Adds spatial tendon APIs.
TODO: unit tests will be added in a separate PR.

Fixes # (issue)

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

# Description

Adds user guide on CloudXR Teleoperation on Kubernetes cluster.

## Type of change

- This change is a documentation update

## Screenshots

n/a

Did a proof read in a local build.

## Checklist

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Allows cameras to be enabled when XR mode is active. By default, the
record_demos.py script will strip envs of any
cameras if xr mode is used. If `--enable_cameras` is passed as an
argument to the script, externals cameras will remain
and function.

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Fixes #2491

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This change reverts some changes in the unit tests that were hacks
required in previous kit builds. Some of the issues have been fixed in
more recent versions.

We are now also setting `/app/player/useFixedTimeStepping=False` in
Isaac Lab as Isaac Sim used to do this by default, but is no longer
applying this setting in 5.0.

We are also dropping official support for Ubuntu 20.04 and adding
support for Ubuntu 24.04.

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# Description

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Fixes a bug where the XR kit file settings were split by app.python kit
settings which caused the AVP retargeting to perform incorrectly.

The new XR settings have been shifted to not split the settings.

Fixes # (issue)

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# Description

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## Checklist

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# Description

This change enables the Fabric Scene Delegate (FSD), which should help
speed up workflows requiring rendering as it optimizes the
transformation updates for rendering.

Fixes # (issue)

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## Checklist

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

# Description

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Updates the XR related kit files to add arguments that disables kit app
from also printing python output. This prevents kit from reporting
python user warnings and other logging messages as errors during
runtime. The other kit files already contain these arguments to suppress
kit from double printing python logs.

Fixes # (issue)

Fixes false reporting of kit errors.

## Type of change

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

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# Description

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Adds a text description telling the users how to complete the nut
pouring task.


## Type of change

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- Documentation update

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Adds a feature where users can record a physics animation and bake the
operations into an ovd file.

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---------
Signed-off-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Co-authored-by: jaczhangnv <jaczhang@nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Yanzi Zhu <yanziz@nvidia.com>
Co-authored-by: nv-mhaselton <mhaselton@nvidia.com>
Co-authored-by: cosmith-nvidia <141183495+cosmith-nvidia@users.noreply.github.com>
Co-authored-by: Michael Gussert <michael@gussert.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>
Co-authored-by: Peter Du <peterd@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: chengronglai <chengrongl@nvidia.com>
Co-authored-by: pulkitg01 <pulkitg@nvidia.com>
Co-authored-by: Connor Smith <cosmith@nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <ashwinvk@nvidia.com>
Co-authored-by: lotusl-code <lotusl@nvidia.com>

Native livestreaming was previous deprecated and has now been removed.
We kept the 2 livestream options, now both using WebRTC livestreaming

LIVESTREAM=1 can now be used for WebRTC streaming over a public network
LIVESTREAM=2 can be used for WebRTC streaming over a local or private
network.

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

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

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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>

# Description

When using conda with binary installation of Isaac Sim, we require first
creating the symlink _isaac_sim before creating the conda environment so
that we can find the source file to set up the conda environment
correctly. This change adds a warning message if we do not detect
_isaac_sim when the conda environment is created as a way to indicate
potential issues for users.


## 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
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# Description

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1. Adds an optional CLI argument to the robomimic training script that
can be used to set the number of training epochs. If set, the epochs
defined by the JSON training config is overwritten.

2. Save the last training epoch regardless if it does not satisfy the
training interval defined in the JSON training config. This ensures that
a model will always be saved even if the user specifies an arbitrary
epoch number that does not divide evenly by the save interval defined in
the JSON.



## Type of change

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


## Checklist

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# Description

The metrics assembler causes deletion of objects, which in turn triggers
a shape detach error that caused physics errors in some environments. It
wipes information in the metrics assembler layer and that cause a resync
event. This change disables the change listeners in the metric assembler
to avoid this.


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

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Changes:
1. Adds a new Franka cube stacking visuomotor environment as per Cosmos
requirements: higher resolution and multi-modality support.
2. Adds scripts for data pre-processing and post-processing before and
after Cosmos augmentation respectively.
3. Adds evaluation of trained visuomotor policies for robustness to
visual changes using domain randomization.
4. Makes task termination checks more strict for the Franka cube
stacking task.
5. Adds new documentation for the Cosmos imitation learning pipeline.

