# Description

Doc and config changes from @karsten-nvidia:
- Add additional details on custom environments to mimic docs.
- Update comments in mimic configuration to make it easier telling apart
what's important.
- Some minor cleanups in existing docs.
- Add "common pitfalls" section to docs to guide users how to get
successful data generation/training

Mimic API and config changes to support forward dexmimic compatibility:
- Use dictionaries of subtasks in mimic env config; keys are eef_names
- Mimic Env APIs now use dictionary of eef_names to enable mulit-eef
support in future
- Data generation code updated accordingly to use new Mimic env APIs

## 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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- [x] My changes generate no new warnings
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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: nv-cupright <92540563+nv-cupright@users.noreply.github.com>
Co-authored-by: Alexander Poddubny <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: chengronglai <chengrongl@nvidia.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: Karsten Patzwaldt <kpatzwaldt@nvidia.com>

# Description

- Updated kit file for xr to include async rendering and GPU limit
increase
- Set xr anchor to active camera
- Conditionally remove rate limiting in record_demos.py if handtracking
is used


## Type of change

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

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## Checklist

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- [X] My changes generate no new warnings
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# Description

Update mimic to rely on an environment's "success" termination term to
determine if an episode ends with success.
As a result, is_success API in the mimic class `ManagerBasedRLMimicEnv`
is no longer required and hence removed.

## Type of change

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

## Checklist

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

Adds support to record additional steps after task success is detected
in record_demos.py.
This helps record demos with sufficient lengths to be used for training.

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applicable. -->

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

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# Description

To support the new way of installing Isaac Lab through pip, we need to
add all Isaac Lab extensions as dependencies into the app files.
This change also adds documentation for when this can be used and how to
install Isaac Lab with pip.

## Type of change

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


## Checklist

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# Description

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to check the contribution guidelines.

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The `test_selection_strategy.py` unit test throws `ModuleNotFoundError:
No module named 'isaacsim.core'` error.
Fixing it by starting omniverse app to import needed dependencies.

## Type of change

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applicable. -->

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

## Checklist

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feature works
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Previously, additional arguments were added to command line for
initializing livestream extensions. These arguments were mistakenly
passed to downstream scripts, causing errors when the arguments are not
recognized. This fix makes sure that the additional arguments are only
passed to the kit app and not downstream apps.

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

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

Adds Isaac Lab Mimic and Recorder Manager to API docs


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This makes it easier for the community to keep track of what is being
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## Type of change

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- This change requires a documentation update

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## Checklist

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`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
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exists there

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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: nv-cupright <92540563+nv-cupright@users.noreply.github.com>
Co-authored-by: Alexander Poddubny <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: chengronglai <chengrongl@nvidia.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: matthewtrepte <mtrepte@nvidia.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Co-authored-by: Karsten Patzwaldt <kpatzwaldt@nvidia.com>

# Description

Fixes the "'OrderEnforcing' object has no attribute 'device'" error by
using env.unwrapped.

## Type of change

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applicable. -->

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

## Checklist

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`./isaaclab.sh --format`
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feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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exists there

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# Description

This PR fixes an outdated import in viewport camera controller

## Type of change

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applicable. -->

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

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This PR adds a note about enabling long path support on Windows to avoid
PIP installation issues:

E.g.:

```
ERROR: Could not install packages due to an OSError: [Errno 2] No such file or directory: '...deps\\py\\numpy\\numpy-1.23.5-cp310-cp310-win_amd64\\numpy\\.libs\\libopenblas.FB5AE2TYXYH2IJRDKGDGQ3XBKLKTF43H.gfortran-win_amd64.dll'
HINT: This error might have occurred since this system does not have Windows Long Path support enabled. You can find information on how to enable this at https://pip.pypa.io/warnings/enable-long-paths
```

![image](https://github.com/user-attachments/assets/9a5fa0db-99c9-456f-aa94-05e59a8dfec7)

# Description

This PR updates docker and setup.py versions to point to Isaac Sim 4.5. 
In addition, documentation is added for running the new pre-built Isaac
Lab docker container.

