This simple change does not introduce any new warnings and works with a
simple non holonomic robot, like the Clearpath Husky.

## Type of change

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

## 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
- [X] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

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to check the contribution guidelines.

Link: https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html
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This adds the correct whitespace to load the code block correctly in the
dependency install section of the experimental ray functionality.

<!-- As a practice, it is recommended to open an issue to have
discussions on the proposed pull request.
This makes it easier for the community to keep track of what is being
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## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

## Screenshots


![image](https://github.com/user-attachments/assets/5ec71790-32f2-4f1c-b89f-87ce06b88a48)


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## 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
- [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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Adds Ray Workflow: Multiple Run Support, Distributed Hyperparameter Tuning, and Consistent Setup Across Local/Cloud (#1301)

This PR adds Ray support, which enables a lot of really cool stuff by
leveraging the existing Hydra support, including but not limited to:

- Several training runs at once in parallel or consecutively with
minimal interaction
- Using the same training setup everywhere (on cloud and local) with
minimal overhead
- Tuning hyperparameters
- Tuning hyperparameters in parallel on multiple GPUs and/or multiple
GPU Nodes
- Simultaneously tuning model hyperparameters for different
environments/agents
- Resource Isolation

# Description

Enhance `base_height_l2` function to support rough terrain adjustments:

- Added an optional `sensor_cfg` parameter to allow dynamic target
height
  adjustments based on sensor readings (e.g., RayCaster).
- Updated the function to calculate the L2 squared penalty using
adjusted
  height values for rough terrain scenarios.
- Preserved existing behavior for flat terrain by using the fixed
`target_height`.
- Improved compatibility for applications involving uneven terrain.

Fixes #1524

## Type of change

- New feature (non-breaking change which adds functionality)

## 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
- [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

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Fix configclass dict conversion for torch tensors

Up to v1.2.0 if a configclass would contain a list/tuple of torch
tensors it would be left as is.

\#1227 changed the behavior of converting lists/tuples in a dict, which
means that currently torch tensors are converted to an empty dict,
effectively losing all contained data.

The underlying issue is that `torch.tensor.__dict__` returns an empty
dict, which was (luckily) ignored previously because we did not convert
the contents of lists.

This MR fixes this by treating torch tensors specially. I don't like
having a special case for a non-builtin class but given that
IsaacLab is heavily married with torch tensors I think it's ok in this
case.

Since currently the behavior is different between 1.2 and 1.3: can we
cherry pick this change to the 1.3 branch?

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

Link: https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html
-->

Currently, ray-saster does not apply transform to the mesh that is cast
against by ray.
As a result, no matter where the mesh is, the ray caster get data as
same as when the mesh is in the pos (0,0,0) with quat (1,0,0,0).

<!-- As a practice, it is recommended to open an issue to have
discussions on the proposed pull request.
This makes it easier for the community to keep track of what is being
developed or added, and if a given feature
is demanded by more than one party. -->

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

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

## Screenshots

I use a red cube to mark the position of ray caster sensor, and use
LidarPattern to generate ray for more intuitive visual effects.

Before fixed, when the mesh is in the center with pos=(0.0, 0.0, 0.0),
rot=(1.0, 0.0, 0.0, 0.0), the result will be right.


![screenshot0](https://github.com/user-attachments/assets/b117e12d-ee94-452a-a223-5446f2586c29)

However, if pos=(1.0, -2.0, 0.0), rot=(0.816, 0.577, 0.0, 0.0), it
causes bug as:


![screenshot1](https://github.com/user-attachments/assets/1e3a2d52-201b-43da-ade1-19255b1bcfed)

After fixed, the result will be right:


![screenshot2](https://github.com/user-attachments/assets/76f757c4-fca7-4b2b-89e1-1da21eb4e0cd)

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This pull request fix the bug where jacobian returned by
DifferentialInverseKinematicsAction._compute_fame_jacobian are not truly
in robot base frame because it did not consider robot's base rotation.
After the change, _compute_fame_jacobian returns the correct local frame
jacobian. In addition, properties get_jacobian_w and get_jacobian_b is
added to differentiate frame differences