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

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---------
Signed-off-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Signed-off-by: samibouziri <79418773+samibouziri@users.noreply.github.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
Signed-off-by: Hongyu Li <lihongyu0807@icloud.com>
Signed-off-by: Toni-SM <toni.semu@gmail.com>
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Signed-off-by: Victor Khaustov <3192677+vi3itor@users.noreply.github.com>
Signed-off-by: AlvinC <alvincny529@gmail.com>
Signed-off-by: Tyler Lum <tylergwlum@gmail.com>
Signed-off-by: Miguel Alonso Jr. <76960110+miguelalonsojr@users.noreply.github.com>
Signed-off-by: renaudponcelet <renaud.poncelet@gmail.com>
Co-authored-by: jaczhangnv <jaczhang@nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Yanzi Zhu <yanziz@nvidia.com>
Co-authored-by: nv-mhaselton <mhaselton@nvidia.com>
Co-authored-by: lotusl-code <lotusl@nvidia.com>
Co-authored-by: cosmith-nvidia <141183495+cosmith-nvidia@users.noreply.github.com>
Co-authored-by: Michael Gussert <michael@gussert.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>
Co-authored-by: Peter Du <peterd@nvidia.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: chengronglai <chengrongl@nvidia.com>
Co-authored-by: pulkitg01 <pulkitg@nvidia.com>
Co-authored-by: Connor Smith <cosmith@nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <ashwinvk@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: samibouziri <79418773+samibouziri@users.noreply.github.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: Shundo Kishi <syundo0730@gmail.com>
Co-authored-by: Sheikh Dawood <sabdulajees@nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: Gonglitian <70052908+Gonglitian@users.noreply.github.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>
Co-authored-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
Co-authored-by: Johnson Sun <20457146+j3soon@users.noreply.github.com>
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Co-authored-by: Hongyu Li <lihongyu0807@icloud.com>
Co-authored-by: Jean-Francois-Lafleche <57650687+Jean-Francois-Lafleche@users.noreply.github.com>
Co-authored-by: Wei Jinqi <changshanshi@outlook.com>
Co-authored-by: Louis LE LAY <le.lay.louis@gmail.com>
Co-authored-by: Harsh Patel <hapatel@theaiinstitute.com>
Co-authored-by: Kousheek Chakraborty <kousheekc@gmail.com>
Co-authored-by: Victor Khaustov <3192677+vi3itor@users.noreply.github.com>
Co-authored-by: AlvinC <alvincny529@gmail.com>
Co-authored-by: Felipe Mohr <50018670+felipemohr@users.noreply.github.com>
Co-authored-by: AdAstra7 <87345760+likecanyon@users.noreply.github.com>
Co-authored-by: gao <ziqi.gao@iff-extern.fraunhofer.de>
Co-authored-by: Tyler Lum <tylergwlum@gmail.com>
Co-authored-by: -T.K.- <t_k_233@outlook.com>
Co-authored-by: Clemens Schwarke <96480707+ClemensSchwarke@users.noreply.github.com>
Co-authored-by: Miguel Alonso Jr. <76960110+miguelalonsojr@users.noreply.github.com>
Co-authored-by: Miguel Alonso Jr. <miguel.alonso@nfinite.app>
Co-authored-by: renaudponcelet <renaud.poncelet@gmail.com>

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This change updates the Isaac-PickPlace-GR1T2-Abs-v0 env to use a
steering wheel asset instead of a metal rod. The steering wheel asset is
easier to grasp.

Changes:

1. Update Isaac-PickPlace-GR1T2-Abs-v0 to use steering wheel asset
2. Update Mimic docs to reflect the change

Fixes # (issue)

Fixes poor graspability of the object once it falls in the
Isaac-PickPlace-GR1T2-Abs-v0 env.

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

A few fixes and hacks to fix recent failures in unit tests:

- TODO: enable ground plane again in tiled_camera and multi_tiled_camera
tests
- TODO: enable factory mesh insertion task when fixed in physics
- TODO: enable teddy bear environment in test_environments.py
- TODO: check if scipy test threshold makes sense

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---------
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>

# Description

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Fixes gifs in Mimic docs by hosting on download.isaacsim.com

## Type of change

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- Documentation update


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# Description

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Fixes the gif links for Mimic docs so that they render.

