# Description

When running `play.py` with `--real-time`, the dt used to calculate this
is incorrect. It is currently using `env.physics_dt`, which is `sim_dt`.
However, if the decimation is >1, then the effective dt is
`env.step_dt`, which is `sim_dt * decimation`. We are running 1
env.step() per loop, so this should definitely be `env.step_dt`.

This affects all reinforcement_learning/<rl_library>/play.py files. This
updates all of these appropriately

Fixes #2230 

## Checklist

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exists there
Signed-off-by: Tyler Lum <tylergwlum@gmail.com>

# Description
This PR fixes a bug where old callbacks for sensors were being called
after the scene had been cleared, resulting in exceptions and a crash of
extensions built off of Isaac Lab.

## Type of change

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

## Checklist

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# Description

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Adds a check in RecorderManager to only record success results if
success termination term exists.

Fixes #2190 

Fixes recorder crash if added to ManagerBasedEnv.

## Type of change

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applicable. -->

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

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# Description

Moves segmentation workaround to base Camera class as the bug on
instanceable assets was also affecting the non-tiled cameras.

## Type of change

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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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# Description

The model in the policy inference tutorial needs to be moved to the
correct device based on the command line argument input. Otherwise, it
will cause device mismatch errors as policy defaults to the CPU while
environment defaults to GPU.

## Type of change

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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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# Description

The instance randomization stack environments have multiple cameras in
the scene, which requires heavy resources on large numbers of
environments. This PR reduces the default environment so that they can
be run with less memory resources.


## Type of change

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applicable. -->

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

## Checklist

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## Description

Previously empty or non-extension directories in the `source` folder
caused installation to crash, forcing users to delete the empty
directory. This MR replaces raising the error with a warning print.

## Type of change

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

## Checklist

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

Fixes #2169

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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exists there
Co-authored-by: gao <ziqi.gao@iff-extern.fraunhofer.de>

# Description

Previously, benchmark scripts were stopping the benchmark outside of the
global rank check and this occasionally causes issues on processes with
global ranks > 0. This change moves the call to be inside the if
statement such that it is only called on the rank 0 process.


## Type of change

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


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## Checklist

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

This PR corrects the position of the method
`self._modify_action_space()` in the RSL-RL Wrapper, so that it is only
called after retrieving the dimensions of the environment, preventing
errors related to the use of uninitialized attributes when using
`clip_actions` in `RslRlVecEnvWrapper`.

Fixes https://github.com/isaac-sim/IsaacLab/issues/2184

## 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
- [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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Please include a summary of the change and which issue is fixed. Please
also include relevant motivation and context.
List any dependencies that are required for this change.

Fixes # SE2/3 gamepad that calling wrong omniverse API,
[https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html#unsubscribing-the-gamepad-event-handler](url)

## 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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---------
Signed-off-by: AlvinC <alvincny529@gmail.com>

# Description

Fixed typos in the documentation (development.rst).

## Type of change

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

## Screenshots

Not applicable.

## Checklist

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

---------
Signed-off-by: Victor Khaustov <3192677+vi3itor@users.noreply.github.com>

# Description

This MR introduces multi-GPU training for RSL-RL library. Also adds
configuration options for symmetry and RND.

Compatible only with RSL-RL v2.3.0 onwards so fixing the version.

Fixes #2180 

## Type of change

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

## Checklist

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# Description

Unable to add new entries to self.extras dictionary in ManagerBasedEnv
because the dictionary was initialised after loading the managers.

Fixes #2177 

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

## Checklist

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

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Fixes the environment test failure for
Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0. The env uses a custom image
observation term which tries to access an element in the recorder
manager. During env creation, the observation manager is initialized
before the recorder manager, thus causing an error in the observation
term. The custom image obs term has been updated to only try to access
the element in the recorder manager if it exists.

Fixes # (issue)

Environment test failure of Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0

## Type of change

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

# Description

This MR fixes the ground color to the original dark grey instead of a
grey-ish blue shade. The change was introduced in #1791 and was
unintentional.

