# Description
Adds thumbnails of environments in benchmarking table

# Description

On Windows, the latest onnx version 1.16.2 causes Access Violation
errors with pytorch. To avoid the error, we force Isaac Lab to use onnx
version 1.16.1

## Type of change

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


## Checklist

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# Description

This PR adds the shadow hand over multi-agent direct-workflow task
(`Isaac-Shadow-Hand-Over-Direct-v0`)

## Type of change

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applicable. -->

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

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---------
Signed-off-by: Toni-SM <toni.semu@gmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Alexander <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: Alexander Poddubny <apoddubny@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

This PR adds the cart double pendulum multi-agent direct-workflow task
(`Isaac-Cart-Double-Pendulum-Direct-v0`)

- 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`
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extension's `config/extension.toml` file
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---------
Signed-off-by: Toni-SM <toni.semu@gmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Alexander <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: Alexander Poddubny <apoddubny@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Adds a new table in the environments doc page to include all valid task
names, inference task names, workflow type, and supported RL libraries.

# Description

Due to large Isaac Sim pip packages, pip installation is only possible
with the latest pip version 24. This MR adds a note in the pip
installation documentation to update pip to the latest version.

## Type of change

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applicable. -->

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


## Checklist

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This change updates the current tiled rendering APIs to use the full RTX
tiled rendering feature, allowing for higher quality RGB renders and
support of additional annotators, including semantic segmentation,
instance segmentation, normals, and motion vectors.

This change also aligns output dimensions across TiledCamera, Camera,
and RayCasterCamera classes. All single-channel outputs will now have
dimension (H, W, C). Camera class now outputs RGB data with shape (H, W,
3).

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

- 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

Fixes issue https://github.com/isaac-sim/IsaacLab/issues/775

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---------
Co-authored-by: Alexander <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>

This change restructures documentation to add a new Overview section
that combines previous pages around learning workflows, environment
design, and developer guides.

New pages are added for RL library comparison and training performance
benchmarking.

<!-- 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

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

Fixes benchmarking scripts to handle new config parsing and distributed
settings

## 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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Updates torch to version 2.4.0

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applicable. -->

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

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---------
Co-authored-by: Alexander <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>

Co-authored-by: Alexander Poddubny <apoddubny@nvidia.com>

This PR adds the interface and configuration for creating multi-agent
tasks using the direct workflow.

<!-- 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

- [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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# Description

- Adds a new script to run benchmark without RL in the loop
- Adds a new script to run benchmark with RL Games
- Adds a new script to run benchmark with RSL RL

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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---------
Co-authored-by: Alexander <143108850+nv-apoddubny@users.noreply.github.com>

# Description

Adds test to check that different image sizes are respected by the
camera implementation.

Fixes #165

## Type of change

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

## Checklist

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# Description

This MR allows users to customize the visualization markers for the MDP
command terms. It puts them in the command term configuration file
instead of hard-coding them into the code.

## 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
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# Description

The previous implementation in ANYmal-C environment randomly sampled the
friction material. This sometimes led to an overflow of a number of
materials possible from the PhysX side. This MR switches to using events
for the ANYmal Direct RL environment implementation.

Fixes [#941](https://github.com/isaac-sim/IsaacLab/issues/941)

## Type of change

- 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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extension's `config/extension.toml` file
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exists there

# Description

Previously, the method for randomizing masses of rigid bodies only set
the masses. However, the inertia tensors were not automatically updated,
and their original values were used inside the solver. This MR adds a
flag to recompute the inertia when mass is randomized by assuming a
uniform-density object. We make this an optional flag in case users want
to handle inertia tensors explicitly on their own.

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

# Description

The links to the environment IDs in `docs/environments.rst` for the
Unitree Go1, A1, and Go2 (both rough and flat) were incorrect. I have
fixed them by providing the correct links.

## Type of change

- This change requires a documentation update

## Checklist

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

In previous version of the SB3 environment wrapper, the episode buffer
was not cleared when `env.reset` was called. This led to an
overestimation of the number of time-steps and rewards in subsequent
episodes, as reflected in the `infos` returned by `env.steps`. This
commit aims to address this.

## 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

The current windows installation does not support pip installation of
isaac sim in venv as it only checks whether a conda environment is
enabled or assumes that a symlink to isaac sim is used. This change adds
support to check for system python when isaac sim is installed via pip.
In addition, isaac sim variables at conda environment startup should
only be assigned if isaac sim is installed from binary. This change
addresses the need for when pip installation of isaac sim is used in
conda.


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

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# Description

The if-else-continue logic inside the event manager has become scary.
This MR simplifies it and keeps the term call local to the if
statements. I hope this should help with the readability.

## Type of change

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

## Checklist

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

# Description

Currently, the tasks shipped with the VS code configuration only specify
Linux commands, which prevent the use of them on Windows. This MR adds
those tasks for Windows OS as well.

Fixes #962

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
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exists there

# Description

Added command-line MJCF conversion script and corresponding support and
test files.
- `convert_mjcf.py` in `standalone/tools/`
- `mjcf_converter.py` and `mjcf_converter_cfg.py` in
`extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/`
- tests and corresponding tutorial 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

---------
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

Streaming does not work for `isaaclab --livestream 1` using streaming
client 103.1.1.

