# Description

Adds RL configs to the Franka cabinet play environment

## Type of change

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

## Checklist

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# Description
This PR:
* enables per test timeout setting.
* reduces default timeout to 2 mins (120 secs)
* sets `test_environments.py` to have a timeout of 20 mins (1200 secs)
* mounts `tools` dir into docker container 

Fixes #548

<!-- As a practice, it is recommended to open an issue to have
discussions on the proposed pull request.
This makes it easier for the community to keep track of what is being
developed or added, and if a given feature
is demanded by more than one party. -->

## Type of change
- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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feature works
- [x] I have run all the tests with `./isaaclab.sh --test` and they pass
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extension's `config/extension.toml` file
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exists there

Fixes bug introduced in https://github.com/isaac-sim/IsaacLab/pull/621

The error was using `os.path.abspath()` instead of `os.path.isabs()` to
check if a path exists. This would always return a value (as it actually
converts to an absolute path) so the if branch was never entered for
relative paths.

Fixes #556

## Type of change

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

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

## Checklist

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`./isaaclab.sh --format`
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exists there

# Description

Fixes Isaac Lab conda installation  

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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exists there

# Description

Realized that #631 did not deal properly with the case when not in a
conda or docker. This MR re-writes the logic to hopefully make the
operation safe.

## Type of change

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

## Checklist

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

There were minor quote issues in the docker container instructions. This
MR fixes those.

## Type of change

- This change requires a documentation update

## Checklist

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`./isaaclab.sh --format`
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exists there

# Description

Previously, we always assumed heterogeneous environment setup, which
performed cloning on a per-actor basis during spawning of actors. In
some direct workflow environments, a redundant cloning call was made at
the end of environment setup to perform cloning on a global scope.

With this change, we determine whether to perform cloning on a per-actor
or global scope based on the `replicate_physics` parameter in
`InteractiveSceneCfg`. When `replicate_physics=True`, homogeneous
environment is assumed and cloning will only happen on a global scope.
This reduces the time required for cloning for homogeneous setups. For
heterogeneous environments, set `replicate_physics=False` and cloning
will happen per-actor.

## Type of change

- 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
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feature works
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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 script hard-coded with path to Isaac Sim installation as the
sym-linked directory "_isaac_sim". However, when doing PIP installation,
this workflow doesn't hold. The MR modifies the scripts `isaaclab.sh`
and `isaaclab.bat` to now check for PIP package installation and get
paths from there if they exist.

Fixes #516, #629

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

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

# Description

Since the LiDAR configuration was added to the assets extension, the
`test_valid_configs` test is failing.
This MR removes sensors from configuration testing. The current set-up
is not suitable for sensors, which require additional set-up (like
creating a prim first or adding a mesh for the LiDAR).

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

# Description

Add a lidar pattern for the `RayCaster` sensor. The pattern is
determined by number of channels, horizontal and vertical field of view
and corresponding horizontal resolution. An example config for a
Velodyne VLP 16 is provided.

## Type of change

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

## Screenshots

![Screenshot from 2024-07-02
10-13-45](https://github.com/isaac-sim/IsaacLab/assets/57946385/31c87608-9d4d-4a11-9ad5-1ced954aa750)

## Checklist

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

# Description

The deprecation notice has been out for a while. The MR removes the body
PhysX view from the rigid object and articulation classes. This is no
longer needed as their respective root views expose all the data needed
for them.

This is a breaking change, and we lose compatibility with Isaac Sim
2023.1.1.

Fixes #237

## Type of change

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

## Checklist

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

# Description

This MR mainly fixes the documentation to make instructions clearer. The
script was unclear about where the workspace path needs to be and how it
can be resolved. The MR makes sure these cases are dealt and reported
correctly.

## 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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exists there

# Description

Ever since we upgraded the torch version from 2.0.1 (in Isaac Sim
2023.1.1) to 2.2 (in Isaac Sim 4.0), we have seen some of the tests
(such as `test_articulation.py`) fail due to improper deinitialization
of the created class.

This MR fixes this issue by creating a dummy tensor inside the
`SimulationContext` in Isaac Lab. While this is a hack, it is effective
and helps alleviate the problem. It is hard to figure out the root cause
without really understanding what changed on the torch side.

Fixes #639

## 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`
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exists there

# Description

This pull request adds support for running IsaacLab on clusters that use
PBS job schedulers (e.g. Franklin@IIT). Currently, it only supports
SLURM. The job submission scripts have been modified to choose between
SLURM or PBS job schedulers. The user can opt for the required job
scheduler from `docker/cluster/.env.base` under cluster specific
settings.

Tested successfully on Franklin@IIT HPC.

Fixes #599 

## 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`
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feature works
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exists there

Earlier, the VSCode settings were only made for installation with
binaries. This expected the path to be "_isaac_sim". As many users
reported, this doesn't work if we have PIP installation of Isaac Sim.

This MR fixes the above issue to ensure a smooth setup of vscode.

