This enhancement introduces a dynamic text instruction widget that
provides real-time feedback on the number of successful recordings
during demonstration sessions.

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

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

# Description

The roll link parents the pitch link, so in the current configuration,
the controller is not able to control the pitch link. By targeting the
pitch link, the entire wrist can be controlled.

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

## Checklist

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# Description

Add doc note for warnings regarding assets that can be safely ignored.

## Type of change

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

## Checklist

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

Reverts isaac-sim/IsaacLab-Internal#344

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This change adds a patch in AppLauncher to override the Matrix4d
constructor to convert it's arguments into a list of floats for
compatibility with Pinocchio 2.7.0. This serves as a workaround until
Isaac Sim is patched with the fix in a later release.

The conda installation of Pinocchio 3.4.0 has been removed now that this
solution enables support for Pinocchio 2.7.0.

The corresponding documentation has also been updated now that this
workaround is in place. This includes:
1. Removing the note in Issac lab Mimic docs informing users of the
error
2. Restoring the Isaac Lab pip installation docs to original state (not
using environment.yml to create the conda env)

Fixes # (issue)

Fixes error when running XR teleop with Pinocchio 2.7.0

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If the launcher argument `enable_cameras` is not selected, then change
the default rendering mode behavior to just use the default kit
rendering settings.

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

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

## 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
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exists there

This PR adds a XR near plane config

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

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# Description

Update Teleop and Imitation Learning docs to use Abs task for XR.

## Type of change

- Documentation

## Checklist

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`./isaaclab.sh --format`
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# Description
Don't query for headpose until https://nvbugspro.nvidia.com/bug/5173837
is fixed
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List any dependencies that are required for this change.

Fixes # (issue)

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## Type of change

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- Breaking change (fix or feature that would cause existing
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## Checklist

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

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Update Isaac Lab pip installation docs to use the included
environment.yml when creating conda env.
This installs all required conda deps for users when using Isaac Sim pip
install method to install Isaac Lab

## Type of change

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applicable. -->

- Documentation update

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# Description

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1. Adds a warning that XR TypeError seen during Isaac Sim bootup can be
ignored and will be fixed in the next released patch of Isaac Sim.
2. Clean up Mimic docs by changing "note" tabs to "tips" and "important"
tabs where appropriate

## Type of change

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applicable. -->

- Documentation update

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## Checklist

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`./isaaclab.sh --format`
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---------
Co-authored-by: Ashwin Varghese Kuruttukulam <ashwinvk@nvidia.com>

Small refactor to add headpose to the openxr device

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

# Description

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Move omni log import after app launcher in record demos script to fix
"No module named omni.log" error

## Type of change

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applicable. -->

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


## Checklist

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# Description

A typo was in the environment.yml file for conda installation. Fixing
the typo here to avoid installation issues.

## 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

Update CloudXR docker run command to use a mount rather than a volume.

## Type of change

- Documentation

## 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 (NOTE: test added to cloudxr docker repo)
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

The following bugs in Mimic are fixed:

1. Annotation script would hang during startup unless the Isaac Sim
window was clicked on when playing visuomotor env. Fixed by removing
unneccessary env full sim reset prior to reset during startup.
2. Add instructions to docs on where to modify docker compose file to
mount spacemouse.
3. Add to docs the command to run demo replay for GR1 env. 
4. Fix "Pink controller frametask" hyperlink in docs. 

## 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)
- 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
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# Description

Adds instructions for manipulating H1 humanoid demo and fixes some
documentation issues in changelog.

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## Type of change

- This change requires a documentation update

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1. Move gr1mimc envs to a seperate directory and init file in order
prevent import pinocchio dependency
2. Install pinocchio 3.4.0 using conda as a fix for
https://nvbugs/5173837.
3. Sets the usdtourdf converter logger level to error
4. Add cfg parameter to `PinkIKControllerCfg` to toggle if IK solver
solution not found warnings are shown.

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

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

# Description

Modifies the title of the deployment section in the documentation to
include mention of sim2real.

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## Type of change

- This change requires a documentation update

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# Description

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This MR updated `teleop_se3_agent.py` for supporting
`Isaac-PickPlace-GR1T2-Abs-v0` task. In addition, we updated the CloudXR
docs.


## 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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---------
Co-authored-by: Connor Smith <cosmith@nvidia.com>

# Description
Initial documentation for openxr device and retargeters
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List any dependencies that are required for this change.

Fixes # (issue)

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## Checklist

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---------
Signed-off-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>

Bug fixes and enhancements to Mimic.
Changes include:

- Fix bug that causes infinite looping of unsuccessful demos in
annotation script.
- Add auto reset event to pick place GR1 env when rod is dropped off
table
- Update pick place GR1 env task success criteria to be more precise
- Update Mimic docs to use CPU for GR1 teleop for better XR performance
due to running single env

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- Bug fix (non-breaking change which fixes an issue)
- Documentation update
- Environment enhancement

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Update cli args if conditional defaults are enforced by app launcher

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# Description

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This MRs adds a tutorial for training and validating the Hover policy
(already released to public https://github.com/NVlabs/HOVER) in Isaac
Lab.

