# Description

Adds license file for pygame as it's included as a sub-dependency of
rl-games.

## Type of change

- This change requires a documentation update

## Checklist

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# Description

There were some confusion with the Automator and docker deployment
documentation. The order of which these pages were placed didn't make
too much sense. This change moves the docker deployment up to the top
section and moves Automator docs to the Resources section.

## Type of change

- This change requires a documentation update

## Checklist

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# Description

We have introduced a couple of new python dependencies/sub-dependencies.
Adding license files for them to make sure they are captured in our
dependencies list.

## 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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# Description

This PR adds tests for actuator initialization, configuration, and
computation for Implicit, IdealPD, and DC motor actuators.

This PR also updates the DCMotor model to clip based on a four quadrant
DC motor model. This will fix improper clipping in the negative power
regions (i.e. positive torque and negative velocity or negative torque
and positive velocity).

NOTE: This PR is dependant on the pytest migration in:
[2034](https://github.com/isaac-sim/IsaacLab/pull/2034)
This PR includes changes made in
[2291](https://github.com/isaac-sim/IsaacLab/pull/2291) and would be an
alternate candidate.

Fixes [#2139](https://github.com/isaac-sim/IsaacLab/issues/2139)

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## Type of change

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

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

## Screenshots


![image](https://github.com/user-attachments/assets/c94f877e-b3a9-441a-ad2e-ec6124cc64de)

## 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
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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.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

This PR adds the option to set wrench positions to
`set_external_force_and_torque`. This is a non-breaking change as the
positions are passed as an optional argument. When no positions are set,
the function defaults to the original implementation, that is, no
positions are passed to PhysX. The PR also adds tests to check that the
position values are correctly set into their buffer, but does not check
if the resulting wrenches are correct. I did test the Quadcopter task
before and after this PR and the training results are exactly the same.

As of now, the function follows the original layout. But it could make
sense to offer the option to set the position in either the link frame
or the CoM frame. This would follow the recent changes made to the
set_pose and set_velocity methods for instance. However, this would be a
breaking change. Hence, for now, this has not been implemented. One
could also argue, that this could be done prior to feeding the positions
outside this method. Please let me know what you feel is best, and I'll
update the PR accordingly.

If one wanted to test the resulting wrenches, it would require a simple
test articulation like a 1kg sphere that would be used to accurately
compute the expected velocities. This is also feasible, but I feel like
this test is more on the PhysX side of things, let me know.

This change will require an update of the API documentation to include
the position argument.

Fixes #1678 

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [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

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

# Description
This PR enables hydra override for all play.py scripts
I have mannually tested all rl_frameworks and worked.

I remember there is a issue related, but couldn't find it, feel free to
add to it if you found it.

## Type of change

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applicable. -->
- New feature (non-breaking change which adds functionality)

## Screenshots

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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

# Description

As required by https://github.com/isaac-sim/IsaacLab/pull/2962 and
vulnerabilities in torch 2.5.1, this change updates torch to 2.7.0
during the installation of Isaac Lab.

Although inconsistent with Isaac Sim 4.5 (still on torch 2.5.1), Isaac
Lab should work fine with 2.7.0+cu128. This update will also allow us to
have better support for blackwell GPUs.

## 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
- [ ] 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 PR supports enables ManagerBasedRLEnv to properly support
gymnaisum's composite observation gym.spaces.Dict at term-level with
proper min, max specification. The benefit is that this will give
rl-library a clearer signs how to pre-process the obseravtion data.

Before:
All terms are assigned with `gym.Spaces.Box(min=-np.inf, max=np.inf)`,
one problem with this is that from rl-library side, is that some
rl-libraries network construction depends heavily on observations space
details. RL-library (e.g. sb3) looks at `gym.Spaces.Box.min` and
`gym.Spaces.Box.max` to determine if they need to normalize it at
library side.

After:
this PR utilizes on obs_terms's clip to determine if gym.Spaces.Box
should be stricter. For example, environment obs_term returning
gym.Spaces.Box(min=0, max=255) will be automatically detected by sb3,
and a proper scalling be applied automatically. whereas
gym.Spaces.Box(min=-inf, max=inf) will fail.

while no special case is treated for gym.Spaces.Box(min=-1, max=1), but
this will makes the rl-library easy to figure out that this term is
already clipped, not more transformation needed.