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- Documentation change
- 
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This will refactor the remove_camera_cfg out of record_demos.py into
xr_cfg.py so it can be used across end user scripts (record_demos.py,
teleop_se3_agent.py, etc)

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

# Description

Updated documentation for the teleop config changes. Includes
documentation for:
- Teleop device config inside the env config
- How to add new devices
- How to add new retargeters
- Updates to script params for handtracking

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## Type of change

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## Checklist

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# Description

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Update Isaac Lab Mimic docs:

1. Add new section on training visuomotor policy for humanoid
2. Add clarifications on how to collect/annotate human demos for
humanoid
3. Add section on how to tune Mimic parameters
4. Minor command updates to bring in line with latest XR changes


## Type of change

- This change requires a documentation update

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## Checklist

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---------
Signed-off-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Co-authored-by: lotusl-code <lotusl@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: jaczhangnv <jaczhang@nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Yanzi Zhu <yanziz@nvidia.com>
Co-authored-by: nv-mhaselton <mhaselton@nvidia.com>
Co-authored-by: cosmith-nvidia <141183495+cosmith-nvidia@users.noreply.github.com>
Co-authored-by: Michael Gussert <michael@gussert.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: chengronglai <chengrongl@nvidia.com>
Co-authored-by: pulkitg01 <pulkitg@nvidia.com>
Co-authored-by: Connor Smith <cosmith@nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <ashwinvk@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Increases collision stack size for factory environments as they were
exceeding the previous set values in some cases.

## Type of change

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

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The new record/teleop_se3 agent scripts unifies the callback list for
all devices. This change fixes an error that spacemouse throws when
trying to add the additional (unused) callbacks.

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This change moves the configuration of the teleop device from the end
user scripts (record_demos.py, teleop_se3.py, etc) to the env config
itself. This allows the task to specify what teleop devices are
supported along with the per env configuration of supported teleop
device.

Example teleop config inside of the env config:
```
        self.teleop_devices = DevicesCfg(
            devices={
                "handtracking": OpenXRDeviceCfg(
                    retargeters=[
                        Se3RelRetargeterCfg(
                            bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT,
                            zero_out_xy_rotation=True,
                            use_wrist_rotation=False,
                            use_wrist_position=True,
                            delta_pos_scale_factor=10.0,
                            delta_rot_scale_factor=10.0,
                            sim_device=self.sim.device,
                        ),
                        GripperRetargeterCfg(
                            bound_hand=OpenXRDevice.TrackingTarget.HAND_RIGHT, sim_device=self.sim.device
                        ),
                    ],
                    sim_device=self.sim.device,
                    xr_cfg=self.xr,
                ),
                "keyboard": Se3KeyboardCfg(
                    pos_sensitivity=0.05,
                    rot_sensitivity=0.05,
                    sim_device=self.sim.device,
                ),
            }
        )
```
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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Updates xr experience file by removing isaacsim.xr.openxr dep, and sets ar profile "performance" (#401)

- Remove dep on isaacsim.xr.openxr since it has been replaced by
omni.kit.xr
- Set AR profile rendering settings to "performance" for improved single
GPU frame rate.

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

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Update GR1 pick place env with the following:

- Increase sim dt to 120 Hz for better physics stability during teleop
- Fix z position of object initial position so that it is not
penetrating table
- Update documentation for pick place Mimic demo

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Changes:

1. Adds two new GR1 humanoid environments to isaaclab_tasks extension. A
beaker pouring task (nut pouring) and an exhaust pipe pick/place task
(exhaust pipe)
2. Adds the corresponding Mimic envs for the two new GR1 tasks to
isaaclab_mimic extension.
3. Adds a processed action recorder term to record post step processed
actions.
4. Update recorder script to remove cameras from envs if using XR
handtracking device.

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

- Adds omni.usd.metrics.assembler.ui as dependency for stage unit
conversion
- Increases timeout for tests
- Adds check for correct torch version before uninstalling/installing

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IsaacSim has deprecated isaacsim.xr.openxr extension for hand tracking
in favor of omni.xr.kitxr, so this change will migrate the OpenXRDevice
to omni.xr.kitxr. This also allows for additional features like XCR
record and replay.