## Type of change

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applicable. -->

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

## Checklist

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`./isaaclab.sh --format`
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feature works
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extension's `config/extension.toml` file
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# Description
Updates license files for dependencies

# Description

This change includes several small updates for Isaac Sim 4.5:

- set rtx.viewTile.limit in render app files to avoid silent trimming of
the number of tiles. the default limit is set to be around 1000, which
may be too low in most cases
- updates documentation for livestream clients. WebRTC now requires a
client app and the omniverse streaming client is deprecated
- updates installation instructions for installing isaac sim from
binaries - Isaac Sim can now be downloaded as a zip file from a download
link instead of through Omniverse launcher
- fixes pillow version to be the same as Isaac Sim to avoid the package
getting uninstalled and reinstalled to the wrong version

## Type of change

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applicable. -->

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


## Checklist

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`./isaaclab.sh --format`
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Update PIP installation instructions to install full Isaac Sim - Python
packages by default.

![image](https://github.com/user-attachments/assets/334af9a1-1826-4452-bdcc-c7ff27dc245c)
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Due to the New Year, we now need to update the license headers to
include 2025 for the new files added.
In addition, the new physics build throws patch overflow errors for the
velocity tasks. This change increases the patch buffer size to avoid the
overflow errors.

## Type of change

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applicable. -->

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

## Checklist

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

Minor bug fixes for teleop documentation

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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Some changes and updates were introduced in the latest physics build for
Isaac Sim 4.5. This PR updates Isaac Lab to leverage some new APIs:

- Kinematic bodies now require an additional API call to populate
kinematic transforms to fabric, which will allow for rendering of
kinematic bodies
- A new `enable_env_ids` flag was introduced in the cloning and physics
replication APIs that will now automatically filter collisions across
environments. This replaces the previous calls to filter collisions,
which helps speed up the scene creation process.

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

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

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

# Description

This change fixes some lingering extension renaming for the deprecated
omni.isaac.ui extension.
Additionally, new documentation for RL training is added to provide a
guideline and some troubleshooting tips for RL training with Isaac Lab.

This change brings some breaking changes in restructuring some of the
existing extensions and folders:

- Removes old imitation learning / robomimic scripts
- Moves wrappers folder in isaaclab_tasks to its own extension -
isaaclab_rl
- Splits the isaaclab_assets folder into robots and sensors
subdirectories

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- 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`
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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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# Description

This PR updates `replay_demos.py` to print info about specific key press
features rather than the info of the keyboard device class.

## Type of change

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applicable. -->

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

## Checklist

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`./isaaclab.sh --format`
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- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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After extensions have been renamed, the CI pipeline was still
recognizing previous folder names. This PR fixes the pipeline to only
retrieve the latest updates.
Previously, builds also fail to identify that they are running in docker
and try to set up vscode-related configs.

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

# Description

* Remove XR Teleop workflow for current release
* Update based on bug 5022310

## Type of change

- Documentation update

## Checklist

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

This change renames Isaac Lab extensions and folders to simplify the
directory structure.

- source/extensions/omni.isaac.lab --> source/isaaclab
- source/extensions/omni.isaac.lab_assets --> source/isaaclab_assets
- source/extensions/omni.isaac.lab_tasks --> source/isaaclab_tasks
- source/apps --> apps
- source/standalone --> scripts
- source/standalone/workflows/rl_games -->
scripts/reinforcement_learning/rl_games
- source/standalone/workflows/rsl_rl -->
scripts/reinforcement_learning/rsl_rl
- source/standalone/workflows/skrl -->
scripts/reinforcement_learning/skrl
- source/standalone/workflows/sb3 --> scripts/reinforcement_learning/sb3
- source/standalone/workflows/ray --> scripts/reinforcement_learning/ray

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

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

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# Description

Add Handtracking with Apple Vision Pro to Teleoperation and Imitation
Learning Documentation

Updated documentation to include handtracking as a teleoperation device.
Detailed workflow for collecting demonstrations with handtracking.

