# Description

Documentation only change for installation and Hub pages.

forgot to change the actual code for the user that loads the ant example
after isnstallation

## Checklist

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feature works
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extension's `config/extension.toml` file
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Without this fix I get the following error when enabling the action plot
in the IsaacSim GUI:

```
2025-01-28 08:28:06 [594,911ms] [Error] [omni.ui.python] NameError: name 'isaacsim' is not defined

At:
  IsaacLab/source/isaaclab/isaaclab/ui/widgets/line_plot.py(501): _build_filter_frame
  IsaacLab/source/isaaclab/isaaclab/sim/simulation_context.py(508): render
  IsaacLab/source/isaaclab/isaaclab/envs/manager_based_rl_env.py(193): step
  venv/lib/python3.10/site-packages/gymnasium/core.py(322): step
  venv/lib/python3.10/site-packages/gymnasium/wrappers/common.py(393): step
  IsaacLab/scripts/environments/inference_agent.py(104): main
  IsaacLab/scripts/environments/inference_agent.py(110): <module>
```

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

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exists there

# Description

This is a documentation only change that includes:

* Add new release notes page to track release notes for all previous
releases
* Add simulation stability section to troubleshooting page with OVD
instructions and link to omni physics guide
* Add documentation around asset caching using Hub
* Fixes typing issue for documentation building

## Checklist

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

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

Fixes # (issue)

Fix regression of env error due to not using env unwrapped in annotation
script

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- 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
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- This change requires a documentation update

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## Checklist

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Updates the asset path from staging to production to prepare for the
release.
VERSION has also been bumped from 1.4.0 to 2.0.0.
In addition, updating SKRL dependency to latest 1.4.1 release.

# Description

This is a document only change for updating script links in sensor docs

This change introduces a new setting in InteractiveSceneCfg to allow
specifying whether collision filtering across environments is desired.
Note that when using the direct workflow, this option will only be
applied automatically when replicate_physics is also enabled in the
config. If replicate_physics is not enabled, a warning will appear in
the logs to prompt users to make a call to scene.filter_collisions().
This is required because collision filtering happens as part of the
physics replication process.

In addition, real-time playback support is extended for all RL library
play.py scripts, allowing real-time replay when possible for
inferencing.

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

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In `omni.isaac.lab.assets.Articulation.write_joint_limits_to_sim`, we
previously added a check for if default joint positions exceed the new
limits being set. When this is True, we log a warning message to
indicate that the default joint positions will be clipped to be within
the range of the new limits. However, the warning message can become
overly verbose in a randomization setting where this API is called on
every environment reset. We now default to only writing the message to
info level logging if called within randomization, and expose a
parameter that can be used to choose the logging level desired.

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

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

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Adding "-gt 0" to complete 2 if statement conditions in the launch
script.

Change is taken out of - https://github.com/isaac-sim/IsaacLab/pull/1622
by steple.

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## Type of change

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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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---------
Signed-off-by: matthewtrepte <mtrepte@nvidia.com>

…aclab.sim.SimulationContext

fixed typo in /physics/autoPopupSimulationOutputWindow setting in
isaaclab.sim.SimulationContext

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

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# Description

This PR updates the RL libraries' Training Performance table using same
GPU (NVIDIA GeForce RTX 4090)

## Screenshots

Agent cfg (to have the same parameters) and training scripts
modifications
![Screenshot from 2025-01-22
11-06-15](https://github.com/user-attachments/assets/c9a6b1ec-ea4d-4a04-82aa-3c08a528ef24)

Tensorboard logs
![Screenshot from 2025-01-22
11-24-05](https://github.com/user-attachments/assets/6634500c-4f6b-47e7-adc3-fbbf9f63f3ee)

