# Description

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This PR adds a new ManagerBasedRLEnv for a three cube stacking task with
a Franka arm.

Docs updated to add new environment type and env tested with
test_environments.py script.

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## Type of change

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

## Screenshots

![franka_stack](https://github.com/user-attachments/assets/2f14059c-1117-44f1-87db-c6b5aaab2a11)


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

# Description

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This PR adds a recorder manager (RecorderManager) and relevant utility
classes for recording data produced in various reset and step stages in
manager-based environments.

Wither the built-in recorder manager, users can create custom recorder
terms in their environment configurations with callback functions
returning tensors to be recorded as environments advance. It is
particularly useful for implementing an app that collects human-operated
demos and for those who want to record robot actions for
post-validation/replay in Isaac Lab environments.

The recorder manager works in both single- and multi-environment use
cases. An episode for an environment instance is exported to a dataset
file, via a dataset file handler, upon completion (a termination term is
signaled a reset to the environment instance is triggered).

By default, the recorder manager is inactive (by assigning no recorder
terms in the default configuration), which should have minimal
performance impact for existing apps that do not require data recording.

## Type of change

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- New feature (non-breaking change which adds functionality)
- This change requires a documentation update -- to be updated in later
PRs

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

# Description

The entry_point `RLTaskEnv` doesn't exist

It should be `ManagerBasedRLEnv`

## Type of change

- This change requires a documentation update

## Checklist

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

# Description

This change adds warp-lang as a module dependency for omni.isaac.lab. In
certain workflows, the warp module was not being found on
initialization. In addition, missing isaac sim pip modules are now added
to the documentation to make sure all dependencies are installed.

## Type of change

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

## Checklist

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# Description

Due to recent release of Gymnasium 1.0.0, this now becomes the Gymnasium
version that gets installed when running the installation process for
Isaac Lab. Gymnasium 1.0.0 requires all environments to be a subclass of
`gym.Env` when using the `make` interface. This change makes the
`DirectMARLEnv` a subclass of `gym.Env` to satisfy this requirement.

Fixes #1002 

## 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

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## Checklist

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`./isaaclab.sh --format`
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---------
Signed-off-by: Michael Gussert <michael@gussert.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Updates code for release 1.3.0

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

# Description

This change fixes bugs in Articulation class `write_joint_limits_to_sim`
method, where previously env_ids and joint_ids were not taken into
account when ids passed in are not None.

## Type of change

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applicable. -->

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


## Checklist

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# Description

This change adds a new page highlighting the Isaac Lab ecosystem and
relationship with Omniverse and Isaac Sim. It also clarifies the
installation steps with recommendations on when each installation
approach should be used.

## Type of change

- This change requires a documentation update


## Checklist

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# Description

Adds a rigid body collection class, which allows to spawn multiple
objects in each environment and access/modify the quantities with a
unified (env_ids, object_ids) API.

## Type of change

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

## Checklist

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# Description

Adding Isaac Lab Reference Architecture documentation to present an overview of the end-to-end robot learning process with Isaac Lab.

## Checklist

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

# Description

A minor change to automate where the config directory is located.

## Motivation

If user wants to copy these files to their own project, they shouldn't
have to change the paths in the registry.

# Description

Meshes can be generated with Y up-axis and in cm format. Currently,
these meshes would not be rotated or scaled when loading in our stage,
which is Z up and m scale. This PR allows scaling and rotating meshes
during the mesh converter process.

## 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

Fixes the default value for the fix base attribute in urdf converter
config

Fixes #1339 


## Type of change

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

## Checklist

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

# Description

Improve omni.isaac.lab_tasks loading time

(13th Gen Intel® Core™ i9-13950HX × 32)
* Before: 3.66 seconds
* After: 84 milliseconds

## Screenshots

Original (no changes)
![Screenshot from 2024-10-27
09-32-44](https://github.com/user-attachments/assets/2245d1c3-b0c8-47fc-8bc3-dd09c5e5303d)

Define task entry points as string when registering
![Screenshot from 2024-10-27
18-12-20](https://github.com/user-attachments/assets/574fbddd-cd77-4b78-83ea-99c21dbcb214)

Define task entry points as string when registering + Ignore `mdp`
directories during import.
![Screenshot from 2024-10-28
10-20-00](https://github.com/user-attachments/assets/6fe6744c-ad2c-42fc-b6fa-ae1966281cbb)


## Checklist

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

# Description

Remove TensorDict usage from Isaac Lab

## Type of change

- Breaking change... for those ones using TensorDict specific API such
as `camera.data.output.to_dict()` or `camera.data.output.sorted_keys`

## Screenshots

Before

![Screenshot from 2024-10-30
12-45-06](https://github.com/user-attachments/assets/2dc0e827-3e12-4ae9-849e-e9f75c718157)

After

![Screenshot from 2024-10-30
16-04-35](https://github.com/user-attachments/assets/715b6cb0-9f87-4938-8dbd-5c56203cb90e)

## Checklist

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

This MR fixes the regression in #1337. The images were located in the
wrong directory. Please be careful.