## Type of change

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applicable. -->

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

## Screenshots

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [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

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

# Description

Automated job that runs on every PR to check for any dependencies that
have non-permissive licenses.

## 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

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---------
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Adds license file for the Valkyrie robot in order for us to include it
into Isaac assets.


## Type of change

- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
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# Description

Adds a CITATION.cff file for automatically generating citation link.

## 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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- [ ] I have added tests that prove my fix is effective or that my
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extension's `config/extension.toml` file
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exists there

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---------
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

This PR extend `script/reinforcement_learning/sb3/train.py` with feature
to continue learning by loading the checkpoint.

## Type of change

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applicable. -->

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

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## Checklist

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- [ ] I have updated the changelog and the corresponding version in the
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---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

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This PR fixes shape‑handling bugs in the termination helpers
**`joint_pos_out_of_limit`** and **`joint_pos_out_of_manual_limit`**:

* **Root cause** – both functions reduced across joints with
`torch.any(dim=1)` **before** slicing with `asset_cfg.joint_ids`,
leaving a 1‑D tensor and triggering an `IndexError: too many indices`.
* **Fix** – construct a single `violations` mask, optionally slice
joints, **then** reduce with `torch.any(dim=1)`.
This preserves correct shapes (`[num_envs]`) and works for any
joint‑selection type (`None`, `slice`, list, or tensor).
* **Additional improvements**

* Made `asset_cfg` immutable by avoiding in‑place modification of
`joint_ids`.
  * Added docstring details and harmonised logic between both helpers.

No new dependencies were introduced.

Fixes https://github.com/isaac-sim/IsaacLab/issues/2441

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## Type of change

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

## Screenshots

*Not applicable – logic‑only change.*

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## Checklist

* [ ] 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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---------
Signed-off-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

This PR fixes the bug in the test `test_modify_env_param_curr_term`
```
    modify_reset_joint_pos = CurrTerm(
        func=mdp.modify_term_cfg,
        params={
            "address": "events.reset_pole_position.params.position_range", <------
            "modify_fn": replace_value,
            "modify_params": {"value": (-0.0, 0.0), "num_steps": 1},
        },
    )
```

it is trying to modify `events.reset_**pole**_position`

but in the assertion, it is checking `events.reset_**cart**_position`

```
joint_ids = env.event_manager.cfg.reset_cart_position.params["asset_cfg"].joint_ids
assert torch.all(robot.data.joint_pos[:, joint_ids] == 0.0)
```

it wasn't an error before because reset_joints_by_offset function was
buggy, and the tests suite passed before right before that bug was
fixed. Now that bug fixed, we found out this bug.

## Screenshots

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [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

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

# Description

Remove the usage of the REMOTE_DEPLOYMENT environment variable (e.g.,
export REMOTE_DEPLOYMENT=3) from the example code blocks in the
[IsaacLab App
documentation](https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.app.html),
as this variable has been deprecated.

Fixes #2920  (issue)


## Type of change

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

## Screenshots
Before
<img width="817" height="279" alt="isaaclab_app"
src="https://github.com/user-attachments/assets/cfd45532-8b43-4285-9ed9-81039c7624e1"
/>
After
<img width="810" height="256" alt="Screenshot from 2025-07-15 09-54-47"
src="https://github.com/user-attachments/assets/65838873-7374-4eee-8963-f35ca661725e"
/>



## Checklist

- [O] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [O] I have made corresponding changes to the documentation
- [O] My changes generate no new warnings
- [O] 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
- [O] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This is a follow-up to #1746 by @lukasfro — thanks for the great work
there!

I’ve been using this feature and found it really helpful. Since the only
remaining request was to resolve merge conflicts and the PR has been
quiet for a bit, I went ahead and rebased it on the latest `main` to
help move things forward.

I branched directly off @lukasfro’s [original
branch](https://github.com/lukasfro/IsaacLab/tree/feature/force_matrix_w_history)
to preserve their authorship, and only applied the changes needed to
resolve the conflicts.

Of course, if @lukasfro prefers to continue the original PR, I’m more
than happy to close this. Just hoping to be helpful and support getting
this great addition merged.

All credit for the original work goes to @lukasfro.

