# Description

The imports for `omni.log` was missing. In the other file, carb was used
(incorrectly) instead of omni.log.

## 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

# Description

As discussed in #2284, I was writing an observation function to pass the
time remaining in an episode (in seconds) to an observation term in a
Manager-based environment, and found this could not be done without
modifying `ManagerBasedRLEnv` to initialize `episode_length_buf` before
managers are loaded. Here is a summary of changes made:

* Added initialization of `episode_length_buf` in
:meth:`load_managers()` of :class:`~isaaclab.envs.ManagerBasedRLEnv` to
make it available for use in mdp functions. Note: existing
initialization in :meth:`__init__` left in place in case it is needed
for other use cases. Potentially redundant? Assess.
* Added :attr:`~isaaclab.envs.ManagerBasedRLEnv.curr_episode_length` to
:class:`~isaaclab.envs.ManagerBasedRLEnv` which returns reshaped
``episode_length_buf`` so it is visible as an attribute in the
documentation.
* Added time observation functions to `~isaaclab.envs.mdp.observations`
module, :func:`~isaaclab.envs.mdp.observations.current_time_s` and
:func:`~isaaclab.envs.mdp.observations.remaining_time_s`.

I'm not certain whether the documentation will be updated automatically
or if there are further steps I need to take. When I build the
documentation on my machine it is updated, but the outputs are ignored
by git. Please let me know if there's anything else I need to do.

I could also use some advice on tests (apologies in advance for my lack
of experience here, my background is not in software dev). Locally I
modified the `Isaac-Velocity-Rough-Anymal-C-v0` task to add the two new
observation functions, and began to train a policy in rsl_rl using the
provided `scripts/reinforcement_learning/rsl_rl/train.py` script, and
both were available to be viewed and appeared to be working correctly. I
tried to run the existing suite of unit tests but it gave me an error I
don't understand (see below). I also started to create a new script
similar to
[`isaaclab/test/envs/check_manager_based_env_anymal_locomotion.py`](https://github.com/isaac-sim/IsaacLab/blob/7de6d6fef9424c95fc68dc767af67ffbe0da6832/source/isaaclab/test/envs/check_manager_based_env_anymal_locomotion.py)
but that would have required a policy trained using the new observation
functions (which I can produce, but wasn't sure if that would be
worthwhile since it wouldn't be available to others).

Output when running `./isaaclab.sh -t`:
```
[INFO] Warm starting the simulation app before running tests.                                                                                                                                                                                                                                                                        
ERROR:root:Error warm starting the app: b'2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 16 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 17 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 18 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 19 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 20 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 21 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 22 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 23 belongs to.\nMESA-INTEL: warning: Performance support disabled, consider sysctl dev.i915.perf_stream_paranoid=0\n\n'
```

Cheers.

## 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 (_maybe_?)
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works (please advise)
- [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: TheIndoorDad <167908515+TheIndoorDad@users.noreply.github.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Added `max_grad_norm` field to `RslRlDistillationAlgorithmCfg` in order
to be compatible with https://github.com/leggedrobotics/rsl_rl/pull/91

## 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`
- [ ] 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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: alessandro.assirelli <alessandro.assirelli@agile-robots.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Updates version of the starlette dependency to avoid conflicts with
fastapi.
Also explicitly add numba as a dependency for AutoMate, though it should
already be a part of Isaac Sim.

Fixes #2580 

## 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
- [ ] 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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# Description

fix a typo in the environment doc

## 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

# Description

Updates license folder to include additional 3rd party OSS dependencies.

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

<!--
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# Description

As per findings in #1711, `quat_apply` was found to be faster that
`quat_rotate`. This PR:
- adds `quat_apply_inverse`
- changes all instances of `quat_rotate` and `quat_rotate_inverse` to
their apply counterparts.