Terminal logs
rl_games
![Screenshot from 2025-01-22
11-20-13](https://github.com/user-attachments/assets/8e750db1-79bc-486d-a2b5-661725d44152)
skrl
![Screenshot from 2025-01-22
11-10-16](https://github.com/user-attachments/assets/be3c8c5f-51c6-4fa8-a24d-f915d12f5c7e)
rsl_rl
![Screenshot from 2025-01-22
11-06-43](https://github.com/user-attachments/assets/94e7be68-d85c-4fbf-8133-85c4700efcf4)

# Description

Fixes benchmark script import for RSL RL

## Type of change

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applicable. -->

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

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# Description

Updates IMU demo script with renaming changes for Isaac Lab 2.0. Mainly
`omni.isaac.lab` imports have been renamed to `isaaclab`


## Type of change

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applicable. -->

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



## Checklist

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# Description

Added additional checks for subtask annotations in mimic's
`annotate_demos.py` to make sure the exported demos are all with the
valid annotations required for running data generation in mimic.

Add script to merge HDF5 files into one dataset. Enables users to merge
together files after running annotate_demos.

## Type of change

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

## Checklist

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---------
Co-authored-by: Peter Du <peterd@nvidia.com>

# Description

This change enforces the Isaac Lab extensions to be loaded last to avoid
conflicts in hdf5 with omniverse extensions. Additionally, we hide the
Simulation Settings window by default in `SimulationContext` as
specifying it in the app file does not seem to work. Also adds the
IsaacLab folder to python path for benchmarking scripts.


## Type of change

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applicable. -->

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

## Checklist

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# Description

Add `checkpoint` CLI argument to skrl's train script to resume training.
It solves https://github.com/isaac-sim/IsaacLab/issues/1635

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

# Description

Add a note for AMP training/evaluation in docs

## Screenshots


![image](https://github.com/user-attachments/assets/30db926f-5199-4d6a-bf36-501373744b73)

This is a documentation only PR that fixes some minor grammar and
formatting errors, and some small updates.

# Description

This PR adds a tutorial to show how to inference on a trained policy in
a prebuilt USD scene.
It includes a script that performs inference of the
`Isaac-Velocity-Rough-H1-v0` environment in a warehouse scene and an
accompanying tutorial that walks through the script implementation.


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

# Description

This change adds 3 additional Humanoid AMP tasks:

- Isaac-Humanoid-AMP-Dance-Direct-v0
- Isaac-Humanoid-AMP-Run-Direct-v0
- Isaac-Humanoid-AMP-Walk-Direct-v0

In addition, SKRL dependency is updated from 1.3 to 1.4.

## Type of change

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

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## Checklist

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`./isaaclab.sh --format`
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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>
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.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: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: nv-cupright <92540563+nv-cupright@users.noreply.github.com>
Co-authored-by: Alexander Poddubny <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: chengronglai <chengrongl@nvidia.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: Karsten Patzwaldt <kpatzwaldt@nvidia.com>

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Adds initial unit tests for multiple tiled cameras, which had several
bugs/features recently. The unit tests cover existing test cases from
the test_tiled_camera.py and a few new ones, including initialization,
groundtruth annotators, different poses, and different resolutions.

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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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---------
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 makes a few minor changes:

- Increases GPU buffer dimensions in check_instanceable.py script to
better support testing with 4096 environments
- Updates livestream documentation path to point to new Isaac Sim doc
sections
- Updates extension template instructions with new renaming changes

## 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
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feature works
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# Description

In the extension.toml for the isaaclab_rl and isaaclab_tasks extensions,
pipapi and module tags are specified for the various RL libraries. These
tags introduce an import call that loads these packages.

The SKRL package in particular will initialize torch.distributed if
running distributed training, causing errors if other RL libraries are
being used, since other libraries will try to initialize
torch.distributed again in its own code.

This should ideally be fixed from the SKRL side.


## Type of change

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applicable. -->

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


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## Checklist

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# Description

- Updated the simulation parameters to improve the XR teleop performance

## Type of change

- 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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---------
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>

# Description

Install `toml` dependency in docker file. This prevents the
`ModuleNotFoundError: No module named 'toml'` error when installing
isaac lab dependencies in the docker build process.

