# Description

- Adds `min_step_count_between_reset` for Event terms to specify minimum
randomization frequency for reset randomizations
- Switch to numpy for material bucketing logic
- Updates SH Config with DR

## 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 run all the tests with `./isaaclab.sh --test` and they pass
- [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

NOTE: This is a redo of
https://github.com/isaac-orbit/IsaacLab/pull/524, only rebased onto new
main and with changes to work with Isaac Lab.

Copied from other PR:
Modifies container.sh and x11.yaml to automatically check if a
tmp.***.xauth file has a stale MIT-MAGIC-COOKIE-1, and refreshes it if
so.

In the instance where an xsession ends after a `tmp.***.xauth` file has
been created, but the system is not rebooted (thus deleting
`tmp.***.xauth`) then attempting to use the container causes errors.

This is a feature to correct for this upon `container.sh enter` by:
1. Mounting an entire `/tmp` subdirectory so that we can swap files
2. Checking for stale cookies by comparing against the current user's
cookie
3. If stale, replacing the old `tmp.***.xauth` with a new
`tmp.***.xauth` of the same name but a new cookie, in order to preserve
functionality of envars.

## Type of change

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

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.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 run all the tests with `./orbit.sh --test` and they pass
- [ ] 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: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>

# Description

Since we override a lot of the functions from RigidObject inside the
Articulation class, we don't need to rely on inheritance anymore.
Duplicacy in the code makes it easier to understand the two classes'
functionalities without severely added overhead from the maintenance
side. Moreover, conceptually, it can be motivated that the two are
independent concepts.

This MR decouples the rigid object and articulation concepts in the
framework.

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- 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
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Co-authored-by: David Hoeller <dhoeller@nvidia.com>

# Description
- Removes unneeded extensions from headless app file
- Limits CPU threads when running multi-GPU training to minimize thread
context switching
- Apply multi GPU renderer setting to avoid unnecessary GPU context
initialization
- Decreases 8k SH startup time on 8 GPUs from > 5 min to 1 min
- Adds benchmarking scripts

## 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

- [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
- [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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

---------
Co-authored-by: Alexander <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>

# Description

Add a cli argument `--extension` to run only unit tests for a selected
extension. As an example:

```bash
isaaclab -t --extension omni.isaac.lab_assets # Only runs tests under omni.isaac.lab_assets
```

Fixes #752 

## 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
- [ ] 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

Earlier the README had hard-coded values for "passing" of pre-commit and
docs. This changes it to use the GitHub actions instead.

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

# Description

Adds a parameter `border_height` to `TerrainGeneratorCfg` to be able to
control the height of the generator border instead of having a
hard-coded value of 1.0m.

## 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
- [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

There was a slight inconsistency-- we called `unitree_a1`,
`unitree_go1`, and at the same time `h1` and `g1`. This MR fixes this
inconsistency and adds some more docs.

## 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`
- [ ] 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

The caching of terrains with the terrain generator did not work as
expected even when the curriculum was enabled (which should have yielded the
same terrain every time). On deeper investigation, it appears that the
terrain generator samples a range when using the curriculum to avoid having
the same sub-terrain in columns of the same terrain type. Thus, the
terrain `difficulty` was stochastic between runs, which affected the
caching of the terrain.

This MR fixes the following:

- Adds documentation of the above behavior
- Modifies the generator to use `np.random.Generator` (RNG) instead of
setting the seed globally
- Adds a warning if the user wants to cache the terrain and the seed is
not set
- Adds tests to check caching works for the terrain generator with and
without curriculum

Note: Right now, complete determinism (i.e., the same terrain is generated)
is only possible when seed is set and caching is enabled. If caching is
disabled, it is possible that the terrain may have small differences. To
fix this, the RNG needs to be propagated to all the generation functions
as well. I leave that as a future TODO.

## 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
- [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

# Description

This MR adds docstrings in articulation and rigid object data to clarify
the exact frames they are reported in. This was previously causing
confusion as PhysX reports the transforms in actor frame and velocities
in CoM frame. Right now, there is no mechanism to get all this data in
the same frame, so the best we can do is document behavior.