Fixes # (issue)

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Remove xr rendering mode since balanced and quality work well for xr
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Changes required for updating to be compatible with Isaac Sim 5.0 and
Kit 107.3. Notable changes include:
- Python version updated to 3.11, which means we need special support
for rl-games since it does not include python 3.11 support out of the
box. Additionally, rl-games has not updated torch.load with weights_only
flag required since torch 2.6.
- Updates pytorch to 2.7 for Blackwell support. We now uninstall the
torch build that comes with isaac sim as part of the isaacsim.sh/bat
script and forces an install of torch 2.7 with torchvision
- Removal of deprecated flags in kit that no longer exist -
improve_path_friction and SETTING_BACKWARD_COMPATIBILITY
- Some tests are still timing out / failing - there seems to be an issue
with the first load of assets that's causing checks like
`stage.ResolveIdentifierToEditTarget(usd_path)` and `is_prim_path_valid`
to take up to a minute.

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

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

- [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

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---------
Signed-off-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Co-authored-by: jaczhangnv <jaczhang@nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Yanzi Zhu <yanziz@nvidia.com>
Co-authored-by: nv-mhaselton <mhaselton@nvidia.com>
Co-authored-by: cosmith-nvidia <141183495+cosmith-nvidia@users.noreply.github.com>
Co-authored-by: Michael Gussert <michael@gussert.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>
Co-authored-by: Peter Du <peterd@nvidia.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: chengronglai <chengrongl@nvidia.com>
Co-authored-by: pulkitg01 <pulkitg@nvidia.com>
Co-authored-by: Connor Smith <cosmith@nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <ashwinvk@nvidia.com>

# Description
This change updates the CloudXR runtime version to 5.0.
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to check the contribution guidelines.

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Fixes # (issue)

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## Type of change

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

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
+ Breaking change (fix or feature that would cause existing
functionality to not work as expected)
CloudXR runtime 5.0 hasn't been published. This change updates to the
future version. Users won't be able to run the runtime image until it's
published.
- This change requires a documentation update

## Screenshots

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## 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
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# Description

wandb logging function is provided in rl_games script. So we remove the
wandb logging in task level. Also, we edit the task registration style
to help startup perf.

## 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

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

# Description

Changes the default setting for the enable stabilization flag from True
to False.

Fixes #2319

## Type of change

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

## Screenshots

| Before | After |
:-------------------------:|:-------------------------:

![net_contact_forces_1kz](https://github.com/user-attachments/assets/a9d7851c-d42a-4f22-8ea7-6b187070057e)|
![net_contact_forces_after](https://github.com/user-attachments/assets/523b8b5c-d8db-435c-bb66-c4312d2c6c18)

![force_matrices_1khz](https://github.com/user-attachments/assets/30feb2e1-d1f6-402f-8ca0-3a727bce4424)
|
![force_matrices_after](https://github.com/user-attachments/assets/3294335f-c5d5-4c4d-ac8a-e2c2e995e2a0)



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

# Description

This PR created two curriculum mdp that can change any parameter in env
instance.
namely `modify_term_cfg` and `modify_env_param`.

`modify_env_param` is a more general version that can override any value
belongs to env, but requires user to know the full path to the value.

`modify_term_cfg` only work with manager_term, but is a more user
friendly version that simplify path specification, for example, instead
of write "observation_manager.cfg.policy.joint_pos.noise", you instead
write "observations.policy.joint_pos.noise", consistent with hydra
overriding style

Besides path to value is needed, modify_fn, modify_params is also needed
for telling the term how to modify.



Demo 1: difficulty-adaptive modification for all python native data type
```
# iv -> initial value, fv -> final value
def initial_final_interpolate_fn(env: ManagerBasedRLEnv, env_id, data, iv, fv, get_fraction):
    iv_, fv_ = torch.tensor(iv, device=env.device), torch.tensor(fv, device=env.device)
    fraction = eval(get_fraction)
    new_val = fraction * (fv_ - iv_) + iv_
    if isinstance(data, float):
        return new_val.item()
    elif isinstance(data, int):
        return int(new_val.item())
    elif isinstance(data, (tuple, list)):
        raw = new_val.tolist()
        # assume iv is sequence of all ints or all floats:
        is_int = isinstance(iv[0], int)
        casted = [int(x) if is_int else float(x) for x in raw]
        return tuple(casted) if isinstance(data, tuple) else casted
    else:
        raise TypeError(f"Does not support the type {type(data)}")
```
(float)
```
    joint_pos_unoise_min_adr = CurrTerm(
        func=mdp.modify_term_cfg,
        params={
            "address": "observations.policy.joint_pos.noise.n_min",
            "modify_fn": initial_final_interpolate_fn,
            "modify_params": {"iv": 0., "fv": -.1, "get_fraction": "env.command_manager.get_command("difficulty")"}
        }
    )
```