P.S.: The images are very low in resolution, and they don't support the
dark theme. It would be great to include this as part of this MR to
avoid this issue.

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

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# Description

Added support to define tuple of floats to scale observation terms by
expanding the `ObservationManagerCfg.scale` attribute.

## Type of change

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

## Checklist

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# Description
resolves: https://github.com/isaac-sim/IsaacLab/issues/1000
resolves: https://github.com/isaac-sim/IsaacLab/issues/1011
depends: https://github.com/isaac-sim/IsaacLab/issues/1006

## Type of change
- New feature (non-breaking change which adds functionality)
- This change may require a documentation update

## Checklist

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# Description

Cache PhysX view's DOF paths before looping when processing fixed
articulation tendons to improve loading time.

For the Shadow Hand task, calling `self.root_physx_view.dof_paths` when
iterating over all joints to find tendons attached (in
`Articulation._process_fixed_tendons` method) is an "expensive"
operation. Timing can be reduced from 2.2 seconds to 300 milliseconds
(13th Gen Intel® Core™ i9-13950HX × 32, RTX 5000) by calling
`self.root_physx_view.dof_paths` once

## Screenshots

Without any change
![Screenshot from 2024-10-28
13-30-07](https://github.com/user-attachments/assets/0bd61f3d-3013-49fb-8540-c08236b974cf)

After cache PhysX view's DOF paths before looping
(`self.root_physx_view.dof_paths` called only once)
![Screenshot from 2024-10-28
13-26-02](https://github.com/user-attachments/assets/6c2af86e-bd21-4b65-9c13-9610e6648e8d)


## Checklist

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

Earlier, we were depending on Isaac Sim's for the articulation action
type. The type-hinting for the attributes in there used numpy and list.
However, the Isaac Lab framework uses torch tensors everywhere so this
led to pylance complaining about the types.

The MR makes a drop in replacement with the correct types for our
usecases.

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

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exists there

# Description

- The purpose of this change is to enhance the robustness of the code by
adding a sanity check to ensure that the command term is of a valid type
before it is processed (Just like ActionTerm). This validation step is
crucial for preventing unexpected errors and maintaining system
stability, especially when dealing with dynamically configured command
terms that may vary based on external inputs or configurations. By
validating the type of the command term, we can provide early feedback
to developers and users, helping to catch misconfigurations or type
mismatches during the initial stages. This change aims to improve the
overall reliability and maintainability of the codebase.

- It also fixes iteration over group_cfg_items inside the observation
manager.

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

# Description

Fixes #1287

**Issue details**: When using the convert_mesh.py script to convert .obj
to .usd, if the obj file in this scene starts with a
number(0c334eaabb844eaaad049cbbb2e0a4f2.obj), while the USD API
prohibits names that start with a number
[Link](https://openusd.org/release/api/group__group__tf___string.html#gaa129b294af3f68d01477d430b70d40c8).
This issue is described in more detail here:
[Link](https://forums.developer.nvidia.com/t/cant-create-prims-if-name-starts-with-number/249617).

Also deleted useless debugging output code.

## Type of change

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

## Checklist

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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

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

# Description

Fixes the commented out tests in the rigid body test

## Type of change

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

## Checklist

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# Description

- Fixes the image feature extractor in observations
- Adds missing dependencies in setup.py

## Type of change

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

## Checklist

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# Description
Adding reference flow diagram for manager-based and direct RL task
workflows


<!-- As a practice, it is recommended to open an issue to have
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This makes it easier for the community to keep track of what is being
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## Type of change

- Documentation Change



## Checklist

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---------
Signed-off-by: OOmotuyi <159472067+OOmotuyi@users.noreply.github.com>

# Description

This adds an observation term to be able to easily extract features from
the images, and adds a cartpole example of using this new term.

The new ResNet18 cartpole converges in less than 100 epochs.

