Update PIP install steps for Isaac Sim 4.5.0

Updates the URDF and MJCF importers for Isaac Sim 4.5.

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

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

# Description

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

## Type of change

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applicable. -->

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


## Checklist

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`./isaaclab.sh --format`
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- Add configuration option to zero out rotation around the x/y axes.
- Introduce smoothing and thresholding for position and rotation deltas
to reduce jitter.
- Switch position reference to the wrist joint pose for more stable
relative-based positioning.
- Make rotation reference configurable, allowing the use of wrist-based
orientation instead of fingertip averaging.

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

# Description

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

## Type of change

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applicable. -->

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


## Checklist

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

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

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

## Type of change

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applicable. -->

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


## Checklist

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

# Description

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

## Type of change

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applicable. -->

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

## Checklist

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

# Description
Updates torch to 2.5.1

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

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applicable. -->

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

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

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

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

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Update robomimic training and play scripts.

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

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

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

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

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

# Description

Updates the benchmark scripts with new additional output format that can
be used for tracking results on a dashboard.

## Checklist

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

Fixes errors related to import of omni.isaac.ui and debug_draw
extensions due to Isaac Sim 4.5 renaming/restructuring.

## Type of change

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applicable. -->

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

## Checklist

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Update the Franka Stacking Env to align with Robosuite stacking task
used in MimicGen.

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

This change updates the benchmarking utilities to follow new module
naming for Isaac Sim 4.5. In addition, hydra support is added for the
benchmark scripts to allow modifications of config parameters via
command line. Hydra config parsing utilities are updated to allow for
missing agent configurations when benchmarking non-RL workflows.

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applicable. -->

- 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

This PR fix the `ModuleNotFoundError: No module named
'omni.isaac.version'` for Isaac Sim 4.5

When running `./isaaclab.sh -p
source/standalone/workflows/rsl_rl/train.py --task
Isaac-Cartpole-Direct-v0 --headless --max_iteration 5`

```
Traceback (most recent call last):
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/standalone/workflows/rsl_rl/train.py", line 54, in <module>
    from omni.isaac.lab.envs import (
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py", line 45, in <module>
    from . import mdp, ui
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/__init__.py", line 18, in <module>
    from .actions import *  # noqa: F401, F403
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/__init__.py", line 8, in <module>
    from .actions_cfg import *
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py", line 9, in <module>
    from omni.isaac.lab.managers.action_manager import ActionTerm, ActionTermCfg
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/__init__.py", line 13, in <module>
    from .action_manager import ActionManager, ActionTerm
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py", line 20, in <module>
    from omni.isaac.lab.assets import AssetBase
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/__init__.py", line 41, in <module>
    from .articulation import Articulation, ArticulationCfg, ArticulationData
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/__init__.py", line 8, in <module>
    from .articulation import Articulation
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py", line 22, in <module>
    import omni.isaac.lab.sim as sim_utils
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/__init__.py", line 29, in <module>
    from .converters import *  # noqa: F401, F403
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/__init__.py", line 25, in <module>
    from .urdf_converter import UrdfConverter
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py", line 13, in <module>
    from omni.isaac.version import get_version
ModuleNotFoundError: No module named 'omni.isaac.version'

```
## 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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Adds the deprecated extension folder to the app files for the extensions
to be discoverable.

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

Adding a manager based RL env for Franka cube stacking task. This
environment will be used for initial testing of MimicGen pipeline. The
environment consists of a Franka arm with three blocks on a table top.

Environment source is added to
`omni/isaac/lab_tasks/manager_based/manipulation/stack`

---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>

# Description

Previously on episodic resets, the "time left" for the interval events
were not getting resampled. This means that if the user expects the
event to happen in the range 6-8s of an episode, it could be that in a
new episode, the push happens at a time outside this range as the time
left variable keeps its old value.

This MR fixes this issue by resampling the time left inside the
manager's reset call.

Note: This only matters for the case when "is_global_time" is False
(which is the default). The reason is that when there is global time,
the events are triggered through simulation time and not episode time.

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

# Description
This PR cleans up the Ray documentation to be more clear, and fixes some
small issues in the code.

- Moved local set up to be an easier Docker-based thing
- Added Wget to docker container to fix issue where Ray head would fail
health check on GKE where the workers wouldn't start
- Removed redundant information from Documentation
- Added a local quickstart
- (investigated whether https mlflow was possible, added flag to jinja
env)@kellyguo11
- Added better compatibility with other workflows to address #1703 
- Avoided early exit due to buffer overflow to address #1703 (thank you
@giulioturrisi for helping find this)
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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


![image](https://github.com/user-attachments/assets/eb38b3c8-8e9c-438d-9218-8b0662146f96)


## Checklist

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feature works
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---------
Signed-off-by: garylvov <67614381+garylvov@users.noreply.github.com>
Co-authored-by: Gary Lvov <glvov@theaiinstitute.com>

# Description

Corrected calculation of target height adjustment based on sensor data.

Fixes #1546 and #1698

Thanks to @ClemensSchwarke and @shendredm for the modification
suggestions. To use this `base_height_l2` reward function, users need to
make the following changes:

1. Customize a new sensor

```python
class MySceneCfg(InteractiveSceneCfg):
    height_scanner_base = RayCasterCfg(
        prim_path="{ENV_REGEX_NS}/Robot/base",
        offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
        attach_yaw_only=True,
        pattern_cfg=patterns.GridPatternCfg(resolution=0.05, size=(0.1, 0.1)),
        debug_vis=False,
        mesh_prim_paths=["/World/ground"],
    )
```

2. Pass this new sensor to the reward function

```python
class RewardsCfg:
    base_height_l2 = RewTerm(
        func=mdp.base_height_l2,
        weight=0.0,
        params={
            "asset_cfg": SceneEntityCfg("robot", body_names=""),
            "sensor_cfg": SceneEntityCfg("height_scanner_base"),
            "target_height": 0.0,
        },
    )
```

This will create a 10 by 10 cm patch consisting of 9 rays and should
provide a good estimate of the ground height at the robot's position.