Fixes #1711

## Type of change

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

## Screenshots

| Per 1000 | cpu | cuda |
|:----------|:-------:|:---------:|
|**quat_apply:** |			**217.91 us** |	**47.07 us**|
|einsum_quat_rotate: |		295.95 us |	127.62 us|
|iter_quat_apply: |		679.10 us |	850.25 us|
|iter_bmm_quat_rotate: |		829.62 us |	1.28 ms|
|iter_einsum_quat_rotate: |	937.73 us |	1.46 ms|
|**quat_apply_inverse:** |		**212.20 us** |	**48.43 us**|
|einsum_quat_rotate_inverse: |	278.43 us |	114.25 us|
|iter_quat_apply_inverse: |	681.85 us |	774.82 us|
|iter_bmm_quat_rotate_inverse: |	863.27 us |	1.23 ms|
|iter_einsum_quat_rotate_inverse: |	1.04 ms |	1.45 ms|

## 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
- [ ] 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: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
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

<!--
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/main/source/refs/contributing.html
-->

Shape mismatched for randomised sample values in
randomize_rigid_body_com in `events.py.`

Fixes #2557 

<!-- 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) for #2557 

## 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

<!--
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---------
Signed-off-by: Dhananjay M Shendre <shendredm1999@gmail.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: DJ <shendredm1999@gmail.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

This MR adds new tasks for assembly tasks based on AutoMate paper. Tasks
are 100 assemblies for diverse parts.

## Type of change

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

## Screenshots


![00004](https://github.com/user-attachments/assets/01fe26f4-bfc8-4df3-b99d-db3c01448ed5)

## 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 <kellyguo123@hotmail.com>
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

<!--
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/main/source/refs/contributing.html
-->

Add unit test for training and evaluating environments across all
workflows using an input config.

The config determines which environments to train, how long to train,
and training KPI thresholds.

Every training + evaluation is one pytest, which fails if any of the
thresholds aren't met.

A KPI json can be created to summarize the trainings. This json also
functions as a KPI payload which will be uploaded to a Grafana Dashboard
every week using OSMO CI, using the full mode in the config. Can be used
to track improvements and regressions.

Dashboard -
[LINK](https://grafana.nvidia.com/d/cejwy2w46gtmob/24b94e54-6b8b-50a4-969a-121dc573a34c?orgId=105)

<!-- 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)
- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## Screenshots

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

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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
- [ ] 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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putting an x character in it

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

# Description


Handling exceptions when raised inside the initialization callbacks

Fixes #1025 

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

# Description

Introduced CoM randomization in events.py for manager based envs.
Individual range can be selected for individual axis and bodies.

Thanks to #641 and #693  for motivation of the code.  

## 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
- [ ] 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

<!--
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to check the contribution guidelines.

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

This reverts commit 212de427.

Fixes # (issue)

<!-- 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)

## Screenshots

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

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## Checklist

- [ ] 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
- [ ] 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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# Description

Fixed name of keyword args in implicit actuator config in order to
remove the following warnings

`
[Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg>
object has a value for 'effort_limit'. This parameter will be removed in
the future. To set the effort limit, please use 'effort_limit_sim'
instead.
[Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg>
object has a value for 'velocity_limit'. Previously, although this value
was specified, it was not getting used by implicit actuators. Since this
parameter affects the simulation behavior, we continue to not use it.
This parameter will be removed in the future. To set the velocity limit,
please use 'velocity_limit_sim' instead.
`

## 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
- [ ] 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

# Description

Earlier, when visualizing using the frame transformer, it was unclear
which frame corresponds to the source frame and so on. This MR uses the
debug draw tool to connect the source and target frames making the
transformations clearer.

## Type of change

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

## Screenshots

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

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## Checklist

- [ ] 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
- [ ] 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

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

# Description

This MR adds a function to set the visibility of prims corresponding to
an Asset. This is useful for randomization of distractors for visual
effects.

Note: Currently, this is not implemented for RigidObjectCollection as it
seems unclear how to "index" the prims in there.

