# Description

This PR updates docker and setup.py versions to point to Isaac Sim 4.5. 
In addition, documentation is added for running the new pre-built Isaac
Lab docker container.

## 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)
- 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
- [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
Updates license files for dependencies

# Description

This change includes several small updates for Isaac Sim 4.5:

- set rtx.viewTile.limit in render app files to avoid silent trimming of
the number of tiles. the default limit is set to be around 1000, which
may be too low in most cases
- updates documentation for livestream clients. WebRTC now requires a
client app and the omniverse streaming client is deprecated
- updates installation instructions for installing isaac sim from
binaries - Isaac Sim can now be downloaded as a zip file from a download
link instead of through Omniverse launcher
- fixes pillow version to be the same as Isaac Sim to avoid the package
getting uninstalled and reinstalled to the wrong version

## 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)
- 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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exists there

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Update PIP installation instructions to install full Isaac Sim - Python
packages by default.

![image](https://github.com/user-attachments/assets/334af9a1-1826-4452-bdcc-c7ff27dc245c)
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Due to the New Year, we now need to update the license headers to
include 2025 for the new files added.
In addition, the new physics build throws patch overflow errors for the
velocity tasks. This change increases the patch buffer size to avoid the
overflow errors.

## 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`
- [ ] 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

Minor bug fixes for teleop documentation

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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exists there

Some changes and updates were introduced in the latest physics build for
Isaac Sim 4.5. This PR updates Isaac Lab to leverage some new APIs:

- Kinematic bodies now require an additional API call to populate
kinematic transforms to fabric, which will allow for rendering of
kinematic bodies
- A new `enable_env_ids` flag was introduced in the cloning and physics
replication APIs that will now automatically filter collisions across
environments. This replaces the previous calls to filter collisions,
which helps speed up the scene creation process.

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

# Description

This change fixes some lingering extension renaming for the deprecated
omni.isaac.ui extension.
Additionally, new documentation for RL training is added to provide a
guideline and some troubleshooting tips for RL training with Isaac Lab.

This change brings some breaking changes in restructuring some of the
existing extensions and folders:

- Removes old imitation learning / robomimic scripts
- Moves wrappers folder in isaaclab_tasks to its own extension -
isaaclab_rl
- Splits the isaaclab_assets folder into robots and sensors
subdirectories

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- 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

- [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

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# Description

This PR updates `replay_demos.py` to print info about specific key press
features rather than the info of the keyboard device class.

## 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`
- [ ] I have made corresponding changes to the documentation
- [ ] 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
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After extensions have been renamed, the CI pipeline was still
recognizing previous folder names. This PR fixes the pipeline to only
retrieve the latest updates.
Previously, builds also fail to identify that they are running in docker
and try to set up vscode-related configs.

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

# Description

* Remove XR Teleop workflow for current release
* Update based on bug 5022310

## Type of change

- Documentation update

## Checklist

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`./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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exists there

This change renames Isaac Lab extensions and folders to simplify the
directory structure.

- source/extensions/omni.isaac.lab --> source/isaaclab
- source/extensions/omni.isaac.lab_assets --> source/isaaclab_assets
- source/extensions/omni.isaac.lab_tasks --> source/isaaclab_tasks
- source/apps --> apps
- source/standalone --> scripts
- source/standalone/workflows/rl_games -->
scripts/reinforcement_learning/rl_games
- source/standalone/workflows/rsl_rl -->
scripts/reinforcement_learning/rsl_rl
- source/standalone/workflows/skrl -->
scripts/reinforcement_learning/skrl
- source/standalone/workflows/sb3 --> scripts/reinforcement_learning/sb3
- source/standalone/workflows/ray --> scripts/reinforcement_learning/ray

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

- [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

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# Description

Add Handtracking with Apple Vision Pro to Teleoperation and Imitation
Learning Documentation

Updated documentation to include handtracking as a teleoperation device.
Detailed workflow for collecting demonstrations with handtracking.

## Type of change

- 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
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>

# Description

* Add starting view port so the user can start the xr teleop right at
the ideal position to do the stacking task
* Set the XR anchormode to active camera
* Set default renderer to RTX - RealTime to avoid extra step in
operation

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

Add consolidated demo script for showcasing recording and mimic dataset generation in real-time in one simulation script (#189)

This PR adds `consolidated_demo.py` script that runs teleop-recording
and real-time mimic dataset generation in the same simulation with
multi-env to showcase the mimic workflow in one script.

It includes changes and fixes needed to enable recording and running
mimic at the same time under multi-env setting.

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<!-- As you go through the list, delete the ones that are not
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- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

- [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

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

# Description

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to check the contribution guidelines.

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

Adding a section on how to create a Mimic compatible env to the Isaac
Lab Mimic docs.

Fixes # (issue)

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## Type of change

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applicable. -->

- Documentation change


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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
- [ ] 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
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Signed-off-by: Kelly Guo <kellyg@nvidia.com>

# Description

Updates Isaac Sim imports for Isaac Sim 4.5

Initial version of Isaac Lab Mimic, based on the MimicGen paper and
code: https://mimicgen.github.io/.
The MimicGen workflow is useful for generating additional trajectories
for Imitation Learning, allowing training from a minimal set of
human-generated trajectories.