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

# Description

This MR renames the action term names inside the manager-based
lift-manipulation task. Earlier, they were called
``body_joint_pos`` and ``gripper_joint_pos``. This made it confusing
since they were also being set to IK instead of joint position action
terms. Now, they are called ``arm_action`` and ``gripper_action``.

This makes it consistent with other manipulation tasks. 

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- 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
- [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 MR removes the additional translation and orientation applied when
creating the mesh prim under the parent Xform prim.

## 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
- [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

Previously, we used finite differencing to compute rigid body
accelerations. Since Isaac Sim 4.0, we can obtain the accelerations
directly from PhysX. This MR removes the need for finite differencing.

## 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`
- [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

# Description

The previous implementation of `wrap_to_pi` was rather incorrect since
it would map -PI to PI but -3PI to -PI. Following the general convention
of this function (based on MATLAB), all odd positive multiples of PI
should map to PI, and all negative multiples should map to -PI.

This MR fixes the function and also adds a unit test for it.

Fixes #770

## Type of change

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

# Description

There were still a few changes not propagated with the drop of 2023.1.1.
This MR fixes those pieces:

- updating the version number in the docs to 4.1
- updating the nucleus asset server path to 4.1
- removing the physics flushing inside the interactive scene (as it was
needed in 2023.1.1 only)

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

# Description

Updates code to Isaac Sim 4.1.0 release.

## 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
- [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

# Description

Clarify X11 forwarding configs in docs and warning messages.

## 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
- [ ] 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

Fixes action term in the IK reach environment configurations.

## 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

# Description

The render interval for reach environments was not equal to the decimation, resulting in
unnecessary rendering steps.

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

# Description

Fixes #698

The sanity check compares the total actuator joints (total_act_joints)
with the difference between the number of joints minus the number of
fixed tendons (self.num_joints - self.num_fixed_tendons), but the
warning message displays a comparison between total_act_joints and
self.num_joints. This is misleading on complex robots that includes
fixed tendons such as Franka hand.

## Type of change

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

# Description

Fixes inaccuracy in migration docs.
Now the docs correspond to the actual code.

Fixes #706

## 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
- [ ] 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

# Description

Changes made in [PR
#628](https://github.com/isaac-sim/IsaacLab/commit/455a174849736ce0038b31fe7b17479a16e385e5)
caused using the VSCode Debugger from `isaac-lab-base/-ros2` to no
longer function because `python.sh` was not being called. This is
because even though `{workspace}/_isaac_sim/python.sh` is initially set
as the default, `setup_vscode.py` replaces it with the python binary
that `python.sh` invokes, but without using `python.sh` certain envar
modifications don't happen such that e.g. `PYTHONPATH` is broken and
imports don't work.

This change checks if the calling executable matches the exact path we
expect with the isaac-lab containers, and then keeps it as the default
if it does.

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

# Description

Fixes docstring in reward functions and code block in documentation

## Type of change

- Bug fix

## 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

# Description

- Fixes https://github.com/isaac-sim/IsaacLab/issues/541
- **Bug description:** UR10 reach can be trained with RSL_RL but not
with RL_GAMES and SKRL.
- **Why this problem occurs:** The actual problem is there is no
`__init__.py` file in the `agents` folder inside ur_10. Therefore when
`mod_path = os.path.dirname(importlib.import_module(mod_name).__file__)`
line is executed it gives error as
`importlib.import_module(mod_name).__file__` is not able to find the
module
`omni.isaac.lab_tasks.manager_based.manipulation.reach.config.ur_10.agents`.

## Fixes
- `__init__.py` file is added inside the ur_10.agents folder.

## 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

# Description

Earlier, the "startup" events were only triggered when used inside an RL
environment. This MR makes sure they are also called inside the simple
environment version as well.

Fixes #664

## 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
- [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 MR adds schemas and spawners to create deformable bodies based on
primitive shapes. It uses the latest PhysX 5.4 support for FEM
simulation of deformable bodies. The MR adds the required demo and docs
changes.

