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This PR adds a XR near plane config

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

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# Description

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

## Type of change

- Documentation

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# Description
Don't query for headpose until https://nvbugspro.nvidia.com/bug/5173837
is fixed
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# Description

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

## Type of change

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- Documentation update

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

## Type of change

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- Documentation update

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---------
Co-authored-by: Ashwin Varghese Kuruttukulam <ashwinvk@nvidia.com>

Small refactor to add headpose to the openxr device

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

# Description

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

## Type of change

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applicable. -->

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


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# Description

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

## Type of change

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


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# Description

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

## Type of change

- Documentation

## Checklist

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feature works (NOTE: test added to cloudxr docker repo)
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exists there

# Description

The following bugs in Mimic are fixed:

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

## Type of change

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applicable. -->

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

## Checklist

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# Description

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

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- This change requires a documentation update

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

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

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`./isaaclab.sh --format`
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extension's `config/extension.toml` file

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

# Description

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

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## Type of change

- This change requires a documentation update

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# Description

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


## Type of change

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


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

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

Fixes # (issue)

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

Bug fixes and enhancements to Mimic.
Changes include:

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

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

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Update cli args if conditional defaults are enforced by app launcher

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# Description

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

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

## Screenshots


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# Description

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

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

## Type of change

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


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# Description

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

## Type of change

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applicable. -->

- Documentation update


## Checklist

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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

Update CloudXR Teleoperation documentation with Known Issues.

## Type of change

- Documentation

## Checklist

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

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

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

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

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

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

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

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

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

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

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

Fixes # (issue)

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

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- [x] 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

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# Description

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

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

Fixes # (issue)

## Type of change

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

## Screenshots

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

## Checklist

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

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

# Description

Update CloudXR Teleoperation documentation with newer task and button
names

## Type of change

- Documentation

## Checklist

- [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 my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

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

## 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)


## Screenshots

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## Checklist

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

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# Description

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

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

## Type of change

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applicable. -->

- Documentation update

## Screenshots

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## Checklist

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

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to check the contribution guidelines.

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

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applicable. -->

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

Screenshots from rendering preset script

performance:

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

balanced:

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

quality:

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

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

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

# Description

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


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discussions on the proposed pull request.
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## Type of change

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

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

## Screenshots

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## Checklist

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

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# Description

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

## Type of change

- This change requires a documentation update

## Screenshots

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## Checklist

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

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

## Checklist

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

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

Updates the OpenXR kit file `isaaclab.python.xr.openxr.kit` to inherit
from `isaaclab.python.kit` instead of `isaaclab.python.rendering.kit`,
which caused render artifacts in the scene.

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<!-- As you go through the list, delete the ones that are not
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- Bug fix (non-breaking change which fixes an issue)

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- [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

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

# Description

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to check the contribution guidelines.

Link:
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Documentation update for Isaac Lab Mimic for V2 release. Adds steps for
training visuomotor policy and dexmimic data generation.


## Type of change

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applicable. -->

- Documentation update

## Screenshots

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

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This PR adds GR00T Mimic support for GR1, including addition of:

1. GR1T2 Scene
2. Pink IK controller
3. Integration for GR1T2 scene with Groot Mimic. Record, Annotate and
Data Generation
4. Training scripts for GR1T2 scene using Groot Mimic Data
5. Coding style fixes for math.py

1. https://github.com/isaac-sim/IsaacLab-Internal/pull/267
2. https://github.com/isaac-sim/IsaacLab-Internal/pull/280
3. https://github.com/isaac-sim/IsaacLab-Internal/pull/287
Note: These branches have been merged into this PR branch for testing.

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

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- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] documentation PR is here:
https://github.com/isaac-sim/IsaacLab-Internal/pull/299
- [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

Note: There are these 3 TODOs related to moving USD files to the correct
location. But I'm planning to move those to the right location and then
make the changes in a follow up MR.

---------
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>
Co-authored-by: Jiakai Zhang <jaczhang@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: Peter Du <peterd@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Update CloudXR documentation with official sample app repository name.

## Type of change

- Documentation

## Checklist

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

- Allows users to exit on 1 Ctrl+C instead of consecutive 2 key strokes.
- Allows physics reset during simulation.

Example:

**env.sim.reset() # resets physics simulation
env.seed(seed) # ensures running with the same seed
env.reset()**

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

- [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

A recent change changed the default behavior of CLI device parsing in
AppLauncher, where if None was passed to the CLI, the CLI device
argument stayed as None instead of setting to the default cuda:0 device.
This change reverts to the previous behavior and restores cuda:0 as the
default device if None is passed, unless --xr is also passed, in which
case, we default to cpu.

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

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