Fixes #620, #629

## 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`
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feature works
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exists there

# Description

This PR updates the skrl integration to support training/evaluation
using JAX ML framework

## 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`
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feature works
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exists there

Adds the empirical normalizer in the ONNX model export for RSL-RL `play.py`
script. Earlier, this was not being done, which would cause empirical
normalization to not work in the ONNX model.

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

# Description

In the quadruped example, two robots are assigned the same origin. This
PR fixes that.

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

This PR adds back in the functionality that was added with
https://github.com/isaac-orbit/IsaacLab/pull/542

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

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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extension's `config/extension.toml` file
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exists there

---------
Signed-off-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

This PR adds in a few changes that enable the extension based workflow
to work properly.

The main changes are:
* Disable the check for a pre-existing `SimulationContext` in
`manager_based_env.py`
* Move gym spaces setup to load_managers as this can't be called yet in
extension workflow
* Only do `flush` calls if Isaac Sim version < 4.0

Fixes #540

## Type of change

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

## Checklist

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

---------
Signed-off-by: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>
Co-authored-by: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>

# Description

The previous rendering logic had a bug where a render call would also
step physics `render_interval` number of times.

This was a regression introduced in
59493b89

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

# Description

Earlier the wrapper was checking the action space boundedness through
`is_bounded` function. However, that method returns a boolean instead of
a string. This MR fixes this issue.

Fixes #609

## Type of change

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

## Checklist

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exists there

Sometimes the simulation app got stuck when trying to interrupt the
process from the terminal. Removing the call to faulthandler resolved
this issue (I think). In Isaac Sim 4.0, the fault handler is enabled
inside the SimulationApp directly so we don't need to do it anymore.

## Type of change

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

## Checklist

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# Description

Fixes documentation instructions error for open cabinet state machine.

## Type of change

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

## Checklist

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

Previously, the images were rendered as "white" even in the dark theme
of the documentation. This MR fixes the images and adds their
counterpart for dark theme.

## Type of change

- This change requires a documentation update

## Checklist

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

# Description

Previously, the gravity direction inside the `RigidObjectData` class was
hard-coded as (0, 0, -1). However, this quantity may have a different
direction in some simulation situations. This MR removes this hard
coding and directly reads the value from the simulation view.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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feature works
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extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Changes documentation color to green theme.

## Type of change

- This change requires a documentation update

## Screenshots

| Light Theme | Dark Theme |
| ------ | ----- |
|
![image](https://github.com/isaac-sim/IsaacLab/assets/12863862/149af341-dd27-408f-aea8-1526bd92530c)
|
![image](https://github.com/isaac-sim/IsaacLab/assets/12863862/39cef5e7-3917-4b77-9187-80b5c03cc2bc)
|

## Checklist

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

Earlier, we used the `sphinx-tabs` module, which didn't work well with
the `sphinx-book-theme` of our documentation. This MR removes this
dependency and uses `sphinx-design` instead for tabs. This natively
supports the dark theme.

## Type of change

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

## Screenshots


https://github.com/isaac-sim/IsaacLab/assets/12863862/a56e1fa4-9b3c-4161-83bd-95b0e3b10334


## Checklist

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exists there

This MR moves the migration guide to their own section to make them more
prominent. Additionally, it removes the migration information about
Isaac Sim which is now outdated for the latest release.

## Type of change

- This change requires a documentation update

## Checklist

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exists there

This PR updates `skrl` to version `>=1.2.0` and include the support for
distributed multi-gpu learning in Isaac Lab docs,
See [skrl-v1.2.0](https://github.com/Toni-SM/skrl/releases/tag/1.2.0)
for more details

## Type of change

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

## Checklist

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

With the lazy buffer implementation in asset classes, we pass the
physics sim-view to the data object. This increments the reference count
of the sim-view instance and blocks the asset instance itself to be
garbage collected properly.

This MR takes steps to fix this issue.

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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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

This MR adds the path of the isaac lab extensions to vscode
`python.analysis.extraPaths` to execute intelligent prompt in vscode
properly.

Fixes #463

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

In  .vscode/tools/setup_vscode.py

![f9429980-bf0b-4e28-917b-10c0eccc92ce](https://github.com/isaac-sim/IsaacLab/assets/75050508/18cf4868-28be-4907-ae6e-be287ff946b1)

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

According to PIP, both`rl_games` and `rl-games` are valid PIP packages
and are resolved similarly. This MR adds support for the different name
conventions of PIP packages in the `setup.py` for the
`omni.isaac.lab_tasks` extension.

Fixes #547

## 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 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

* Adds a lot of missing docstrings related to buffers and new actuator
models
* Nitpicks clean ups to make it simpler to read
* Adds unit test for the circular buffer class

## 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
- [x] 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

This MR fixes some of the docstrings related to the tile-rendering
camera. Additionally, it adds a demo script showcasing the images
obtained through the different camera implementations in IsaacLab.

## 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
- [ ] 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

# Description

Earlier, it was unclear where the configuration classes and
corresponding classes belonged inside the `omni.isaac.lab.envs` module.
This MR reorganizes the module to ensure parity between the class and
its respective configuration class. The MR also fixes docstrings with
the hope of making things cleaner.

## Type of change

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

## Checklist

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