## Type of change

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

## Screenshots

| Before | After |
| ------ | ----- |
|
![image](https://github.com/user-attachments/assets/655fd5b2-5b64-4e9f-adb1-c2b706b0aa13)
|
![image](https://github.com/user-attachments/assets/10ba218e-eff8-441b-9d5f-1705c90d7345)
|

## Checklist

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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Some environment tests were hitting memory constraints when run with 32
environments, we limit these to only single env tests now. Additionally,
there were reports of torchvision and torch version mismatch, we now
include both in the installation commands.

<!-- As a practice, it is recommended to open an issue to have
discussions on the proposed pull request.
This makes it easier for the community to keep track of what is being
developed or added, and if a given feature
is demanded by more than one party. -->

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

Fix template generator:
- Fix `rsl_rl` agent configuration
- Don't list `skrl`'s multi-agent algorithms for single-agent tasks
- Don't list `rsl_rl` and `sb3` for multi-agent tasks
- Update docs to include usage steps for the generated internal task

## 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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# Description

The environment examples were not setting the device properly.

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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exists there
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

To support creation of managers before the simulation starts playing (as
needed by the event manager for USD randomizations), the MR in #2040
added a callback to resolve scene entities at runtime. However, certain
class-based manager terms can also not be initialized if the simulation
is not playing. Those terms may often rely on parameters that are only
available once simulation plays (for instance, joint position limits).

This MR moves the initializations of class-based manager terms to the
callback too.

Fixes #2136

## 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

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

# Description

The directory changes were not propagated to the docker file. This MR
fixes this issue.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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feature works
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extension's `config/extension.toml` file
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exists there

# Description

This MR adds a replicator event to randomize the color of meshes on an
asset. Currently, this supports only a single mesh.

## Type of change

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

## Screenshots

```bash
python scripts/tutorials/03_envs/create_cube_base_env.py
```


![image](https://github.com/user-attachments/assets/b525b858-bb2d-4f52-a7a8-d65703b2553d)

## Checklist

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exists there

# Description

- Added back texture randomization event term
- Carrying over texture randomization and scale randomization unit tests
from previous PRs
- Added additional replicate physics failure case test

## Type of change

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

## Checklist

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

# Description

The definition of render settings in `SimulationCfg` is changed to None,
which means that the default settings will be used from the experience
files, and the double definition is removed.

## 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
Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>

# Description

The table in the factory environment was initially positioned halfway
into the ground due to an incorrect height translation. This PR corrects
the initialization height to properly align the table with the ground,
resolving the issue.

## Type of change

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

## Screenshots

| Before | After |
| ------ | ----- |
| ![Screenshot from 2025-03-13
08-02-24](https://github.com/user-attachments/assets/5aeb65c7-dd29-4ef1-a8fa-cb6a21cbe398)
| ![Screenshot from 2025-03-13
08-01-17](https://github.com/user-attachments/assets/7e932af3-f592-4da5-852f-9f8e21c54dae)
|


## 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

It was hard to understand what the scene's state means unless you check
the code. This MR adds more docstrings to make this simpler to
understand.

## 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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exists there

# Description

The default python base app file was missing the necessary extension
dependencies to enable the animation recorder.
"omni.kit.stagerecorder.bundle" is now added as a dependency, which
should enable the recording functionality again.

## Type of change

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


## Screenshots

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## Checklist

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

This PR add a set of Direct-workflow tasks that showcase the
definition/use of the various Gymnasium observation and action spaces
supported in Isaac Lab.

## Type of change

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applicable. -->

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

## Screenshots


![image](https://github.com/user-attachments/assets/36b526ac-0eb7-45fa-81fa-3d0a09c1c1c5)

## Checklist

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`./isaaclab.sh --format`
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---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

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* Fixed the mismatch in :class:`JointPositionToLimitsActionCfg`
docstring which was incorrectly referring to
``JointPositionWithinLimitsAction`` instead of
``JointPositionToLimitsAction``.
* Fixed the issue of the :attr:`solver_velocity_iteration_count`
docstring in :class:`ArticulationRootPropertiesCfg` being incorrect.
* Fixed the mismatch between the default value of :attr:`use_cache` in
:class:`TerrainGeneratorCfg` and its docstring. Currently, the default
value is set to ``False``.