## Type of change

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

## Screenshots

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

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## Checklist

- [ ] 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
- [ ] 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

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

Adds option to define the concatenation dimension in the `ObservationManager` and change counter update in `CommandManager` (#2393)

# Description


Added support for concatenation of observations along different
dimensions in `ObservationManager`.

Updates the position where the command counter is increased to allow
checking for reset environments in the resample call of the
`CommandManager`

## 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`
- [ ] 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>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Adds option to add terrain border as "wall" above the ground or as
terrain extension below the ground in `TerrainGeneratorCfg`.

## 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`
- [ ] 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: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

Changes the quat_box_minus implementation and adds quat_box_plus and rigid_body_twist_transform (#2217)

# Description

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to check the contribution guidelines.

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- Changes the quat_box_minus implementation see changes for reference
links
- Adds quat_box_plus and rigid_body_twist_transform methods

# Reason for Change

While using `quat_box_minus` to get angular velocities through finite
differences we encountered that the angular velocity contained some
unreasonably large values at given points along the trajectory. After
some investigation we observed:

- The problem comes from `quat_box_minus` yielding unreasonably large
axis-angle differences at some points (”outliers”) of the trajectory.
- Those “outliers” appear when the real part of the difference
quaternion (`quat_diff = quat_mul(q1, quat_conjugate(q2))`) becomes
negative ($w < 0$).
- This happens even when the inputs are standardized with $w≥0$.

## Type of change

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applicable. -->

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

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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
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feature works
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credit to @alopez-bdai

---------
Signed-off-by: James Tigue <166445701+jtigue-bdai@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 <kellyguo123@hotmail.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

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to check the contribution guidelines.

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This PR changes how the camera intrinsic matrix is used to create usd
cameras and updated from usd camera parameters so that if the intrinsic
matrix is accessed in CameraData it will be the same as the intrinsic
matrix used to create the USD camera.

Fixes # (issue)

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## Type of change

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

## Screenshots

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## Checklist

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`./isaaclab.sh --format`
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# Description

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This PR give sensors knowledge of dt changing on
scene.update/sensor.update. This does two things:

- This allows for physics update rates to be changed after
initialization so that the contact_sensor correctly fetches the right
data from physics tensors.
- This also removes any issues with IMU calculating the numerical
derivative at time=0 because now it will have an initialized value.

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

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## Checklist

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

# Description

The modifier should get `obs_dims` before modified by history_buffer
initialization, since Modifiers are called before the history buffer.

Fixes #2460

## Type of change

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

## Screenshots

<img width="1594" alt="screenshots2025-05-10 14 19 57"
src="https://github.com/user-attachments/assets/6d1d65e4-3ac4-4842-8a14-5cafb5521045"
/>

## 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
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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exists there
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>

# Description

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This test cleans up some of the pytest conversion for
test_contact_sensor that was causing issues in CI.

Fixes # (issue)

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

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## Checklist

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`./isaaclab.sh --format`
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# Description

Normally the `Articulation` class would search for an articulation root
below `ArticulationCfg.prim_path`. However this fails when multiple
articulation roots are present. This PR allows to explicitly specify an
articulation root prim path with
`ArticulationCfg.articulation_root_prim_path`. If not set it will fall
back to the old search approach.

## Type of change

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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

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

# Description

Occasionally, reports could be missing after a unit test in CI. This
change checks whether a report exists before trying to read it to avoid
errors. Additionally, it adds back the timeout logic similar to previous
testing framework to prevent hanging in tests.

## 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
- [ ] 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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exists there

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# Description

Fixes isaacsim import in the image plot function of the live
visualizers.

## 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`
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exists there

# Description

Adds a new how-to guide on things to watch out for for better simulation
performance. There have been a few recent threads on hitting performance
issues due to usages of different collision geometries that can be
watched out for and worked around. This new doc page highlights items to
look out for to achieve better simulation performance.