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## Type of change

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- Added a tutorial to the documentation outlining the steps for training
and evaluation.

## Screenshots


![image](https://github.com/user-attachments/assets/44fff773-2484-499d-b3e9-8b6d54efc387)

![image](https://github.com/user-attachments/assets/478e6908-31e1-4873-b338-4182847992a7)

![image](https://github.com/user-attachments/assets/77056f8b-b4c5-4f97-be90-bb9bd75eb4c0)

![image](https://github.com/user-attachments/assets/97432a3c-6959-4b18-a2ac-cc9a39043d54)


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# Description

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Adds missing GR1 env import to scripts that may use the humanoid
environment.

Fixes case where running replay/train/play scripts gives
"Isaac-PickPlace-GR1T2-Abs-v0" not found error

## Type of change

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


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# Description

Advise users to use local deployment if using spacemouse device. Inform
users that they must manually mount the device if using spacemouse in
docker container.

## Type of change

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applicable. -->

- Documentation update


## Checklist

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

Update CloudXR Teleoperation documentation with Known Issues.

## Type of change

- Documentation

## Checklist

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

XR rendering requires DLSS RR to reduce the noise of visualization. This
PR:
-Adds xr rendering mode.
-Makes xr rendering mode the default unless explicitly set if xr is
enabled

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

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Isaac Sim uses an older version of scipy that does not support the
`scalar_first` flag. This fix removes the flag and fixes the quaternion
ordering to match scipy standards.

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applicable. -->

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

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`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
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This change prevents importing pink/dex-retargeting when using other
IsaacLab scripts.

* Change the import structure to only import ``pinocchio`` when
``pink-ik`` or ``dex-retargeting`` is being used.
* This also solves for the problem that ``pink-ik`` and
``dex-retargeting`` are not supported in windows.
* Removed ``isaacsim.robot_motion.lula`` and
``isaacsim.robot_motion.motion_generation`` from the default loaded
Isaac Sim extensions and enable them only for RMPFlow
* Moved pink ik action config to a separate file.
* The pick_place task is now blacklisted from being imported
automatically by isaaclab_tasks and have to be imported
  manually by the script.

- Bug fix (non-breaking change which fixes an issue)
- 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
- [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: chengronglai <chengrongl@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Work around for a dependency setting the render mode to
"RayTracedLighting" instead of "RaytracedLighting".

Fixes # (issue)

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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
functionality to not work as expected)
- This change requires a documentation update

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- [x] My changes generate no new warnings
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- [x] I have updated the changelog and the corresponding version in the
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# Description

Introduced a custom argparse action to determine if command-line
arguments were explicitly provided by the user.

* Updated the device argument in AppLauncher to utilize ExplicitAction,
allowing for better handling of device settings based on user input.
* Adjusted device resolution logic to account for explicit device
specification, improving the default behavior when running in XR mode.

Fixes # (issue)

## Type of change

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

## Screenshots

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

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

# Description

Update CloudXR Teleoperation documentation with newer task and button
names

## Type of change

- Documentation

## Checklist

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

# Description

Fixes some bugs introduced during rebase that did not pass correct
parameters to the carb setting APIs.

## 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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`./isaaclab.sh --format`
- [x] 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
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- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
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# Description

Updates and bug fixes to Isaac Lab Mimic docs.
Changes include:

1. Use of synced tabs for state-based/visuomotor policy commands
2. Fix single tab name typo from "Image-Based" to "Visuomotor" 
3. Add section of GR-1 env data collection and annotation 

## Type of change

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- Documentation update

## Screenshots

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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
- [ ] 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
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- Rendering Mode Presets
-- adds a cli arg --rendering_mode, can be set to
quality/balanced/performance
-- selects the preset rendering settings stored in .kit files in
apps/rendering_modes
-- the renderings settings are set after the app is launched
- RenderCfg update
-- unsets the default settings
-- adds a general_parameter field to support all .kit rendering settings
in their native names
-- RenderCfg overwrites settings which are set with a preset
- Unit test
-- just checks preset + override settings behave correctly for each
preset
- Example script
-- very simple script that launches a hospital scene with a given
rendering mode and override settings

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

Screenshots from rendering preset script

performance:

![performance_v2](https://github.com/user-attachments/assets/ad1cf425-3a13-48be-ad00-33089ab304a3)

balanced:

![balanced_updated](https://github.com/user-attachments/assets/4a0852d0-112f-43d7-aa45-2a6c417457a8)

quality:

![quality](https://github.com/user-attachments/assets/10f54027-a125-4e0b-ad6c-5a087a1d4c78)

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

# Description

Fixes line number references in robot import tutorial that got messed up
due to changes in the script.


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## Type of change

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

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## Checklist

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# Description

Moves asset import tutorial to assets section as it belongs better with
the other asset tutorials instead of the environment section.

## Type of change

- This change requires a documentation update

## Screenshots

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## Checklist

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

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A tutorial about adding a new robot from Isaac Sim in the direct
workflow

## 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: rwiltz <165190220+rwiltz@users.noreply.github.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Co-authored-by: jaczhangnv <jaczhang@nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Yanzi Zhu <yanziz@nvidia.com>