Fixes #911 

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

## Screenshots

<img width="1109" alt="image"
src="https://github.com/user-attachments/assets/5d47dfb3-8c44-4115-b5a0-28c671e99459">

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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feature works
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extension's `config/extension.toml` file
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Signed-off-by: Octi Zhang <127588710+zoctipus@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This PR updates the initial state recorder term to support multi-env use
cases by returning only the states of the specified environment IDs,
which allows the recorder to correctly retrieve and record the correct
initial state for the given environment IDs.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

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

## Checklist

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`./isaaclab.sh --format`
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feature works
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---------
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

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Previously the velocity limits of the the ActuatorBaseCfg do not get
used in most actuators. Only the DCMotor actuator uses it but it only
uses it for torque-speed limitations.

This PR propagates the velocity_limits of the ActuatorBaseCfg to the
articulation root_physx_view.

Fixes #1384 

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## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

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

## Screenshots

Please attach before and after screenshots of the change if applicable.

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## Checklist

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`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
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feature works
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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

If a USD contains an articulation root but we load it with a
`RigidObjectCfg` this would also load the articulation. This is
confusing as a user only expects a rigid body.

This PR adds a fix to ignore the articulation if a rigid body is
spawned.

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to check the contribution guidelines.

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Please include a summary of the change and which issue is fixed. Please
also include relevant motivation and context.
List any dependencies that are required for this change.

Fixes # (issue)

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## Type of change

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applicable. -->

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

## Screenshots

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
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feature works
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---------
Signed-off-by: lgulich <22480644+lgulich@users.noreply.github.com>
Signed-off-by: David Hoeller <dhoeller@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This MR fixes the support of fish-eye projection type. Actually, I don't
find the proper fisheye type on [Replicator
camera](https://docs.omniverse.nvidia.com/py/replicator/1.9.8/source/extensions/omni.replicator.core/docs/API.html#omni.replicator.core.create.camera)
website (maybe it's out of style).

![Screenshot from 2024-10-31
23-15-24](https://github.com/user-attachments/assets/7f826389-fb9e-474b-a54c-ae3c78e92d8b)

I only check the `cameraProjectionType` in `Raw USD Properties` in
Isaacsim GUI.

![Screenshot from 2024-10-31
23-29-10](https://github.com/user-attachments/assets/f8a39ded-0cb8-4ff4-9235-d3b2e00a92fc)

Fixes #1331

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## Screenshots

| Before | After |
| ------ | ----- |
| ![Screenshot from 2024-11-02
11-25-57](https://github.com/user-attachments/assets/deb44333-f58e-476d-b167-dd084719adf2)|
![Screenshot from 2024-11-02
11-26-03](https://github.com/user-attachments/assets/a2d6caca-fd1d-4a6d-bc06-b6dff027af98)|

## 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
- [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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This PR adds an option to define the clipping behavior for depth images
generated by `RayCasterCamera` and `Camera`. In addition, it unifies the
clipping behavior for the depth images of all camera implementations.
Per default, all values exceeding the range are clipped to zero for both
`distance_to_image_plane` and `distance_to_camera` depth images. Prev.
`RayCasterCamera` clipped the values to the maximum value of the depth
image, `Camera` did not clip them and had a different behavior for both
types, and `TiledCamera` clipped the values to zero.

Needs PR #617 to be merged

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

## 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
- [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

---------
Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Removes tensordict as a dependency in the installation and extensions
for isaac lab since we no longer use it in the codebase.


## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

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


## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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
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# Description

When running `./isaaclab.sh --format` for another pull request, I got a
`command not found` error for `pre-commit`. Looking into the script, I
found a condition to check if `pre-commit` was installed, but the syntax
was off.

It was written like this:

```bash
if [ ! command -v pre-commit &>/dev/null ]; then
```

But it should be:

```bash
if ! command -v pre-commit &>/dev/null; then
```

I fixed it, and the script worked as expected, installing `pre-commit`
when I ran it again.

