# 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

- [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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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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applicable. -->

- 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

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

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to check the contribution guidelines.

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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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applicable. -->

- 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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---------
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`
- [x] I have made corresponding changes to the documentation
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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: 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

<!-- 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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`./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
`./isaaclab.sh --format`
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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

<!-- As you go through the list, delete the ones that are not
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
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
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
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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`
- [x] I have made corresponding changes to the documentation
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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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# 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

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

- [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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# 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
- [ ] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
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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

There was a lot of code duplication happening inside the `Articulation`
class. This MR takes a step towards untangling some of the confusion
that gets caused by default and non-default data attributes inside the
class.

The MR includes the following changes:

* Removes operations where we set the data to "torch.zeros" and in the
next function assign them the value from PhysX. This made the code
bulkier and complex for no reason.
* Adds docstring clarifications to make it clear what is what. The
default values are now whatever the user configures from their
configuration of the articulation class.
* Updates the `soft_joint_pos_limits` when the user writes the joint pos
limits to the simulator.
* Renames parameters for a consistent nomenclature:
* ``joint_velocity_limits`` → ``joint_vel_limits`` (to match attribute
``joint_vel`` and ``joint_vel_limits``)
* ``joint_limits`` → ``joint_pos_limits`` (to match attribute
``joint_pos`` and ``soft_joint_pos_limits``)
  * ``default_joint_limits`` → ``default_joint_pos_limits``
* ``write_joint_limits_to_sim`` → ``write_joint_position_limit_to_sim``
  * ``joint_friction`` → ``joint_friction_coeff``
  * ``default_joint_friction`` → ``default_joint_friction_coeff``
* ``write_joint_friction_to_sim`` →
``write_joint_friction_coefficient_to_sim``
  * ``fixed_tendon_limit`` → ``fixed_tendon_pos_limits``
  * ``default_fixed_tendon_limit`` → ``default_fixed_tendon_pos_limits``
  * ``set_fixed_tendon_limit`` → ``set_fixed_tendon_position_limit``

Fixes #1583, #1904

## 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
- [ ] 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 Tigue <166445701+jtigue-bdai@users.noreply.github.com>

# Description

Updates versions in docs for 2.0.2.

## Type of change

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

- This change requires a documentation update

## Checklist

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

# Description

The RayCasterCamera test checks that the vertical aperture should match
the value specified in the config. However, the config's vertical
aperture is not set. This PR updates the test to check against the
default computed vertical aperture value instead.

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

Fix paths in `launch.json` to be adjusted to the new repo structure.

Fixes #1976

## 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

# Description

The last MR before we make 2.0.2 release.

## 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
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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

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

# Description

In the Isaac Sim 4.5 release, ``TiledCamera`` produces incorrect
semantic and instance segmentation outputs when using instanceable
assets. With scene instancing enabled, only the first tile generates
correct outputs while other tiles produces blank data. This change
introduces a workaround for the issue by disabling instancing on the
assets when semantic segmentation and instance segmentation data is
required from ``TiledCamera``. This workaround introduces a small
slowdown in performance, but it's not significant when running with
smaller scenes, which is normally the case when using rendering.

Fixes #1946 

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

# Description

This is a documentation only change that adds instructions for updating
pytorch to the nightly build when running with 50 series GPUs to avoid
CUDA issues. In addition, we added the v2.0.1 release notes and an extra
note for the v2.0.0 release for a breaking change in the semantic and
instance segmentation outputs when using tiled cameras.

Fixes #1888

## Type of change

- This change requires a documentation update

## Checklist

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`./isaaclab.sh --format`
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extension's `config/extension.toml` file
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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>

# Description

In the Camera class, we assumed that the default device for the torch
tensor is CPU when we allocate the `rot` buffer during init. This isn't
always the case if the user overwrites the torch device beforehand. This
fix explicitly sets the tensor device to CPU on allocation.

Fixes #1863 

## 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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`./isaaclab.sh --format`
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- [ ] 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

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- [ ] I have not done this task
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# Description

Reverts to old render settings.

Fixes #1844 

## Type of change

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

## Screenshots

Before:

![pre](https://github.com/user-attachments/assets/db3de96a-6b52-440f-9ed0-44185359e020)

After:

![fdm_perceptive_demo_sim_with_traj_white_env1](https://github.com/user-attachments/assets/fac654f6-2a94-4417-b033-edc34c055ce3)


## Checklist

- [ ] 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
- [ ] 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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

I find the rendered motion_vectors (or optical flow) are not aligned
with other modalities (such as RGB, depth, segmentation, etc.).
This commit is a workaround to fix this misalignment issue.

Fixes #2003

<!-- 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

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

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

## Screenshots

Before:

![image](https://github.com/user-attachments/assets/acd2ba5c-a769-4759-b95b-1c31180355bb)

After:

![image](https://github.com/user-attachments/assets/a7c82707-9862-4c06-a83f-3950cdf7ba14)

## 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

---------
Signed-off-by: Hongyu Li <lihongyu0807@icloud.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Fixes the rendering error when trying to have debug visualization
enabled for a raycaster whose data points contain inf values.