## Type of change

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

- 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

I will update the version in the changelog and extension.toml after
approval prior to merging in due to it causing merge conflicts when main
updates

---------
Signed-off-by: glvov-bdai <glvov@theaiinstitute.com>
Signed-off-by: garylvov <67614381+garylvov@users.noreply.github.com>
Co-authored-by: garylvov <67614381+garylvov@users.noreply.github.com>
Co-authored-by: garylvov <gary.lvov@gmail.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>

# Description

* Fixes a bug in RayCasterCamera's print function that was accessing
`RayCaster.meshes` instead of `self.meshes`
* Fixes a bug in BaseEnvWindow that was trying to access attributes from
undefined configs when building UI elements for action and command terms


## Type of change

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

## Checklist

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

# Description
Two changes are made to fix _[Bug Report] sb3_ppo_cfg.yaml not work for
Isaac-Lift-Cube-Franka-v0 #1248_:

1. Add `sb3_cfg_entry_point` to
`source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/init.py`
2. Change `net_arch=[32, 32, dict(pi=[256, 128, 64], vf=[256, 128,
64])]` to `net_arch=dict(pi=[256, 128, 64], vf=[256, 128, 64])` in line
19 of `sb3_ppo_cfg.yaml`.


Fixes #1248

## Type of change

- 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] My changes generate no new warnings

# Description

Adds missing typehint in reward function

## 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

Fixed issues with defining Gymnasium spaces in Direct workflows due to
Hydra/OmegaConf limitations with non-primitive types (see
https://github.com/isaac-sim/IsaacLab/discussions/1264#discussioncomment-11045011)

```
omegaconf.errors.UnsupportedValueType: Value 'XXXXX' is not a supported primitive type
```


## 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
- [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

<!--
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
-->

# Description

This update addresses a minor inconsistency found in the Isaac Lab
installation documentation for Windows.

While following the installation instructions on Isaac Lab for "Option
2: Installation using Isaac Sim binaries" on Windows, I encountered the
following lines:

> `C:\Users\%USERPROFILE%\AppData\Local\ov\pkg\isaac_sim-*`, with `*`
corresponding to the Isaac Sim version.

> `set
ISAACSIM_PATH="C:\Users\%USERPROFILE%\AppData\Local\ov\pkg\isaac-sim-4.2.0"`

This seemed redundant, as `%USERPROFILE%` already refers to the path
`C:\Users\name_of_user`.

I have compiled and verified the documentation changes to ensure proper
display. Additionally, I tested this update on a Windows system,
confirming that it works as intended.

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

# Description

This PR add in the ability to properly convert configclass to dict if a
configclass instance contains a list of configclasses.

Fixes #1219 

## Type of change

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

## Checklist

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

# Description

The path to check if the first passed argument is a container profile
included the wrong path. This PR fixes the path.

## 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 change adds the option to pass command line arguments directly to
OV kit. This avoids the need of having to modify the app files to change
settings for OV.


## 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

This change adds a render config to the simulation context and
highlights current limitations and workarounds for issues with the
TiledCamera class.

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

# Description

Fixes the broken URLs in README.md and CONTRIBUTING.md

## Type of change

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

## Screenshots

Not applicable for this change

## Checklist

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

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

# Description

Added a mechanism to check for the validity of a configclass object.
A configclass object is valid if it contains no MISSING attributes.

## 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
- [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

Since I wanted to use Isaac Lab for training a Unitree Go2, I played
around with the examples to get used to the framework. While playing
around, I got the following error message:

```
reward = torch.sum(body_vel.norm(dim=-1) * contacts, dim=1)
RuntimeError: The size of tensor a (19) must match the size of tensor b (4) at non-singleton dimension 1
```

The reward term was added as follows:
``` 
sliding_feet = RewTerm(
        func=mdp.feet_slide,
        params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*foot")},
        weight=0.1
    )
``` 

After some code investigation, I found out, that inside the feet_slide
function, the body velocities are queried as
"asset.data.body_lin_vel_w[:, asset_cfg.body_ids, :2]". This would
return the velocity of all body parts, since asset_cfg.body_ids contains
the ids of all body parts.

Therefore we need to change the line to "body_vel =
asset.data.body_lin_vel_w[:, sensor_cfg.body_ids, :2]" since we only
want the velocity of the body parts that contain the force sensors.
This means we have to change `asset_cfg.body_ids` to
`sensor_cfg.body_ids` inside the tensor call

Doing this leads to the successful running of the simulation without failure.

No additional dependencies are necessary for this fix.  

## 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] 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