# Description

Noticed that we were checking for function arguments inside a for-loop,
which isn't necessary. Moved this check outside to make it simpler to
read the code.

Also noticed a small corner case in the event manager when reset is
called and `env_ids` is None. In that case, it would bypass the check
for min steps between reset and directly apply the term to the
environment. I am not sure if that was intentional. if so, I can revert
the behavior.

## 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

Fixes cluster setting after merge of [python
conversion](https://github.com/isaac-sim/IsaacLab/commit/f565c33d7716db1be813b30ddbcf9321712fc497)

## 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

Long lists become really hard to read and understand. This MR switches
them to tables instead.

## Type of change

- This change requires a documentation update

## Screenshots


![Image](https://github.com/user-attachments/assets/783768e2-da93-4b48-ad6e-2f99463ec615)

## 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 PR recreates the capabilities initially made by @farbod-farshidian
[here](https://github.com/isaac-sim/IsaacLab/pull/455) for the new
Pythonized-container interface.

## 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
- [ ] 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

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---------
Signed-off-by: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>
Signed-off-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>

This PR replicates the capabilities of `container.sh` in Python, and
breaks its capabilities up into several files under a new directory
`/docker/isaaclab_container_utils`, as well as a superior interface in
`container.py`. The intention of this change is to make our
container-mediating code more easily readable, debuggable, and
modifiable. It is also done in the hopes that it can be more easily
distributed as we see a desire from users to [compose and modify our
setup](https://github.com/isaac-sim/IsaacLab/pull/455). It also has the
additional benefit of needing fewer sudo installs because of Python's
native yaml handling.

The central class, `IsaacLabContainerInterface`, contains a lot of the
original utility of the script, and several of the current
`container.py` scripts options simply configure it and call a method.
@pascal-roth `apptainer_utils.py` and the `./container.py job/push`
logic are separated out, I'm curious what you think of this delineation.
I also haven't been able to fully test that end of things as I don't
have a cluster to use, though I did verify that it worked to the extent
I could.

I will update the docs when I have received approval

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

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- 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
- [ ] 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

---------
Signed-off-by: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>
Signed-off-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>

# Description

The rl_games train.py script did not include the checkpoint and sigma.
(it was none)
I have added these features and verified their operation.

- 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

Adds the attribute `preserve_order` in `JointActionCfg`, to choose whether joint-related actions should keep the same
order as how the `joint_names` are listed in the config.

Fixes #786

## Type of change

- New feature 

## 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

This MR resolves a naming discrepancy in the rsl-rl agent configuration
files across multiple tasks. By aligning all tasks to use the
`rsl_rl_ppo_cfg` naming convention, it ensures uniformity and clarity in
configuration file names.

## 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

Since the move to the ``--device`` cli to set the device to run the
simulation on, this clashes with ``--device`` for the teleoperation
environments.

This MR renames ``--device`` to ``--teleop_device`` for these examples.

## 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 importing rsl_rl configs

## 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

Previously, it was not possible to run training scripts with rl_games,
skrl, sb3 when rsl_rl was not installed.

Fixes #749 

## 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

Before setting up the device was tedious and redundant, and you would
see code like:

```python
sim_utils.SimulationCfg(device="cpu", use_gpu_pipeline=False, dt=0.01, physx=sim_utils.PhysxCfg(use_gpu=False))
```

With this MR, we simply set the desired device, and all the parameters,
such as `use_gpu_pipeline` and `use_gpu` propagate automatically,
resulting in the following:

 ```python
sim_utils.SimulationCfg(device="cpu", dt=0.01,
physx=sim_utils.PhysxCfg())
```

The command line input `--cpu` has been removed in favor of `--device device_name`, where valid options for `device_name` are `cpu` (run on CPU), `cuda` (run on GPU with device id 0), or `cuda:N` (run on GPU with device id N, for example `cuda:0`).

## Type of change

- 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
- [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 enables users to easily record videos from trained checkpoints,
which is useful for sanity checks or creating promotional videos for
research papers.

Fixes: https://github.com/isaac-sim/IsaacLab/issues/130

## 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
- [ ] 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 observation manager rigidly tried concatenating all the
terms along the last dimension at construction. However, when one has
hybrid-dimensional terms inside the observation group, this operation
would fail, leading to an error. In principle, the concatenation should
only happen when users set the attribute `concatenate_terms` to True
inside the group settings.

This MR lifts the above operation and adds a proper error when users try
to concatenate observation terms of different shapes. They must set the
concatenation flag to False if they want a "hybrid" observation group.

Fixes #768

## 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
- [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 change refactors the shadow hand environment into a general in-hand
manipulation environment and extends it with the Allegro hand.

## 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

# 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

<!--
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- [ ] I have not done this task
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---------
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