## Type of change

- 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
- [ ] 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: rwiltz <165190220+rwiltz@users.noreply.github.com>

# Description

* Add starting view port so the user can start the xr teleop right at
the ideal position to do the stacking task
* Set the XR anchormode to active camera
* Set default renderer to RTX - RealTime to avoid extra step in
operation

## 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
- [ ] 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

Add consolidated demo script for showcasing recording and mimic dataset generation in real-time in one simulation script (#189)

This PR adds `consolidated_demo.py` script that runs teleop-recording
and real-time mimic dataset generation in the same simulation with
multi-env to showcase the mimic workflow in one script.

It includes changes and fixes needed to enable recording and running
mimic at the same time under multi-env setting.

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- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

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`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
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- [ ] 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
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- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
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---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

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Adding a section on how to create a Mimic compatible env to the Isaac
Lab Mimic docs.

Fixes # (issue)

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## Type of change

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- Documentation change


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## Checklist

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

Updates Isaac Sim imports for Isaac Sim 4.5

Initial version of Isaac Lab Mimic, based on the MimicGen paper and
code: https://mimicgen.github.io/.
The MimicGen workflow is useful for generating additional trajectories
for Imitation Learning, allowing training from a minimal set of
human-generated trajectories.

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

- [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: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Peter Du <peterd@nvidia.com>
Co-authored-by: Karsten Patzwaldt <kpatzwaldt@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

This PR renames conda and venv Python environment to `env_isaaclab`
Why? Following installation steps on Windows raise the following issue
because for Windows `isaaclab` (Python env) and `IsaacLab` (the repo) is
the same name. Also, this is more coherent with Isaac Sim's Python
environment names
(https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip)


```
C:\Users\horde\Documents>dir
 Directory of C:\Users\horde\Documents

12/16/2024  02:50 PM    <DIR>          .
12/16/2024  02:50 PM    <DIR>          ..
12/13/2024  07:41 AM    <DIR>          isaaclab
               0 File(s)              0 bytes
               3 Dir(s)  172,079,185,920 bytes free

C:\Users\horde\Documents>git clone https://github.com/isaac-sim/IsaacLab.git
fatal: destination path 'IsaacLab' already exists and is not an empty directory.
```

# Description

This PR cleans up settings applied in the app files and aligns them with
settings in Isaac Sim 4.5. In addition, new livestream versions and
documentation are updated to reflected changes in Isaac Sim 4.5.

## Type of change

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applicable. -->

- 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
- [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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Fixes an issue where when a zero value wrench is input to the
`set_external_force_and_torque` function, the force and torque buffer
arrays are not properly updated. Also added unit tests.

Fixes https://github.com/isaac-sim/IsaacLab/issues/262

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

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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
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>

Update PIP install steps for Isaac Sim 4.5.0

Updates the URDF and MJCF importers for Isaac Sim 4.5.

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

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

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

# Description

This change updates the default render settings for better quality at
slightly lower performance.
It is recommended to use per-camera resolution of at least 100x100, this
change also updates the current Cartpole
camera environments to use 100x100 resolution.

## Type of change

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applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- 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
- [ ] 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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- Add configuration option to zero out rotation around the x/y axes.
- Introduce smoothing and thresholding for position and rotation deltas
to reduce jitter.
- Switch position reference to the wrist joint pose for more stable
relative-based positioning.
- Make rotation reference configurable, allowing the use of wrist-based
orientation instead of fingertip averaging.

<!-- As a practice, it is recommended to open an issue to have
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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`
- [ ] 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

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

# Description

This PR fixes a few of the environment wrapper tests that were
previously hanging on exit, causing timeout failures. In addition, URDF
and MJCF importer tests have been disabled for now until we update the
importer wrappers to support the latest changes in Isaac Sim 4.5.

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

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# Description

This change removes cameras from the stacking environment due to
conflicts with XR teleop. The stacking environment currently does not
require cameras.

* Remove wrist and table cameras
* Add "isaaclab.python.rendering" = {} in
source/apps/isaaclab.python.xr.openxr.kit

## 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`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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