## Type of change

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

## 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
- [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

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

This change fixes bugs in `DirectMARLEnv` class, where previously
`_action_noise_model` and `_observation_noise_model` cannot successfully
initialized when the noise-model-cfg passed in.

## Type of change

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

## 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
- [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

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: zhouhaoran <zhouhaoran@xiaomi.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

`TerminationsCfg` is the same as `LocomotionVelocityRoughEnvCfg`, there
is no need to configure it again, just modify the corresponding name
`self.terminations.base_contact.params["sensor_cfg"].body_names`

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
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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 <kellyg@nvidia.com>

# Description

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This PR adds a new ManagerBasedRLEnv for a three cube stacking task with
a Franka arm.

Docs updated to add new environment type and env tested with
test_environments.py script.

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## Type of change

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applicable. -->

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Screenshots

![franka_stack](https://github.com/user-attachments/assets/2f14059c-1117-44f1-87db-c6b5aaab2a11)


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## Checklist

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`./isaaclab.sh --format`
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---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

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This PR adds a recorder manager (RecorderManager) and relevant utility
classes for recording data produced in various reset and step stages in
manager-based environments.

Wither the built-in recorder manager, users can create custom recorder
terms in their environment configurations with callback functions
returning tensors to be recorded as environments advance. It is
particularly useful for implementing an app that collects human-operated
demos and for those who want to record robot actions for
post-validation/replay in Isaac Lab environments.

The recorder manager works in both single- and multi-environment use
cases. An episode for an environment instance is exported to a dataset
file, via a dataset file handler, upon completion (a termination term is
signaled a reset to the environment instance is triggered).

By default, the recorder manager is inactive (by assigning no recorder
terms in the default configuration), which should have minimal
performance impact for existing apps that do not require data recording.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update -- to be updated in later
PRs

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
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feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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---------
Signed-off-by: CY Chen <cyc@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

The entry_point `RLTaskEnv` doesn't exist

It should be `ManagerBasedRLEnv`

## 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
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feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This change adds warp-lang as a module dependency for omni.isaac.lab. In
certain workflows, the warp module was not being found on
initialization. In addition, missing isaac sim pip modules are now added
to the documentation to make sure all dependencies are installed.

## Type of change

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

## 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
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feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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exists there

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# Description

Due to recent release of Gymnasium 1.0.0, this now becomes the Gymnasium
version that gets installed when running the installation process for
Isaac Lab. Gymnasium 1.0.0 requires all environments to be a subclass of
`gym.Env` when using the `make` interface. This change makes the
`DirectMARLEnv` a subclass of `gym.Env` to satisfy this requirement.

Fixes #1002 

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)


## 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
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feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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exists there

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## 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
- [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

---------
Signed-off-by: Michael Gussert <michael@gussert.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Updates code for release 1.3.0

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>

# Description

This change fixes bugs in Articulation class `write_joint_limits_to_sim`
method, where previously env_ids and joint_ids were not taken into
account when ids passed in are not None.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

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


## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [  ] I have made corresponding changes to the documentation
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- [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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# Description

This change adds a new page highlighting the Isaac Lab ecosystem and
relationship with Omniverse and Isaac Sim. It also clarifies the
installation steps with recommendations on when each installation
approach should be used.

## 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`
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feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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# Description

Adds a rigid body collection class, which allows to spawn multiple
objects in each environment and access/modify the quantities with a
unified (env_ids, object_ids) API.

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

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`./isaaclab.sh --format`
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feature works
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extension's `config/extension.toml` file
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exists there

# Description

Adding Isaac Lab Reference Architecture documentation to present an overview of the end-to-end robot learning process with Isaac Lab.

## Checklist

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`./isaaclab.sh --format`
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For example,
- [x] I have done this task
- [ ] I have not done this task
-->

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Co-authored-by: Kelly Guo <kellyg@nvidia.com>