## 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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- [ ] 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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exists there

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# Description

Switches our unit testing framework from unittest to pytest to enable
better CI logging and improve developer experience when checking for
test failures.

## Type of change

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

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---------
Co-authored-by: Pascal Roth <roth.pascal@outlook.de>
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>

Add missing collision approximation choices

# Description

Add some missing collision approximation options in convert_mesh.py
file. Some collision approximation options were missing in the code, but
the MeshConverterCfg class has them as possible options


https://github.com/isaac-sim/IsaacLab/blob/21173c3e933a9236d6eb5eb2adb903494ba9a418/source/standalone/tools/convert_mesh.py#L60


https://github.com/isaac-sim/IsaacLab/blob/21173c3e933a9236d6eb5eb2adb903494ba9a418/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter_cfg.py#L39-L41

Fixes https://github.com/isaac-sim/IsaacLab/issues/1713#issue-2807158637


## 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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---------
Signed-off-by: Virgilio Gomez Lambo <82644963+virgilio96upm@users.noreply.github.com>

# Description

Adding a script that converts URDFs and Meshes to instanceable formatted
usd in batch (recursively searching dir) so that users do not have to do
it one at a time

## 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`
- [ ] 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

# Description
This PR adds a serialize method to observation and action manager terms,
so that they can be stored alongside a trained policy for later
introspection.

Fixes # (issue)

## Type of change

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applicable. -->

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

## Checklist

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# Description


Fixes #2149 


## Type of change

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

## Screenshots


Before:

![docker_name_suffix_before](https://github.com/user-attachments/assets/bc88b41f-69ec-434e-9f81-0189f7b90112)

After:

![docker_name_suffix_after3](https://github.com/user-attachments/assets/4b2866a4-ef3d-4e05-8e27-d9ceae67831a)



## 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

## Comments

I couldn't find any tests for the docker container building, so I'm not
sure where to add some. I'm happy to do so, and can add tests for some
of the other docker building parameters if desired. I have tested
locally for base and ros2 docker profiles with and without the new
suffix parameter. The default setting is an empty string for the suffix,
so it should be a non breaking change and most users will not notice it
being there. I did not touch the cluster docker environment deployment
since I do not have a cluster to test it with, so this new optional
parameter should not be used in the cluster deployment case.

I noticed that there was some redundant docker image building if the
profile is `base`, so I added a check to only build base explicitly if
the docker profile is not base, since the ros2 profile needs base built
in order to build upon it, which is what I assume the explicit base
building is there for.

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

# Description

Added optimizations to the yaw_quat function and added a function to
test_math to make sure it works as intended.

**BENCHMARKS:**

Device: `cpu`

```
Time for yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f8640>
math_utils.yaw_quat(q_rand)  `511.79 us`
1 measurement, 1000 runs , 1 thread

Time for iter_yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f9720>
iter_yaw_quat(q_rand)  `2.18 ms`
1 measurement, 1000 runs , 1 thread

Time for iter_old_yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f8640>
iter_old_yaw_quat(q_rand)  `2.36 ms`
1 measurement, 1000 runs , 1 thread
```

---

Device: `cuda:0`

```
Time for yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f8730>
math_utils.yaw_quat(q_rand)  `246.16 us`
1 measurement, 1000 runs , 1 thread

Time for iter_yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f8100>
iter_yaw_quat(q_rand)  `2.97 ms`
1 measurement, 1000 runs , 1 thread

Time for iter_old_yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f8730>
iter_old_yaw_quat(q_rand)  `3.46 ms`
1 measurement, 1000 runs , 1 thread
```

## 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`
- [ ] 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

# Description

This pull request fixes a bug where `_step_reward` could retain stale
values when a reward term's weight was dynamically changed back to zero.
Previously, when a reward term had zero weight, the computation skipped
updating `_step_reward`, assuming that it would stay correct.
However, if the weight was first changed from zero to nonzero and then
back to zero during runtime (e.g., in curriculum settings), stale
nonzero values could persist, causing incorrect reward visualizations or
logging.