## Type of change

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

## Checklist

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

…ection root and base states

# Description

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This PR removes the deprecation of root_state_w setters and properties
due to significant regression in training speed. It leaves it the
root_link_* and root_com_* properties and setters but does not force
them on examples and tests.

Fixes #1699 

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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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- [x] My changes generate no new warnings
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feature works
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---------
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Currently, the
[`repeated_objects_terrain`](https://github.com/isaac-sim/IsaacLab/blob/v1.4.0/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py#L721)
function attempts to respawn all *N* required objects if even a single
object lies within the central platform. However, the probability of
successfully spawning *all objects* outside the central platform depends
on the object density (i.e., the number of required objects relative to
the terrain size) and the size of the central platform. For high object
densities, this probability quickly approaches zero, causing the
function to enter an infinite respawn loop.

This PR addresses the issue by respawning only the objects that lie
within the central platform during each loop, while leaving objects
outside the platform untouched. This leads to faster terrain generation
and prevents the worst-case scenario of getting stuck in an infinite
respawn loop when object density is high.

## 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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- [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
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---------
Signed-off-by: Nicola Loi <nicolaloi@outlook.com>

# Description

Adds a new documentation page and demo script for explaining the IMU
sensor.
Also replace previous .png images with .jpg files for better storage
efficiency.

## 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
- [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: Michael Gussert <michael@gussert.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>

# Description

This change replaces some of the hardcoded python snippets in the sensor
documentation to reference directly from the demo scripts. This avoids
inconsistencies when changes in the scripts or documentations are made.


## 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
- [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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# Description
The rigid body data properties root_com_vel_w, root_com_pos_w, and
root_com_ang_vel_w currently check the private state field's timestamp
before updating their state. However, the issue lies in the fact that
these COM state properties are incorrectly checking the link state
field's timestamp instead of the COM's own state.

Fixes # (issue)
Replacing root link state with root com state at these properties.

## 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

This PR fixes a small typo in the code, where "undesired" is
accidentally typed as "undersired".

## Type of change

- [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

N/A

## Checklist

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exists there

# Description

A few scripts in the tools and tutorials folder had outdated APIs that
caused errors when run.
This scripts fixes issues with 2 scripts:

- check_instanceable.py used an old `enable_flatcache` API that no
longer exists. this has been replaced with the new `enable_fabric` API
- run_usd_camera.py was indexing camera data outputs with incorrect
keys/indices, which is now fixed

## 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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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 fixes an issue in articulation object from omni.isaac.lab. The
functions `write_root_com_pose_to_sim` and `write_root_link_to_sim` both
result in an error where a variable is called before being assigned. I
checked and there is a test for this, but I'm not sure why they don't
catch it...

The two functions have been changed to match the behaviors of
`write_root_link_pose_to_sim` and `write_root_com_velocity_to_sim`.



Fixes #1659 

## 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
- [ ] 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

There was a mismatch in the implementation of the IdealPDActuator code
and the equation provided in the actuators docs. This change fixes the
ordering of parameters in the docs to match the implementation in code.

Fixes #1643 

## Type of change

- This change requires a documentation 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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# Description

Fixes docstring in Articulation data, where rigid body properties should
be of dimension (num_instances, num_bodies, x) instead of
(num_instances, 1, x).

Fixes #1651

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## Type of change

docstring fix.

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

**Before Change**

for the data
'''
body_link_pos_w
body_link_quat_w
body_link_vel_w
body_link_lin_vel_w
body_link_ang_vel_w
body_com_pos_w
body_com_quat_w
body_com_vel_w
body_com_lin_vel_w
body_com_ang_vel_w
'''

The actual dimension are (num_instances, num_bodies, x),

 but the docstring says (num_instances, 1, x)

**After Change**

docstring says (num_instances, num_bodies, x)


## Checklist

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`./isaaclab.sh --format`
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feature works
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---------
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

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Link: https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html
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A recent PR
(https://github.com/isaac-sim/IsaacLab/pull/1530#issuecomment-2558120594)
causes issues with joint_parameter_lookup attributes of Articulation
Configs. The `class_to_dict` utility function needs to return a
primitive dict. Returning a torch.Tensor conflicts with OmegaConf.

This PR adds a unittest for the dict conversion as requested by @lgulich
so that the issue can be fixed. The test case fails on main branch as
expected according to my understanding. Passes on v1.3.0.

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

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# Description

Currently, the
[PreTrainedPolicyAction](https://github.com/isaac-sim/IsaacLab/blob/v1.4.0/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/navigation/mdp/pre_trained_policy_action.py#L24)
class does not reset the actions in the low-level observations when a
new episode starts.

In my custom legged robot navigation task, the behavior was correct only
during the first training episode but failed from the second episode
onward. At the start of a new episode, the action observations are not
reset and retain the last actions from the previous episode. This can
impact training, as in my case, where the actions at the end of an
episode differ significantly from those required at the beginning of an
episode.

This PR resolves the issue by resetting the low-level action
observations at the beginning of each new episode.


## 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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