Fixes #1720

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

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: lukasfro <lukas.froehlich@swiss-mile.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Expands the documentation on actuators and the importance of the
armature parameter when using explicit actuators.

## Type of change

- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

wandb logging function is provided in rl_games script. So we remove the
wandb logging in task level. Also, we edit the task registration style
to help startup perf.

## Type of change

- 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
- [ ] 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 <kellyguo123@hotmail.com>

# Description

Changes the default setting for the enable stabilization flag from True
to False.

Fixes #2319

## Type of change

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

## Screenshots

| Before | After |
:-------------------------:|:-------------------------:

![net_contact_forces_1kz](https://github.com/user-attachments/assets/a9d7851c-d42a-4f22-8ea7-6b187070057e)|
![net_contact_forces_after](https://github.com/user-attachments/assets/523b8b5c-d8db-435c-bb66-c4312d2c6c18)

![force_matrices_1khz](https://github.com/user-attachments/assets/30feb2e1-d1f6-402f-8ca0-3a727bce4424)
|
![force_matrices_after](https://github.com/user-attachments/assets/3294335f-c5d5-4c4d-ac8a-e2c2e995e2a0)



## 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
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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

# Description

This PR created two curriculum mdp that can change any parameter in env
instance.
namely `modify_term_cfg` and `modify_env_param`.

`modify_env_param` is a more general version that can override any value
belongs to env, but requires user to know the full path to the value.

`modify_term_cfg` only work with manager_term, but is a more user
friendly version that simplify path specification, for example, instead
of write "observation_manager.cfg.policy.joint_pos.noise", you instead
write "observations.policy.joint_pos.noise", consistent with hydra
overriding style

Besides path to value is needed, modify_fn, modify_params is also needed
for telling the term how to modify.



Demo 1: difficulty-adaptive modification for all python native data type
```
# iv -> initial value, fv -> final value
def initial_final_interpolate_fn(env: ManagerBasedRLEnv, env_id, data, iv, fv, get_fraction):
    iv_, fv_ = torch.tensor(iv, device=env.device), torch.tensor(fv, device=env.device)
    fraction = eval(get_fraction)
    new_val = fraction * (fv_ - iv_) + iv_
    if isinstance(data, float):
        return new_val.item()
    elif isinstance(data, int):
        return int(new_val.item())
    elif isinstance(data, (tuple, list)):
        raw = new_val.tolist()
        # assume iv is sequence of all ints or all floats:
        is_int = isinstance(iv[0], int)
        casted = [int(x) if is_int else float(x) for x in raw]
        return tuple(casted) if isinstance(data, tuple) else casted
    else:
        raise TypeError(f"Does not support the type {type(data)}")
```
(float)
```
    joint_pos_unoise_min_adr = CurrTerm(
        func=mdp.modify_term_cfg,
        params={
            "address": "observations.policy.joint_pos.noise.n_min",
            "modify_fn": initial_final_interpolate_fn,
            "modify_params": {"iv": 0., "fv": -.1, "get_fraction": "env.command_manager.get_command("difficulty")"}
        }
    )
```

(tuple or list)
```
command_object_pose_xrange_adr = CurrTerm(
        func=mdp.modify_term_cfg,
        params={
            "address": "commands.object_pose.ranges.pos_x",
            "modify_fn": initial_final_interpolate_fn,
            "modify_params": {"iv": (-.5, -.5), "fv": (-.75, -.25), "get_fraction": "env.command_manager.get_command("difficulty")"}
        }
    )
```

Demo 3: overriding entire term on env_step counter rather than adaptive
```
def value_override(env: ManagerBasedRLEnv, env_id, data, new_val, num_steps):
    if env.common_step_counter > num_steps:
        return new_val
    return mdp.modify_term_cfg.NO_CHANGE

object_pos_curriculum = CurrTerm(
        func=mdp.modify_term_cfg,
        params={
            "address": "commands.object_pose",
            "modify_fn": value_override,
            "modify_params": {"new_val": <new_observation_term>, "num_step": 120000 }
        }
    )
```