Add robomimic back to isaaclab.sh install script

Fixes # (issue)

Fixes robomimic not found error when running Mimic tutorial

## Type of change

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

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# Description

Fix use of env vs env unwrapped and set xy_rotation flag for
handtracking in teleop script


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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>

Set `env` to be `env.unwrapped` during initial environment creation to
avoid needing to manually specify `env.unwrapped` multiple times later
in the scripts, which would often lead to one being missed causing an
error.

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

## Checklist

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

Update Isaac Lab Mimic docs with S3 link to pre-recorded human demo
dataset.

## Type of change

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applicable. -->

- Documentation change

## Checklist

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

In a recent commit, Isaac Lab extensions were added to the app files as
dependencies in order to support installing Isaac Lab modules from pip.
However, this introduced a new issue where the assets module may be
loaded prior to the asset base path setting was set in AppLauncher,
causing assets to not be found. This causes the first runs of Isaac Lab
scripts to fail as the carbonite setting we look for in the assets
script has not been populated yet.

To fix this, this PR moves the definition of the asset path from
AppLauncher to the app files. This ensures that the carbonite setting is
set prior to any code being executed.

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

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# Description

Doc and config changes from @karsten-nvidia:
- Add additional details on custom environments to mimic docs.
- Update comments in mimic configuration to make it easier telling apart
what's important.
- Some minor cleanups in existing docs.
- Add "common pitfalls" section to docs to guide users how to get
successful data generation/training

Mimic API and config changes to support forward dexmimic compatibility:
- Use dictionaries of subtasks in mimic env config; keys are eef_names
- Mimic Env APIs now use dictionary of eef_names to enable mulit-eef
support in future
- Data generation code updated accordingly to use new Mimic env APIs

## Type of change

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applicable. -->

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

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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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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.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>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: nv-cupright <92540563+nv-cupright@users.noreply.github.com>
Co-authored-by: Alexander Poddubny <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: chengronglai <chengrongl@nvidia.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: Karsten Patzwaldt <kpatzwaldt@nvidia.com>

# Description

- Updated kit file for xr to include async rendering and GPU limit
increase
- Set xr anchor to active camera
- Conditionally remove rate limiting in record_demos.py if handtracking
is used


## Type of change

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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`
- [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
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# Description

Update mimic to rely on an environment's "success" termination term to
determine if an episode ends with success.
As a result, is_success API in the mimic class `ManagerBasedRLMimicEnv`
is no longer required and hence removed.

## Type of change

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

## Checklist

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

Adds support to record additional steps after task success is detected
in record_demos.py.
This helps record demos with sufficient lengths to be used for training.

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applicable. -->

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

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# Description

To support the new way of installing Isaac Lab through pip, we need to
add all Isaac Lab extensions as dependencies into the app files.
This change also adds documentation for when this can be used and how to
install Isaac Lab with pip.

## Type of change

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


## Checklist

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# Description

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The `test_selection_strategy.py` unit test throws `ModuleNotFoundError:
No module named 'isaacsim.core'` error.
Fixing it by starting omniverse app to import needed dependencies.

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

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Previously, additional arguments were added to command line for
initializing livestream extensions. These arguments were mistakenly
passed to downstream scripts, causing errors when the arguments are not
recognized. This fix makes sure that the additional arguments are only
passed to the kit app and not downstream apps.

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

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# Description

Adds Isaac Lab Mimic and Recorder Manager to API docs


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## Type of change

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- This change requires a documentation update

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## Checklist

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`./isaaclab.sh --format`
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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>
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.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>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: nv-cupright <92540563+nv-cupright@users.noreply.github.com>
Co-authored-by: Alexander Poddubny <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: chengronglai <chengrongl@nvidia.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: Karsten Patzwaldt <kpatzwaldt@nvidia.com>