Observed error message
```
2025-03-04 09:56:31 [39,045ms] [Error] [carb.graphics-vulkan.plugin] GPU crash is detected. Trying to write crash dump into: /home/pascal/isaacsim/v4.5/kit/logs/Kit/Isaac-Sim/4.5/kit_20250304_105552-0.nv-gpudmp
2025-03-04 09:56:31 [39,045ms] [Error] [carb.graphics-vulkan.plugin] GPU crash dump is successfully written
```

## 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

Previously in the Articulation class, there was a single method for
setting joint state. However, it is desirable at times to only set joint
position or velocity. For instance, for randomization events that pushes
a joint by adding a random velocity to it.

This MR separates the `write_joint_state_to_sim` into separate setters
for joint positions and joint velocities. This goes inline with the
method to set root pose, root velocity or the root state.

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

# Description

This MR fixes the propagation of the `activate_contact_sensors`
attribute to the `MultiAssetSpawnerCfg` class. Previously, this value is
always set to `False`, leading to incorrect contact sensor settings for
spawned assets.

Fixes #1956 

## 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

Since we have a more dedicated Isaac Lab Ecosystem page in the
documentation, this MR removes the FAQ page and puts all its information
to Isaac Lab Ecosystem.

## 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

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

# Description

- Update suggested Isaac Sim binary installation path
Follows the paths (`~/isaacsim` on Linux, `C:\isaacsim` on Windows)
suggested by Isaac Sim docs:

https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_workstation.html
- Update docs to emphasize that only Isaac Sim binary installation
supports vscode integration
- Fix minor typos

Fixes: https://github.com/isaac-sim/IsaacLab/issues/1951

# Description

This MR does the following:

* Simplifies the names of sensor overview images by simply putting them
into a directory
* Moves sensors to core-concepts in the documentation
* Fixes script headers in tutorials/demos to be consistent

## 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
- [ ] 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, the `pyproject.toml` was not including the newly added
`isaaclab_rl` and `isaaclab_mimic` extensions. This affected the import
ordering. This MR adds all of them under known extras.

## 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

This MR adds an event term for randomizing the collider's rest and
contact offsets.

- 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
- [ ] 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

The default plane configuration supports setting the plane color, but
this option is not currently exposed via the terrain importer. This PR
adds a ``color'' field to the terrain importer that is only used for
configuring a plane.

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

<img width="912" alt="image"
src="https://github.com/user-attachments/assets/4e509270-a953-49e8-88e7-b67bc1a92d2c"
/>

<img width="909" alt="image"
src="https://github.com/user-attachments/assets/0aa77530-befe-4c30-991d-e668561b9793"
/>

Configuration:

```python
terrain = TerrainImporterCfg(
            prim_path="/World/ground",
            terrain_type="plane",
            terrain_generator=None,
            max_init_terrain_level=None,
            collision_group=-1,
            physics_material=sim_utils.RigidBodyMaterialCfg(
                friction_combine_mode="multiply",
                restitution_combine_mode="multiply",
                static_friction=1.0,
                dynamic_friction=1.0,
            ),
            color=(1.0, 0.0, 0.0), # Red
            debug_vis=False,
        )
```

- [ ] 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

---------
Signed-off-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

The `disable_contact_processing` flag inside the SimulationContext
causes confusion, as we were setting it to True in many environments,
but it should be False since we want PhysX to report the contacts.

This MR changes the default behavior now. It is always disabled (i.e. no
contact reporting), until a contact sensor is created. It makes sure
that the performance isn't hampered in situations where the user doesn't
want to create any contact sensors.

## 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
- [ ] 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 previous fix in #1654 was checking if `effort_limits_sim` is None
instead of checking `cfg.effort_limits_sim` for explicit actuators. This
did NOT work as effort limits sim is a tensor that gets assigned the
value on initialization.

The new fix now adds an implicit/explicit model attribute to the
actuator model to ensure the right defaults are getting set. It moves
all the implicit actuator warning code to its class to keep the
articulation class cleaner.

We also revert the behavior of setting velocity limits for implicit
actuators to the state before #1509. Before that change, the parameter
`velocity_limit` was set in the configurations but not getting passed
through. The MR #1509 allowed these values to be set which caused many
of the assets to not train anymore or behave differently between
IsaacLab versions. We now revert this behavior with a warning. If users
want to set the limits, they should use the `effort_limit_sim` and
`velocity_limit_sim` quantities.

Fixes #1837

## Type of change

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

## Screenshot

The training of Allegro hand environment:
* Green: The current main at 6a415df2
* Black: This MR
* Orange: Commenting out the setting of `write_joint_velocity_to_sim`
which was introduced in #1509.


![image](https://github.com/user-attachments/assets/8ca1ded2-7d8f-4123-aea8-9082559885d7)


## 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
- [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: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>

# Description

This MR adds a script to run training over a subset of environments. I
have mostly checked this for rsl-rl library.

The script adds the commit tag as a run name allowing us to compare
different versions of code nicely.

## Type of change

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

## Screenshots

Example tensorboard log:

```bash
./isaaclab.sh -p tools/run_train_envs.py --lib-name rsl_rl
```


![image](https://github.com/user-attachments/assets/b065bef6-b149-41e7-a5b3-5d98df5c766b)

## 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

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

# Description

Simply updated code comments in tutorial scripts, after update, users
can directly copy and run tutorial scripts in terminal

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

## Description

Implement deterministic evaluation for skrl's multi-agent algorithms in
`play.py` script (fix
https://github.com/isaac-sim/IsaacLab/issues/1935).
The current application only takes into account single-agent algorithms.

## 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