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

- [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: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Peter Du <peterd@nvidia.com>
Co-authored-by: Karsten Patzwaldt <kpatzwaldt@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

This PR renames conda and venv Python environment to `env_isaaclab`
Why? Following installation steps on Windows raise the following issue
because for Windows `isaaclab` (Python env) and `IsaacLab` (the repo) is
the same name. Also, this is more coherent with Isaac Sim's Python
environment names
(https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip)


```
C:\Users\horde\Documents>dir
 Directory of C:\Users\horde\Documents

12/16/2024  02:50 PM    <DIR>          .
12/16/2024  02:50 PM    <DIR>          ..
12/13/2024  07:41 AM    <DIR>          isaaclab
               0 File(s)              0 bytes
               3 Dir(s)  172,079,185,920 bytes free

C:\Users\horde\Documents>git clone https://github.com/isaac-sim/IsaacLab.git
fatal: destination path 'IsaacLab' already exists and is not an empty directory.
```

# Description

This PR cleans up settings applied in the app files and aligns them with
settings in Isaac Sim 4.5. In addition, new livestream versions and
documentation are updated to reflected changes in Isaac Sim 4.5.

## Type of change

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applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- 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
- [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
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Fixes an issue where when a zero value wrench is input to the
`set_external_force_and_torque` function, the force and torque buffer
arrays are not properly updated. Also added unit tests.

Fixes https://github.com/isaac-sim/IsaacLab/issues/262

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

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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: Kelly Guo <kellyg@nvidia.com>

Update PIP install steps for Isaac Sim 4.5.0

Updates the URDF and MJCF importers for Isaac Sim 4.5.

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

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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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>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

This change updates the default render settings for better quality at
slightly lower performance.
It is recommended to use per-camera resolution of at least 100x100, this
change also updates the current Cartpole
camera environments to use 100x100 resolution.

## 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)
- 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
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
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- Add configuration option to zero out rotation around the x/y axes.
- Introduce smoothing and thresholding for position and rotation deltas
to reduce jitter.
- Switch position reference to the wrist joint pose for more stable
relative-based positioning.
- Make rotation reference configurable, allowing the use of wrist-based
orientation instead of fingertip averaging.

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

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

# Description

This PR fixes a few of the environment wrapper tests that were
previously hanging on exit, causing timeout failures. In addition, URDF
and MJCF importer tests have been disabled for now until we update the
importer wrappers to support the latest changes in Isaac Sim 4.5.

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

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# Description

This change removes cameras from the stacking environment due to
conflicts with XR teleop. The stacking environment currently does not
require cameras.

* Remove wrist and table cameras
* Add "isaaclab.python.rendering" = {} in
source/apps/isaaclab.python.xr.openxr.kit

## Type of change

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applicable. -->

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


## Checklist

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`./isaaclab.sh --format`
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extension's `config/extension.toml` file
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---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Previously, small resolution renders that used DLSS for antialiasing
would sometimes display frame offset issues where the rendered frame is
not in sync with the current frame. To workaround this issue, we forced
the antialiasing mode to DLAA for small resolutions in both the Camera
and TiledCamra classes.

With recent changes in Isaac Sim 4.5, the frame offset issue no longer
appears, so this PR removes the workaround we've put in to avoid this
problem.

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

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This PR adds a new `wait_for_textures` option in DirectRLEnv and
ManagerBasedEnv cfg classes to wait for texture loading to complete
before proceeding with rendering. Previously, textures may continue to
load while the environment is running, resulting in renders with
incomplete textures.

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

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`./isaaclab.sh --format`
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This change will allow generation of multiple Isaac Lab images based on
different versions of Isaac Sim images. Previously, only a single image
can be created.

Created a standalone script that can train all our environments and
publish their checkpoints to a Nucleus server. The play.py scripts were
modified to add a --use_pretrained_checkpoint flag. This downloads and
caches the pre-trained checkpoint to a .pretrained_checkpoints
directory.

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

---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

In Isaac Sim 4.5, extensions in Isaac Sim have been renamed. In most
cases, the `omni.isaac.*` naming convention has been replaced by
`isaacsim.*`. View classes in Isaac Sim are also renamed: e.g.
`XFormPrimView` --> `XFormPrim`, and `XFormPrim` --> `SingleXFormPrim`.
This PR updates Isaac Lab files that imports Isaac Sim extensions to
follow the new naming of Isaac Sim modules.

This will be a breaking change that breaks backwards compatibility with
previous Isaac Sim versions.

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

- [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
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exists there

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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>

# Description

Adds new denoiser optimization flags for rendering to the rendering app
files. These settings will turn off denoising by default, which helps
improve performance when rendering.

## Type of change

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- 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`
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- [x] My changes generate no new warnings
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feature works
- [ ] I have updated the changelog and the corresponding version in the
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exists there

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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>

# Description
Updates torch to 2.5.1

This change fixes various issues with the unit tests due to updates in
Isaac Sim and Kit builds. Notably, some extensions were renamed for the
URDF and MJCF importers, including minor modifications of available
parameters for the importers. The SimulationContext context will also
now terminate the process on exit due to the simulation stop callback
being triggered. We now bypass the callback for the unit tests.

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

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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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This change applies a new `create_new_stage` setting in Isaac Sim's
SimulationApp to avoid creating a default new stage on startup, which
introduces additional performance overhead.
Also fixes an error in hydra code when rebasing.

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

- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>

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Update robomimic training and play scripts.

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discussions on the proposed pull request.
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Please attach before and after screenshots of the change if applicable.

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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

- Added the SE3_HandTracking input device which allows for XR teleop via
the SE3 interface.
- Updated the teleop_se3_agent to support hand tracking via the
`--teleop_device handtracking` flag
- Created a new .kit file `isaaclab.python.xr.openxr.kit` for supporting
teleop experiances

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

- [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: peterd-NV <peterd@nvidia.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>