Demo 4: overriding Tensor field within some arbitary class not visible
from term_cfg
(you can see that 'address' is not as nice as mdp.modify_term_cfg)
```
def resample_bucket_range(env: ManagerBasedRLEnv, env_id, data, static_friction_range, dynamic_friction_range, restitution_range, num_steps):
    if env.common_step_counter > num_steps:
          range_list = [static_friction_range, dynamic_friction_range, restitution_range]
          ranges = torch.tensor(range_list, device="cpu")
          new_buckets = math_utils.sample_uniform(ranges[:, 0], ranges[:, 1], (len(data), 3), device="cpu")
          return new_buckets
    return mdp.modify_env_param.NO_CHANGE

object_physics_material_curriculum = CurrTerm(
        func=mdp.modify_env_param,
        params={
            "address": "event_manager.cfg.object_physics_material.func.material_buckets",
            "modify_fn": resample_bucket_range,
            "modify_params": {"static_friction_range": [.5, 1.], "dynamic_friction_range": [.3, 1.], "restitution_range": [0.0, 0.5], "num_step": 120000 }
        }
    )
```


## Type of change

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applicable. -->

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


## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
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---------
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Fixes reset_joints_by_scale and reset_joints_by_offsets to only affect the joint_names specified in SceneEntityCfg (#2899)

# Description

Both reset_joints_by_offsets and reset_joints_by_scale ignores the
joint_ids specified in SceneEntityCfg passed through asset_cfg and
affects all joints.

This bug is affecting all cartpole environments. 

After the fix the functions are restricted to only reset the joint
specified through SceneEntityCfg, Cartpole environment runs and reset
behaves correctly

Fixes #2800 #980 #1742 

## Type of change

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applicable. -->

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

## Checklist

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

# Description

@Toni-SM pointed out that Isaac Lab must match Isaac Sim/ Kit
107.3.1-206797 Pillow 11.2.1

this PR update pillow dependencies to match that of sim and kit

## Type of change

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applicable. -->

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

## Screenshots

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## Checklist

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

Fixes missing  `ray_cast_drift` in `RayCasterCamera`

Fixes #2891 

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Kelly Guo <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>

Fixes ObservationManager history buffer corrupted by external calls to ObservationManager.compute (#2885)

# Description

When observation group has history length greater than zero, calling
`ObservationManager.compute` modifies history state by appending current
observation to history. This creates history corruption when
non-`ManagerBasedEnv` classes invoke `ObservationManager.compute`. This
PR introduces `update_history` flag (default to `False`) and only
`ManagerBasedEnv` has the privilege to run `ObservationManager.compute`
with `update_history=True`. If `update_history=False` and the history
buffer is `None`, a copy of history is returned instead of the original.

I have added test cases to verify this fix is effective.

Fixes #2884 

## 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

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

# Description

this PR adds tests for:

- scale_transform
- unscale_transform
- saturate
- normalize
- copysign
- convert_quat
- quat_conjugate
- quat_from_euler_xyz
- quat_from_matrix
- euler_xyz_from_quat
- matrix_from_euler
- quat_from_angle_axis
- axis_angle_from_quat
- skew_symmetric_matrix
- combine_transform
- subtract_transform
- compute_pose_error

Fixes # (issue)

## 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)

## Checklist

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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
- [ ] 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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---------
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Fixes deprecation overload for hanging quat_rotate calls in articulation and rigid_object_collection (#2867)

# Description

Changes remaining quat_rotate calls to quat_apply calls.

Fixes #2859 

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## Type of change

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

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

## Checklist

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`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
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- [ ] I have updated the changelog and the corresponding version in the
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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

Supports sb3 wrapper to pre-process env's image obs-space to trigger sb3 natively supported cnn creation pipeline (#2812)

# Description

This PR modifies the SB3 Wrapper so that it utilizes the 
SB3 natively supported encoder creation on properly defined composite
observation space,

SB3's automatic CNN encoding will apply when
1. if observation space of that term is of shape, GrayScale, RGB, or
RGBD
2. if agent_cfg has normalized flag, expects data to have channel as the
first dimension, and data pre_normalized
3. if agent doesn't has normalized flag, expects data to have space
min=0, max=255, dtype=uint8

This PR makes sure the sb3 wrapper adjust environment image term to meet
either condition 2 or condition 3 by looking at space's min and max, so
sb3 creation pipeline will be applied automatically.


## Type of change

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

## Screenshots

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
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feature works
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Co-authored-by: Kelly Guo <kellyg@nvidia.com>

This PR pushes some changes from our internal RAI fork of Isaac Lab.