This change sets the streaming client extension versions to the defaults
in isaac-sim-4.1.0/apps/omni.isaac.sim.headless.native.kit

Fixes #949 

## Type of change

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

## Checklist

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

# Description

Previously, the returned config object for `parse_env_cfg` mentioned the
dictionary. However, this is hardly used or supported in our workflows
code. This MR simplifies the return type to only be an instance of
manager-based or direct environment configuration classes. Doing so,
also cleans the code a bit by removing the need of explicit
type-hinting.

## Type of change

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

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

# Description

Various randomization and procedural generation operations happen at
initialization. However, as noted in one of the issues, the seed setting
happens after all these operations are performed. This means that the
creation of the environment is not completely deterministic. This MR
resolves this issue by adding a `seed` configuration to the environment.

Fixes #904

## Type of change

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

## Screenshots

The before and after results over **three runs** with the default seed
(seed: 42)

```bash
./isaaclab.sh -p source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Rough-Anymal-C-v0 --headless --run_name seed
```

| Results over three runs |
| ------ | 
| Before (main at 788a061d)
![before](https://github.com/user-attachments/assets/21a6a9f3-7438-4e73-92dd-a32106272fcb)
|
| Now (this MR)
![after](https://github.com/user-attachments/assets/821b9c63-34b7-4ce2-8d36-4c979c47070b)
|

## 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

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

# Description
Extended the two functions' capability so they now can take in
multidimensional tensors and no longer limited to 2D tensors of shape
(B,4) and (B, 3)

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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: dxyy1 <139338590+dxyy1@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Expands upon `test_articulation.py` to test with mulitple robots and on
both CPU / GPU.

Fixes #861 

## 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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exists there

# Description

This MR adds support for property attributes in the
`omni.isaac.lab.utils.configclass` decorator. Earlier, the configclass
decorator failed to parse the property attributes correctly and made
them instance variables instead.

## Type of change

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

## Checklist

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

Fixed the typo in the `create_scene.py` tutorial.

Fixes #944

## Type of change

- This change requires a documentation update

## Checklist

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# Description

While developing some teleoperation methods, I discovered that the
keyboard y-axis was moving in a non-intuitive direction. It turned out
that the +ve and -ve y-axis are bound to keys (D, A) instead of (A, D).
This MR fixes the issue in both keyboard device documentation
instructions to follow the right-hand rule.

## Type of change

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

## Screenshots

![Screenshot from 2024-08-30
14-57-26](https://github.com/user-attachments/assets/5f29054e-f0e8-4b8e-bb90-49f3403a1e08)


## 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

# Description

Added the data type "distance_to_camera" in the `TiledCamera` class to
be consistent with all other cameras. This data type is equal to the
"depth" datatype.

## 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
- [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

# Description

Before, the environment IDs in the Event Manager's apply call in reset
mode could be overwritten when iterating through the event terms. This
could make the environment IDs invalid in some cases.
This change avoids overwriting the global env_ids variable when checking
for valid environment IDs that satisfy the frequency condition.

## 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

Isaac-Franka-Cabinet-Direct-v0 sometimes had unstable behaviors with
trained policies where the robot wasn't always able to achieve the task.
This change makes slight modifications to the reward function to improve
the behavior for the policy.


## 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

Updates the camera docs with SI units and implants a new test to check
that the intrinsic are set correctly for the raycaster camera.

## 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

The comment was saying there are 3 origins, when only 2 were instantiated

## 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

Fixes deprecated scipy imports in the devices module for interfacing
with SE3 gamepad, keyboard and spacemouse.

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

- [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

Previously, the configclass instance did not properly parse
classmethods. For instance, the following would fail:

```python
from __future__ import annotations

"""Launch Isaac Sim Simulator first."""

from omni.isaac.lab.app import AppLauncher

# launch omniverse app
app_launcher = AppLauncher(headless=True)

"""Rest everything follows."""

from omni.isaac.lab.utils.configclass import configclass


@configclass
class DummyClass:

    a: int = 5

    def instance_method(self):
        print("Value of a: ", self.a)

    @classmethod
    def class_method(cls, value: int) -> DummyClass:
        return cls(a=value)


cfg = DummyClass()

# check all methods are callable
cfg.instance_method()
new_cfg1 = cfg.class_method(20)

# create the same config instance using class method
new_cfg2 = DummyClass.class_method(20)
```

This MR fixes the checks to make sure class-methods remain bound to the
class and do not become instance variables.

## 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

Sets the "render_fps" metadata used by the gym.wrappers.RecordVideo such
that, if it is used, the produced video will have the correct episode
length (i.e., the environment in the video will play at the correct
speed).

The correct render_fps should be equal to `1 / (self.cfg.decimation *
self.cfg.sim.dt)` which I integrated to the init function of the
ManagerBasedRLEnv. This seems to work well.

Fixes #892

## Type of change

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

## Screenshots

<img width="1048" alt="Screenshot 2024-08-28 at 18 10 30"
src="https://github.com/user-attachments/assets/d4fd8482-fbbc-48fa-8890-6a75a3fd99dc">

## 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

This PR adds the possibility of initializing cameras (both Raycaster
Cameras and USD Cameras) with the intrinsic matrix instead of using the
aperture parameters. The intrinsic matrix is defined in the pattern
config and the pinhole cameras spawn config, respectively.

Moreover, it fixes the bug that the vertical aperture is not adjusted
for the USD camera case (it will always stay at the default value, even
if the horizontal aperture is set). The default is squared pixels;
however, it also allows the setting of other values.

Fixes https://github.com/isaac-orbit/IsaacLab/issues/226

## 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