This change explicitly sets `reward_manager._step_reward` to zero when a
reward term has zero weight, ensuring correctness regardless of dynamic
weight changes.

Fixes #2391 

No new dependencies are introduced by this change.

## Type of change

- [x] Bug fix (non-breaking change which fixes an issue)
- [ ] New feature (non-breaking change which adds functionality)
- [ ] Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- [ ] This change requires a documentation update

## Screenshots

_Not applicable._

## 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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- [ ] 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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exists there

# Description

Fixes a minor typo in rsl_rl `rl_cfg` docstrings.

**Before**
```
normalize_advantage_per_mini_batch: bool = False
"""Whether to normalize the advantage per mini-batch. Default is False.

If True, the advantage is normalized over the entire collected trajectories.
Otherwise, the advantage is normalized over the mini-batches only.
"""
```
**After**
```
normalize_advantage_per_mini_batch: bool = False
"""Whether to normalize the advantage per mini-batch. Default is False.

If True, the advantage is normalized over the mini-batches only.
Otherwise, the advantage is normalized over the entire collected trajectories.
"""
```


## Type of change

- This change requires a documentation update

## 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

The step() function of ray/tuner.py has some issues preventing one from
having an uninterrupted ray hyperparameter tuning session. Please refer
to #2328 for details.

Fixes #2328.

## 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`
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feature works
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extension's `config/extension.toml` file
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exists there

# Description

<!--
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to check the contribution guidelines.

Link:
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The check
[here](https://github.com/isaac-sim/IsaacLab/blob/2e6946afb9b26f6949d4b1fd0a00e9f4ef733fcc/source/isaaclab/isaaclab/sim/utils.py#L260):
the
[RigidBodyMaterialCfg](https://github.com/isaac-sim/IsaacLab/blob/2e6946afb9b26f6949d4b1fd0a00e9f4ef733fcc/source/isaaclab/isaaclab/sim/spawners/materials/physics_materials_cfg.py#L30)
used by
[GroundPlaneCfg](https://github.com/isaac-sim/IsaacLab/blob/2e6946afb9b26f6949d4b1fd0a00e9f4ef733fcc/source/isaaclab/isaaclab/sim/spawners/from_files/from_files_cfg.py#L158)
lacks a semantic_tags attribute. So the semantic_tags will not set to
the ground correctly, then the semantic_segmentation_mapping can not
been correctly mapped.

Fixes # (issue)

<!-- 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

Please attach before and after screenshots of the change if applicable.
Ground didn't been mapping correctly.
| Before | After |
| ------ | ----- |
|
![image](https://github.com/user-attachments/assets/904c8223-4100-45d9-b0ea-ab54833269e3)
| ![Screenshot 2025-04-29 at 17 57
24](https://github.com/user-attachments/assets/4ef18c5f-8587-4ed0-9890-c7dfaae30675)|
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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
- [ ] I have added tests that prove my fix is effective or that my
feature works
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extension's `config/extension.toml` file
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---------
Signed-off-by: YunLiu <55491388+KumoLiu@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Fixes incorrect batch size for
Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0

## Type of change

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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`
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- [x] My changes generate no new warnings
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feature works
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# Description

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This PR adds in a joint_effort observation that exposes the
`articulation.data.applied_effort`

Fixes # (issue)

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## Type of change

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

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

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-->

This PR exposes the physics tensor view of the joint reaction wrenches. 

Fixes #[2127](https://github.com/isaac-sim/IsaacLab/issues/2127)
[1566](https://github.com/isaac-sim/IsaacLab/issues/1566)

<!-- As a practice, it is recommended to open an issue to have
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## Type of change

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

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## Checklist

- [ ] 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
- [ ] I have added tests that prove my fix is effective or that my
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---------
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>