The 2 main changes are:

#### Adds a new `ray_alignment` parameter to replace the previous
`yaw_only` arg.

Now the ray alignment can be aligned to `world`, `yaw`, or `base.

#### Improves drift height sampling

At the moment, the `RayCasterCfg` hosts a parameter called
`drift_range`. It allows to randomize the position of the sensor in
world frame, which comes with a couple of downsides:
* If the projection is done along the gravity vector, the z-component
drift term cannot be visualized (it is implicitly given in the pose, and
added to the height scan in the observation term).
* The perturbation is applied in world frame, i.e., if the ray cast is
yaw aligned, then the drift varies with the yaw angle
* The drift is applied to all (x,y,z) components equally

This PR adds a new parameter ray_cast_drift_range. It gives more freedom
in choosing the drift ranges as x, y and z components can be treated
separately. It also applies the drift after projecting and rotating the
ray cast points, i.e. the drift is now invariant under the yaw angle and
the drift in z is can be visualized

I've added Fabian Jenelten and Jeonghwan Kim to this PR as they worked
on these changes within RAI - I'm simply helping to push them up 😄

## Type of change

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applicable. -->

- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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---------
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description
Allow to set platform height independent of the object height.

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discussions on the proposed pull request.
This makes it easier for the community to keep track of what is being
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## Type of change
- 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

Credit: @fjenelten-bdai

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

# Description

This PR fixes an issue when exporting LSTM to ONNX. The normalizer was
resetting to zero. This PR calls `eval()` during the `forward()`.

Fixes # (issue)

## Type of change

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applicable. -->

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

## Screenshots
Left: After, Right: Before


![image](https://github.com/user-attachments/assets/9a8f765f-653a-4a57-b9ee-af00e8e0539c)

## Checklist

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# Description

This PR expands the noise parameters of the MeshRepeatedObjectsTerrain
by adding minimum and maximum absolute and relative noise for.
This adds deprecation warnings to existing parameters but they will
function normally.

Fixes # (issue)

## Type of change

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applicable. -->

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

## Screenshots

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## Checklist

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`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
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---------
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Fabian Jenelten <162192900+fjenelten-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Fixes some pytest migration errors for test_articulation and
test_render_cfg

Fixes # (issue)

## Type of change

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applicable. -->

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

## Checklist

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

I added the path_to_docs key to the html_theme_options dictionary in
conf.py and set it to docs/

## Checklist

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

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to check the contribution guidelines.

Link:
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This PR adds projected_gravity_b data stream as well as speeding up
computation by during batch rotating of all data streams to base frame
in one computation rather than each data stream separately.

This PR is dependant on [PR
2129](https://github.com/isaac-sim/IsaacLab/pull/2129/) and should not
be merged until that PR is merged.

Fixes # (issue)

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

# Description

Updates gymnasium to 1.2.0, which includes a fix for memory leak when
recording videos during training with `--video`.

Fixes #1996 

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

## Checklist

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

This PR fixes the numpy version get upgraded to >2 when installing
rl_packages dependencies

## Type of change

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

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# Description

replace_slices_with_strings() and replace_strings_with_slices() in
[IsaacLab/source/isaaclab/isaaclab/utils/dict.py](https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab/isaaclab/utils/dict.py)
are changed to allow slices being process if a list of dicts is passed
in as input.

Cherry picks changes from
https://github.com/isaac-sim/IsaacLab/pull/2571 by @LinghengMeng

Fixes #2481 


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

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# Description

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This MR fixes compatibility issues with robomimic by setting its
installation version to v0.4.0.

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# Description

Corrects `quat_inv()` in utils/math.py: the inverse is now computed as:

`quat_conjugate(q) / q.pow(2).sum(dim=-1, keepdim=True).clamp(min=eps)`

ensuring correct results for **non-unit** quaternions.  

Fixes #1263 (see discussion for details). Also updated `CHANGELOG.rst`
and corrected a few minor typos within.

## Type of change

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

## Checklist

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

# Description

This is a small change to the Walkthrough documentation to make it
explicit to change the observation space dimension in the second half of
the Exploring the RL problem tutorial.

Fixes #2787

## Type of change

- This change is exclusively documentation

---------
Signed-off-by: Brian Bingham <briansbingham@gmail.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Co-authored-by: Michael Gussert <michael@gussert.com>