(tuple or list)
```
command_object_pose_xrange_adr = CurrTerm(
        func=mdp.modify_term_cfg,
        params={
            "address": "commands.object_pose.ranges.pos_x",
            "modify_fn": initial_final_interpolate_fn,
            "modify_params": {"iv": (-.5, -.5), "fv": (-.75, -.25), "get_fraction": "env.command_manager.get_command("difficulty")"}
        }
    )
```

Demo 3: overriding entire term on env_step counter rather than adaptive
```
def value_override(env: ManagerBasedRLEnv, env_id, data, new_val, num_steps):
    if env.common_step_counter > num_steps:
        return new_val
    return mdp.modify_term_cfg.NO_CHANGE

object_pos_curriculum = CurrTerm(
        func=mdp.modify_term_cfg,
        params={
            "address": "commands.object_pose",
            "modify_fn": value_override,
            "modify_params": {"new_val": <new_observation_term>, "num_step": 120000 }
        }
    )
```

Demo 4: overriding Tensor field within some arbitary class not visible
from term_cfg
(you can see that 'address' is not as nice as mdp.modify_term_cfg)
```
def resample_bucket_range(env: ManagerBasedRLEnv, env_id, data, static_friction_range, dynamic_friction_range, restitution_range, num_steps):
    if env.common_step_counter > num_steps:
          range_list = [static_friction_range, dynamic_friction_range, restitution_range]
          ranges = torch.tensor(range_list, device="cpu")
          new_buckets = math_utils.sample_uniform(ranges[:, 0], ranges[:, 1], (len(data), 3), device="cpu")
          return new_buckets
    return mdp.modify_env_param.NO_CHANGE

object_physics_material_curriculum = CurrTerm(
        func=mdp.modify_env_param,
        params={
            "address": "event_manager.cfg.object_physics_material.func.material_buckets",
            "modify_fn": resample_bucket_range,
            "modify_params": {"static_friction_range": [.5, 1.], "dynamic_friction_range": [.3, 1.], "restitution_range": [0.0, 0.5], "num_step": 120000 }
        }
    )
```


## Type of change

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applicable. -->

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


## Checklist

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- [x] I have added tests that prove my fix is effective or that my
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---------
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Fixes reset_joints_by_scale and reset_joints_by_offsets to only affect the joint_names specified in SceneEntityCfg (#2899)

# Description

Both reset_joints_by_offsets and reset_joints_by_scale ignores the
joint_ids specified in SceneEntityCfg passed through asset_cfg and
affects all joints.

This bug is affecting all cartpole environments. 

After the fix the functions are restricted to only reset the joint
specified through SceneEntityCfg, Cartpole environment runs and reset
behaves correctly

Fixes #2800 #980 #1742 

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

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

# Description

@Toni-SM pointed out that Isaac Lab must match Isaac Sim/ Kit
107.3.1-206797 Pillow 11.2.1

this PR update pillow dependencies to match that of sim and kit

## 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`
- [] 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
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# Description

Fixes missing  `ray_cast_drift` in `RayCasterCamera`

Fixes #2891 

## 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

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

Fixes ObservationManager history buffer corrupted by external calls to ObservationManager.compute (#2885)

# Description

When observation group has history length greater than zero, calling
`ObservationManager.compute` modifies history state by appending current
observation to history. This creates history corruption when
non-`ManagerBasedEnv` classes invoke `ObservationManager.compute`. This
PR introduces `update_history` flag (default to `False`) and only
`ManagerBasedEnv` has the privilege to run `ObservationManager.compute`
with `update_history=True`. If `update_history=False` and the history
buffer is `None`, a copy of history is returned instead of the original.

I have added test cases to verify this fix is effective.

Fixes #2884 

## 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

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