## Type of change

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

## Screenshots

https://github.com/isaac-sim/IsaacLab/assets/12863862/9c239d6d-098d-4c70-b6fd-0a73c74c80c4

## 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

# Description

Adds RL configs to the Franka cabinet play environment

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

# Description
This PR:
* enables per test timeout setting.
* reduces default timeout to 2 mins (120 secs)
* sets `test_environments.py` to have a timeout of 20 mins (1200 secs)
* mounts `tools` dir into docker container 

Fixes #548

<!-- 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
- 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
- [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 run all the tests with `./isaaclab.sh --test` and they pass
- [ ] 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

Fixes bug introduced in https://github.com/isaac-sim/IsaacLab/pull/621

The error was using `os.path.abspath()` instead of `os.path.isabs()` to
check if a path exists. This would always return a value (as it actually
converts to an absolute path) so the if branch was never entered for
relative paths.

Fixes #556

## 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

- [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

# Description

Fixes Isaac Lab conda installation  

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

# Description

Realized that #631 did not deal properly with the case when not in a
conda or docker. This MR re-writes the logic to hopefully make the
operation safe.

## 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
- [ ] 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

# Description

There were minor quote issues in the docker container instructions. This
MR fixes those.

## Type of change

- This change requires a documentation update

## Checklist

- [ ] 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

# Description

Previously, we always assumed heterogeneous environment setup, which
performed cloning on a per-actor basis during spawning of actors. In
some direct workflow environments, a redundant cloning call was made at
the end of environment setup to perform cloning on a global scope.

With this change, we determine whether to perform cloning on a per-actor
or global scope based on the `replicate_physics` parameter in
`InteractiveSceneCfg`. When `replicate_physics=True`, homogeneous
environment is assumed and cloning will only happen on a global scope.
This reduces the time required for cloning for homogeneous setups. For
heterogeneous environments, set `replicate_physics=False` and cloning
will happen per-actor.

## Type of change

- 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
- [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

Earlier the script hard-coded with path to Isaac Sim installation as the
sym-linked directory "_isaac_sim". However, when doing PIP installation,
this workflow doesn't hold. The MR modifies the scripts `isaaclab.sh`
and `isaaclab.bat` to now check for PIP package installation and get
paths from there if they exist.

Fixes #516, #629

## 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
- [ ] 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: Kelly Guo <kellyg@nvidia.com>

# Description

Since the LiDAR configuration was added to the assets extension, the
`test_valid_configs` test is failing.
This MR removes sensors from configuration testing. The current set-up
is not suitable for sensors, which require additional set-up (like
creating a prim first or adding a mesh for the LiDAR).

## 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
- [ ] 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

Add a lidar pattern for the `RayCaster` sensor. The pattern is
determined by number of channels, horizontal and vertical field of view
and corresponding horizontal resolution. An example config for a
Velodyne VLP 16 is provided.

## Type of change

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

## Screenshots

![Screenshot from 2024-07-02
10-13-45](https://github.com/isaac-sim/IsaacLab/assets/57946385/31c87608-9d4d-4a11-9ad5-1ced954aa750)

## 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
- [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

The deprecation notice has been out for a while. The MR removes the body
PhysX view from the rigid object and articulation classes. This is no
longer needed as their respective root views expose all the data needed
for them.

This is a breaking change, and we lose compatibility with Isaac Sim
2023.1.1.

Fixes #237

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- 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
- [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 MR mainly fixes the documentation to make instructions clearer. The
script was unclear about where the workspace path needs to be and how it
can be resolved. The MR makes sure these cases are dealt and reported
correctly.

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

# Description

Ever since we upgraded the torch version from 2.0.1 (in Isaac Sim
2023.1.1) to 2.2 (in Isaac Sim 4.0), we have seen some of the tests
(such as `test_articulation.py`) fail due to improper deinitialization
of the created class.

This MR fixes this issue by creating a dummy tensor inside the
`SimulationContext` in Isaac Lab. While this is a hack, it is effective
and helps alleviate the problem. It is hard to figure out the root cause
without really understanding what changed on the torch side.

Fixes #639

## 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`
- [ ] 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

# Description

This pull request adds support for running IsaacLab on clusters that use
PBS job schedulers (e.g. Franklin@IIT). Currently, it only supports
SLURM. The job submission scripts have been modified to choose between
SLURM or PBS job schedulers. The user can opt for the required job
scheduler from `docker/cluster/.env.base` under cluster specific
settings.

Tested successfully on Franklin@IIT HPC.

Fixes #599 

## 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`
- [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 run all the tests with `./isaaclab.sh --test` and they pass
- [ ] 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