Fixes #1330, #1377, #1827 

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## Type of change

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

## Screenshots

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## Checklist

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

# Description

This MR fixes the default behavior of implicit actuators if no effort limit is set. Previously, the check
was using the class variable value instead of self which led to the wrong values getting propogated.

Fixes #2054 

## Type of change

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

## Checklist

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

---------
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

This PR fixes https://github.com/isaac-sim/IsaacLab/issues/2094.
Hamburger icon in the readme was causing encoding errors.

## Type of change

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applicable. -->

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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feature works
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# Description

A recent change requires the manager based env to have a sim object.
This update fixes the manager tests to initialize a sim variable in the
env class.


## Type of change

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applicable. -->

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


## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
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# Description

Uses recorder_manager's successful episode count as trial number and
adding it to saved image filenames.
Track successful episodes across environments by adding trial counter to
saved image filenames.

## Type of change

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applicable. -->

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

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

# Description

Certain scene-level randomizations (such as randomizing the scale) must
happen before the simulation starts playing. To this end, the MR adds a
new event mode called "prestartup," which gets called right after the
scene design is complete and before the simulation is played.

Since the scene entities cannot be resolved before the simulation starts
playing (as we currently rely on PhysX to provide us with the joint/body
ordering), the MR adds a callback to resolve the scene entity
configurations separately once the simulation plays.

This MR replaces the prior implementation in #1165

## Type of change

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

## Screenshots

If you execute:

```bash
./isaaclab.sh -p scripts/tutorials/03_envs/create_cube_base_env.py --num_envs 32
```

Output:


![image](https://github.com/user-attachments/assets/a4b3a5e7-ff5c-4593-97ce-3b5af19bfde2)

## 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
- [ ] 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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

This PR adds the implementation to generate Isaac Lab's external project
or internal task.

Just run `./isaaclab.sh --new` or `isaaclab.bat --new` (or `-n`) and let
yourself go!

## 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
- [ ] 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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---------
Signed-off-by: Toni-SM <toni.semu@gmail.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Currently, the actions from the policy are directly applied to the
environment and also often fed back to the policy using the last action
as observation.

Doing this can lead to instability during training since applying a
large action can introduce a negative feedback loop.
More specifically, applying a very large action leads to a large
last_action observations, which often results in a large error in the
critic, which can lead to even larger actions being sampled in the
future.

This PR aims to fix this for RSL-RL library, by clipping the actions to
(large) hard limits before applying them to the environment. This
prohibits the actions from growing continuously and greatly improves
training stability.

Fixes #984, #1732, #1999

## Type of change

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

# Description

Fixes image link in documentation, the previous image was not added to
the repo by accident

## Type of change

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

## Screenshots

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## Checklist

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`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
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# Description

This pull request refactors the core functionality of
generate_dataset.py into separate helper modules. The goal is to make
the associated Jupyter notebook leaner.

* Move functions in generate_dataset to
isaaclab_mimic/datagen/generation.py
* Add utils.py for utility function for the notebook
* Add dependency for ipywidgets

## Type of change

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

## Checklist

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with `./isaaclab.sh --format`
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---------
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Jean-Francois-Lafleche <57650687+Jean-Francois-Lafleche@users.noreply.github.com>
Co-authored-by: Peter Du <peterd@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This PR adds an interactive demo script that runs inference on a trained
H1 rough terrain locomotion policy and allows selection of environments
through clicking on a robot and controlling it with keyboard inputs.

Additionally, a minor hyperparameter is updated in the SKRL training
config for slightly better policy behavior.

## Type of change

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

## Screenshots


![h1_locomotion](https://github.com/user-attachments/assets/2de90aba-1195-4fea-b909-2cbbd67e716c)

## Checklist

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

Sometimes users want to import a USD file which doesn't have any
collider meshes. This MR allows having such USD files in the terrain
importer for visualization purposes.

Additionally, the MR removes the storage of warp and tri-mesh based
meshes inside the class. These are stored into the USD and are read
directly from there whenever needed. Their intended use-case for having
them inside the terrain class is not needed.

## Type of change

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

## 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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exists there

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>